CN106994046A - A kind of medical operation robot is controlled to press from both sides with main hand - Google Patents
A kind of medical operation robot is controlled to press from both sides with main hand Download PDFInfo
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- CN106994046A CN106994046A CN201710268935.1A CN201710268935A CN106994046A CN 106994046 A CN106994046 A CN 106994046A CN 201710268935 A CN201710268935 A CN 201710268935A CN 106994046 A CN106994046 A CN 106994046A
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- China
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- slide block
- connecting rod
- support bar
- main hand
- handle support
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Abstract
A kind of medical operation robot is controlled to press from both sides with main hand, including linkage rod slide block mechanism and limit induction component, and the linkage rod slide block mechanism includes the sensor assembly and induction pieces of matching design provided with pressing handle, the limit induction component；Induction pieces link with the sliding shoe in linkage rod slide block mechanism, and the sensor assembly is fixedly installed.By such scheme, the finger of operating personnel presses the pressing handle, linkage rod slide block mechanism is acted, sliding shoe driving induction pieces in linkage rod slide block mechanism, induction pieces relative sensors module movement produces the signal of respective change, sensor assembly receives the signal of change and correspondingly produces regular output signal, long-range apparatus receives the output signal, and the output signal is converted into the action command of itself, realizes the motion mode synchronous with main hand control folder.Main hand control folder described in this programme, simple in construction, with low cost, small volume is removed and installed conveniently.
Description
Technical field
The present invention relates to technical field of medical instruments, and in particular to the robot of master-slave mode remote operating structure.
Background technology
Robot is no longer simply to replace manual work, actually changes the mode of production and life style of the mankind, side
Help every profession and trade to improve production efficiency and product quality, realize the modern production and management of energy efficiency.Medical Robot belongs to
High-end, intelligentized medical device product, in assisted surgery, healthy prevention, disease treatment, rehabilitation and medical services etc.
There is unique advantage in field, and development potentiality is huge, in terms of assisted surgery, and higher requirement is proposed to robot, should
The accuracy of instruction is realized, has very accurate principal and subordinate's response even linkage again, surgical operation can be in a minimally invasive manner using remote
Journey operation medical system is performed.Minimally Invasive Surgery with less patient trauma, less is lost blood compared with conventional open incision surgery
With the advantage of very fast recovery time.Remote operation medical system is combined with manual Minimally Invasive Surgery, surgeon can be allowed directly perceived
Ground controls operation technique, and increases the accuracy of operation technique.
Remote operation medical system can include one or more instruments for being couple to one or more robots arms.Such as
Really described system is used to perform Minimally Invasive Surgery, then instrument can access surgery via one or more small openings with patient
Operative region.The imaging tool of such as endoscope can be used in checking confined surgical areas, and the image captured by imaging tool
It can show and be checked for surgeon during performing the operation on image display.
The content of the invention
Technical problem solved by the invention：During minimally invasive medical program, remote operation medical treatment how is efficiently controlled
The holding action of system.
In order to solve the above technical problems, the present invention provides following technical scheme：A kind of main manual control of medical operation robot
System folder, including linkage rod slide block mechanism and limit induction component, the linkage rod slide block mechanism is provided with pressing handle, the spacing sense
Component is answered to include the sensor assembly and induction pieces of matching design；Induction pieces link with the sliding shoe in linkage rod slide block mechanism, institute
Sensor assembly is stated to be fixedly installed.
By above-mentioned technical proposal, the finger of operating personnel presses the pressing handle, and linkage rod slide block mechanism action, connecting rod is slided
Sliding shoe driving induction pieces in block mechanism, induction pieces relative sensors module movement produces the signal of respective change, sensor
Module receives the signal of change and correspondingly produces regular output signal, and long-range apparatus receives the output letter
Number, the output signal is converted into the action command of itself, realize with the main hand motion mode that to control folder synchronous, that is, step up with
Unclamp.Main hand control folder of the present invention, simple in construction, with low cost, small volume is removed and installed conveniently.
The limit induction component also include be fixedly installed slide-and-guide block, with the slide-and-guide block be slidably matched and
The sliding axle being connected with the sliding shoe, the compression spring being set on the sliding axle；The end of sliding axle is provided with bulge loop, institute
Compression spring is stated to be located between the bulge loop and the slide-and-guide block；The induction pieces are arranged on the sliding axle.By upper
State bright, linkage rod slide block mechanism action, sliding shoe drives the sliding axle movement, guiding of the sliding axle in slide-and-guide block
Moved in hole, sliding axle drives induction pieces relative sensors module rectilinear movement thereon, meanwhile, the compression spring is stretched
Or compress, the two ends of compression spring are pressed on the bulge loop and the slide-and-guide block respectively, the flexible gesture of compression spring
Can, the elastic potential energy can make sliding axle and sliding shoe stabilization and rest on the optional position that compression spring is allowed exactly.
Correspondingly, the signal between induction pieces and sensor assembly produced by relative position change can be converted into sensor die exactly
The output signal of block, long-range apparatus receives the output signal, and accurately and stably carry out step up or release action.
The induction pieces are permanent magnet, and permanent magnet is arranged on the end of sliding axle.Operating personnel's finger presses the pressing
Handle, makes sliding axle drive the movement of permanent magnet relative sensors module, the magnetic field of the movable generation change of permanent magnet, sensing
The magnetic field energy that device module receives change produces regular output signal, and long-range apparatus receives the output signal, will believed
The action command of itself number is converted into, the motion mode (step up and release) synchronous with main hand folder is realized.
The linkage rod slide block mechanism includes first handle support bar and the second-hand for being hinged on base and being symmetrical set
Handle support bar, the first slide block connecting rod being hinged with first handle support bar, the second sliding block company being hinged with second handle support bar
Bar, first slide block connecting rod, the second slide block connecting rod are symmetrical set and are hinged with the sliding shoe, first handle support bar
Pressing handle is separately installed with second handle support bar.Operating personnel's finger presses the pressing handle of both sides simultaneously, makes slip
Axle is moved on slide-and-guide block, and sliding axle drives permanent magnet movement, the magnetic field of the movable generation change of magnet, sensor
Module receives the magnetic field of change and produces regular output signal, and long-range apparatus receives the signal, and signal is turned
The action command of itself is turned to, the motion mode (step up with unclamp) synchronous with main hand folder is realized.
The linkage rod slide block mechanism and the limit induction component are arranged in the gap of base, are provided with base
Lid, upper lid is sealed on the gap, the first slide block connecting rod and the laterally projecting left side in gap of first handle support bar, second
Slide block connecting rod and the laterally projecting right side in gap of second handle support bar, two pressing handles are located at the left and right two of gap respectively
Side.Operating personnel press the pressing handle of gap both sides simultaneously, and two pressing handles are drawn close in opposite directions, first handle support bar and the
Angle between two handle support bars diminishes, and the angle between the first slide block connecting rod and the second slide block connecting rod diminishes, first handle
Angle between support bar and the first slide block connecting rod becomes big, and the angle between second handle support bar and the second slide block connecting rod becomes
Greatly.The limiting condition that two pressing handles are drawn close in opposite directions is to press handle contact to the left and right sides of gap, this limiting condition, pressure
Contracting spring is farthest compressed, operating personnel's release pressing handle, in the presence of compression spring, whole rod slide
Reset.
To sum up, main hand control folder of the present invention, simple in construction, with low cost, reliable in quality, small volume, output signal
Stable, synchronization accuracy is high, removes and installs conveniently, stability is high.
Brief description of the drawings
The present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is the structural representation that a kind of medical operation robot of the invention controls folder with main hand；
Fig. 2 is a kind of structural representation at medical operation robot another visual angle of main hand control folder in Fig. 1；
Fig. 3 is structural representation of a kind of medical operation robot with the upper lid 1 of main hand control folder after hiding in Fig. 1；
Fig. 4 is a kind of structural representation of medical operation robot upper lid 1 of main hand control folder in Fig. 1.
Symbol description in figure：
1-above cover；2-pressing handle；3-slide block connecting rod；4-compression spring；5-grip support bar；6-permanent magnet；
7-base；8-sliding shoe；9-slide-and-guide block；10-sensor assembly；11-sliding axle.
Embodiment
Such as Fig. 3, a kind of medical operation robot is controlled to press from both sides with main hand, including linkage rod slide block mechanism and limit induction component.
The linkage rod slide block mechanism includes being hinged on the first handle support bar 5 that on base 7 and is symmetrical set and the
Two handle support bars, the first slide block connecting rod 3 being hinged with first handle support bar, the second cunning being hinged with second handle support bar
Block connecting rod, first slide block connecting rod, the second slide block connecting rod are symmetrical set and are hinged with the sliding shoe 8, first handle
Support bar and second handle support bar are separately installed with pressing handle 2.
The limit induction component includes the sensor assembly 10 and permanent magnet 6 of matching design, is fixedly installed on base
Slide-and-guide block 9, be slidably matched and be connected with the sliding shoe 8 with the slide-and-guide block sliding axle 11, be set in institute
State the compression spring 4 on sliding axle.The permanent magnet 6 is arranged on the end of sliding axle 11.The end of sliding axle is provided with bulge loop, institute
Compression spring is stated to be located between the bulge loop and the slide-and-guide block.
The linkage rod slide block mechanism and the limit induction component are arranged in the gap of base 7, are provided with base
Lid 1, upper lid is sealed on the gap, the first slide block connecting rod 3 and the laterally projecting left side in gap of first handle support bar 5,
Second slide block connecting rod and the laterally projecting right side in gap of second handle support bar, two pressing handles 2 are respectively positioned at gap
The left and right sides.
In practical operation, the workflow of main hand control folder of the present invention is as follows：When long-range apparatus needs in human body
When being clamped to tissue or muscle, operator or doctor only need to while press the pressing handle 2 of the base both sides, make two
Angle between individual pressing handle diminishes, and sliding shoe 8 is moved in rod slide mechanism, and sliding shoe drives sliding axle 8 to be led in slip
Moved linearly under to the guiding of block 9, the flexible potential energy by compression of compression spring 4, synchronously, sliding axle 8 drive permanent magnetism
Iron 6 is moved, and changes the relative position of permanent magnet and sensor assembly 10, the magnetic field of the movable generation change of permanent magnet 6 is passed
Sensor module receives the magnetic field of change, and exports the signal of a stability regular change, and long-range apparatus is connect by reception device
The signal is received, and is translated into the instruction of the pinching action of long-range apparatus, so that long-range apparatus synchronous clamping.
When long-range apparatus is needed in human body to tissue or muscle release, operator or doctor only need to unclamp by
Handle 2 is pressed, the relative angle of pressing handle 2 is become big by the effect of compression spring 4, sliding axle 8 drives permanent magnet 6 to move,
Change the relative position of permanent magnet and sensor assembly 10, sensor assembly exports the signal of a stability regular change, passed through
Processing to signal is allowed to be converted into the expansion action instruction of long-range apparatus, so that long-range apparatus synchronously opens.
Above content is only the better embodiment of the present invention, for one of ordinary skill in the art, according to the present invention
Thought, will change in specific embodiments and applications, this specification content should not be construed as to this hair
Bright limitation.
Claims (5)
1. a kind of medical operation robot is controlled to press from both sides with main hand, including linkage rod slide block mechanism and limit induction component, the connecting rod
Slide block mechanism is provided with pressing handle (2), and the limit induction component includes sensor assembly (10) and the sensing of matching design
Part；It is characterized in that：Induction pieces link with the sliding shoe (8) in linkage rod slide block mechanism, and the sensor assembly is fixedly installed.
2. a kind of medical operation robot as claimed in claim 1 is controlled to press from both sides with main hand, it is characterised in that：The limit induction
The slide-and-guide block (9) and the slide-and-guide block that component also includes being fixedly installed are slidably matched and connected with the sliding shoe (8)
The sliding axle (11) connect, the compression spring (4) being set on the sliding axle；
The end of sliding axle is provided with bulge loop, and the compression spring is located between the bulge loop and the slide-and-guide block；
The induction pieces are arranged on the sliding axle.
3. a kind of medical operation robot as claimed in claim 2 is controlled to press from both sides with main hand, it is characterised in that：The induction pieces are
Permanent magnet (6), permanent magnet is arranged on the end of sliding axle (11).
4. a kind of medical operation robot as claimed in claim 2 is controlled to press from both sides with main hand, it is characterised in that：The connecting rod slider
Mechanism includes being hinged on the first handle support bar (5) on base (7) and being symmetrical set and second handle support bar and the
The first slide block connecting rod (3) that one handle support bar is hinged and the second slide block connecting rod that second handle support bar is hinged, described first
Slide block connecting rod, the second slide block connecting rod are symmetrical set and are hinged with the sliding shoe (8), first handle support bar and second-hand
Handle support bar is separately installed with pressing handle (2).
5. a kind of medical operation robot as claimed in claim 4 is controlled to press from both sides with main hand, it is characterised in that：The connecting rod slider
Mechanism and the limit induction component are arranged in the gap of base (7), lid (1) are provided with base, upper lid is sealed on institute
State on gap, the first slide block connecting rod (3) and first handle support bar (5) laterally projecting left side in gap, the second slide block connecting rod
With the laterally projecting right side in gap of second handle support bar, two pressing handles (2) are located at the left and right sides of gap respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710268935.1A CN106994046A (en) | 2017-04-24 | 2017-04-24 | A kind of medical operation robot is controlled to press from both sides with main hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710268935.1A CN106994046A (en) | 2017-04-24 | 2017-04-24 | A kind of medical operation robot is controlled to press from both sides with main hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106994046A true CN106994046A (en) | 2017-08-01 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710268935.1A Pending CN106994046A (en) | 2017-04-24 | 2017-04-24 | A kind of medical operation robot is controlled to press from both sides with main hand |
Country Status (1)
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| CN (1) | CN106994046A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414780A (en) * | 2017-08-07 | 2017-12-01 | 重庆金山医疗器械有限公司 | The hand-held mechanism of seven freedom main operation manipulator |
| CN107928795A (en) * | 2017-12-25 | 2018-04-20 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of medical operating robot is controlled with main hand and pressed from both sides |
| CN109316239A (en) * | 2018-08-31 | 2019-02-12 | 天津大学 | Micro-wound operation robot main manipulator and system based on magnetic navigation sensing |
| CN110772327A (en) * | 2019-02-21 | 2020-02-11 | 深圳市精锋医疗科技有限公司 | Handle and main operating platform |
| WO2020042148A1 (en) * | 2018-08-31 | 2020-03-05 | 天津大学 | Magnetic navigation sensing-based main operating hand and system of minimally invasive surgical robot |
| CN111012513A (en) * | 2018-10-09 | 2020-04-17 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111214324A (en) * | 2020-01-21 | 2020-06-02 | 江苏同辉医疗器械有限公司 | Angle-shaped pointed micro-incision capsulorhexis forceps |
| CN111494014A (en) * | 2020-05-06 | 2020-08-07 | 苏州康多机器人有限公司 | Master hand control clamp for surgical robot |
| CN112423693A (en) * | 2018-05-17 | 2021-02-26 | 医疗显微器具股份公司 | Master controller assembly and method for robotic surgical system |
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| JPH11108605A (en) * | 1997-10-03 | 1999-04-23 | Midori Sokki:Kk | Non-contact linear displacement sensor |
| US20030060927A1 (en) * | 2001-09-25 | 2003-03-27 | Intuitive Surgical, Inc. | Removable infinite roll master grip handle and touch sensor for robotic surgery |
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| CN104546031A (en) * | 2014-12-17 | 2015-04-29 | 哈尔滨思哲睿智能医疗设备有限公司 | Multi-DoF (Degree of Freedom) surgical instrument for minimally-invasive surgery |
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| CN208160646U (en) * | 2017-04-24 | 2018-11-30 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of medical operation robot main hand control folder |
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Patent Citations (6)
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| JPH11108605A (en) * | 1997-10-03 | 1999-04-23 | Midori Sokki:Kk | Non-contact linear displacement sensor |
| US20030060927A1 (en) * | 2001-09-25 | 2003-03-27 | Intuitive Surgical, Inc. | Removable infinite roll master grip handle and touch sensor for robotic surgery |
| US20140107665A1 (en) * | 2012-02-02 | 2014-04-17 | Transenterix, Inc. | Mechanized multi-instrument surgical system |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414780A (en) * | 2017-08-07 | 2017-12-01 | 重庆金山医疗器械有限公司 | The hand-held mechanism of seven freedom main operation manipulator |
| CN107928795A (en) * | 2017-12-25 | 2018-04-20 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of medical operating robot is controlled with main hand and pressed from both sides |
| CN107928795B (en) * | 2017-12-25 | 2023-03-24 | 哈尔滨思哲睿智能医疗设备股份有限公司 | Main hand control clamp for medical operation robot |
| CN112423693A (en) * | 2018-05-17 | 2021-02-26 | 医疗显微器具股份公司 | Master controller assembly and method for robotic surgical system |
| CN109316239A (en) * | 2018-08-31 | 2019-02-12 | 天津大学 | Micro-wound operation robot main manipulator and system based on magnetic navigation sensing |
| WO2020042148A1 (en) * | 2018-08-31 | 2020-03-05 | 天津大学 | Magnetic navigation sensing-based main operating hand and system of minimally invasive surgical robot |
| CN109316239B (en) * | 2018-08-31 | 2020-08-04 | 天津大学 | Minimally invasive surgery robot main manipulator and system based on magnetic navigation sensing |
| CN111012513A (en) * | 2018-10-09 | 2020-04-17 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN110772327A (en) * | 2019-02-21 | 2020-02-11 | 深圳市精锋医疗科技有限公司 | Handle and main operating platform |
| CN111214324A (en) * | 2020-01-21 | 2020-06-02 | 江苏同辉医疗器械有限公司 | Angle-shaped pointed micro-incision capsulorhexis forceps |
| CN111494014A (en) * | 2020-05-06 | 2020-08-07 | 苏州康多机器人有限公司 | Master hand control clamp for surgical robot |
| CN111494014B (en) * | 2020-05-06 | 2021-06-01 | 苏州康多机器人有限公司 | Master hand control clamp for surgical robot |
| WO2021223625A1 (en) * | 2020-05-06 | 2021-11-11 | 苏州康多机器人有限公司 | Master manipulator gripper for surgical robot |
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Address after: No. 8, Dalian North Road, Haping Road Concentration Area, Harbin Economic Development Zone, Harbin City, Heilongjiang Province, 150000 Applicant after: Harbin sizherui intelligent medical equipment Co.,Ltd. Address before: 150090 08, room 15, No. 368 Changjiang Road, Nangang District, Harbin, Heilongjiang. Applicant before: HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIPMENT Co.,Ltd. |