CN108670415A - Endoscopic surgery tow-armed robot and robot system - Google Patents
Endoscopic surgery tow-armed robot and robot system Download PDFInfo
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- CN108670415A CN108670415A CN201810604249.1A CN201810604249A CN108670415A CN 108670415 A CN108670415 A CN 108670415A CN 201810604249 A CN201810604249 A CN 201810604249A CN 108670415 A CN108670415 A CN 108670415A
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- 238000002674 endoscopic surgery Methods 0.000 title claims abstract description 37
- 238000001839 endoscopy Methods 0.000 claims abstract description 21
- 230000001079 digestive effect Effects 0.000 claims abstract description 20
- 230000003319 supportive effect Effects 0.000 claims abstract description 18
- 230000009471 action Effects 0.000 claims description 16
- 238000009434 installation Methods 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 6
- 238000013152 interventional procedure Methods 0.000 claims description 4
- 238000000465 moulding Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 8
- 235000004443 Ricinus communis Nutrition 0.000 description 2
- 239000008280 blood Substances 0.000 description 2
- 210000004369 blood Anatomy 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000002496 gastric effect Effects 0.000 description 2
- 210000000936 intestine Anatomy 0.000 description 2
- 210000003296 saliva Anatomy 0.000 description 2
- 230000028327 secretion Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 240000000528 Ricinus communis Species 0.000 description 1
- 206010048669 Terminal state Diseases 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 238000007486 appendectomy Methods 0.000 description 1
- 238000001574 biopsy Methods 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000029087 digestion Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 210000000232 gallbladder Anatomy 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012317 liver biopsy Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 210000002784 stomach Anatomy 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
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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
- 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
- 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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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Endoscopes (AREA)
Abstract
The invention discloses endoscopic surgery tow-armed robot and robot systems, are related to the field of medical instrument technology.Endoscopic surgery tow-armed robot provided by the invention includes robot body, the first multi-degree-of-freemechanical mechanical arm, the second multi-degree-of-freemechanical mechanical arm, send mirror structure and hold mirror structure.Robot body includes supportive body and mounting body, mounting body is rotatablely connected with supportive body, first multi-degree-of-freemechanical mechanical arm and the second multi-degree-of-freemechanical mechanical arm are installed in mounting body, send mirror structure setting in end of first multi-degree-of-freemechanical mechanical arm far from mounting body, it holds mirror structure and is installed on the second multi-degree-of-freemechanical mechanical arm, mirror structure is held for fixing digestive endoscopy, send mirror structure for driving the intervention pipe of digestive endoscopy to move.The present invention also provides a kind of robot systems including endoscopic surgery tow-armed robot.Endoscopic surgery tow-armed robot provided by the invention and robot system can carry out a variety of endoscopic surgeries, and can avoid causing unnecessary damage to patient.
Description
Technical field
The present invention relates to the field of medical instrument technology, in particular to endoscopic surgery tow-armed robot and system of robot
System.
Background technology
This part intends to provides background for the embodiments of the present invention stated in claims and specific implementation mode
Or context.Description herein recognizes it is the prior art not because not being included in this part.
The invention and clinical application of digestive endoscopy are the important breakthroughs in modern age gastroenterology development history, by generation more than one
The development of discipline, digestive endoscopy experienced rigid endoscope, partly can bend formula scope, fiber endoscope (soft mirror) and video image dendoscope and ultrasound
In four generations of scope, are changed, and enter from the initial stage diagnosed merely and melt diagnosis, treat in the advanced of integrated minimally invasive interventional technique
Stage.Recently as the development of medical robot technology, digestive endoscopy interventional procedure robot system, which achieves, advances by leaps and bounds
Development.But traditional endoscopic interventional treatment technology has the following disadvantages：1. needing doctor's Long Term Contact disease during diagnoses and treatment
The saliva of people, gastro-intestinal Fluid, secretion and pollution blood etc., professional risk is big；2. human hand is light during diagnosing and treating
Micro- shake easily causes unnecessary bleeding etc., increases Operative risk.
Although existing medical robotic system can improve some drawbacks of traditional endoscopic interventional treatment technology, also it is easy
Unnecessary damage is caused to patient；Meanwhile current robot system can only realize simple endoscopy, can not complete abdomen
The endoscopic surgeries such as chamber detects, peritoneal biopsy, liver biopsy, stomach and intestine and intestines Surgical healing, appendectomy, gallbladder removal.
Invention content
It is simple in structure, easy to use the purpose of the present invention is to provide a kind of endoscopic surgery tow-armed robot, Neng Goujin
The a variety of endoscopic surgeries of row, and can avoid causing unnecessary damage to patient.
The present invention provides a kind of technical solution about endoscopic surgery tow-armed robot：
A kind of endoscopic surgery tow-armed robot is used for robot system, and the robot system includes control terminal.It is described
Endoscopic surgery tow-armed robot includes robot body, the first multi-degree-of-freemechanical mechanical arm, the second multi-degree-of-freemechanical mechanical arm, send mirror knot
Structure and hold mirror structure.The robot body includes supportive body and mounting body, the mounting body and the supportive body
Rotation connection, first multi-degree-of-freemechanical mechanical arm and second multi-degree-of-freemechanical mechanical arm are respectively arranged in the mounting body
On, it is described to send mirror structure setting in the end of first multi-degree-of-freemechanical mechanical arm far from the mounting body, it is described to hold mirror knot
Structure is installed on the end of second multi-degree-of-freemechanical mechanical arm far from the mounting body, and the mirror structure of holding is for fixed digestion
Scope, it is described to send mirror structure for driving the intervention pipe of the digestive endoscopy to move.First multi-degree-of-freemechanical mechanical arm and institute
It states the second multi-degree-of-freemechanical mechanical arm to be used to communicate to connect with the control terminal, to control institute respectively by the control terminal
State the first multi-degree-of-freemechanical mechanical arm and second multi-degree-of-freemechanical mechanical arm movement.The mounting body is used for the control eventually
End communication connection is rotated with controlling the mounting body by the control terminal relative to the supportive body.
Further, the endoscopic surgery tow-armed robot further includes force snesor, and the force snesor is set to described
It intervenes the end of pipe and is electrically connected with the control terminal；The force snesor is used to detect the stress of the intervention tube end,
And by the stress transfer to the control terminal.
Further, the endoscopic surgery tow-armed robot further includes vision module, and the vision module is installed on described
In mounting body and for being communicated to connect with the control terminal；The vision module is for detecting the first multiple degrees of freedom machine
The action message of tool arm and second multi-degree-of-freemechanical mechanical arm, and the action message is transmitted to the control terminal.
It is simple in structure, easy to use another object of the present invention is to provide a kind of robot system, it can carry out more
Kind endoscopic surgery, and can avoid causing unnecessary damage to patient.
The present invention also provides a kind of technical solutions about robot system：
A kind of robot system is used for digestive endoscopy interventional procedure, and the robot system includes control terminal and scope hand
Art tow-armed robot.The endoscopic surgery tow-armed robot include robot body, the first multi-degree-of-freemechanical mechanical arm, more than second from
By degree mechanical arm, send mirror structure and hold mirror structure.The robot body includes supportive body and mounting body, the installation master
Body is rotatablely connected with the supportive body, and first multi-degree-of-freemechanical mechanical arm and second multi-degree-of-freemechanical mechanical arm are pacified respectively
It is described to send mirror structure setting in first multi-degree-of-freemechanical mechanical arm far from the mounting body loaded in the mounting body
End, the mirror structure of holding is installed on the end of second multi-degree-of-freemechanical mechanical arm far from the mounting body, described to hold mirror
Structure is described to send mirror structure for driving the intervention pipe of the digestive endoscopy to move for fixing digestive endoscopy.More than described first
Degree-of-freedom manipulator and second multi-degree-of-freemechanical mechanical arm are used to communicate to connect with the control terminal, to pass through the control
Terminal processed controls first multi-degree-of-freemechanical mechanical arm and second multi-degree-of-freemechanical mechanical arm movement respectively.The mounting body
For being communicated to connect with the control terminal, to control the relatively described supportive body of mounting body by the control terminal
Rotation.The control terminal respectively with first multi-degree-of-freemechanical mechanical arm, second multi-degree-of-freemechanical mechanical arm and the peace
Fill main body communication connection.
Further, the control terminal includes terminal body, display equipment, control handle, control pedal and control mould
Block.The display equipment includes the first display and second display, first display and the second display with
The terminal body flexible connection, first display and the second display are electrically connected with the control module；
The endoscopic surgery tow-armed robot further includes vision module, the vision module be installed in the mounting body and for
The control terminal communication connection；The vision module is for detecting first multi-degree-of-freemechanical mechanical arm and described more than second certainly
It is transmitted to the control module by the action message of degree mechanical arm, and by the action message, the control module is used for basis
The action message controls the display content of first display and the second display.The control handle includes first
Handleset and second handle component, the first handle component and the second handle component are connect with the terminal body
And be electrically connected with the control module, the first handle component is for generating the first control instruction and being controlled described first
Instruction is transmitted to the control module, and the second handle component is for generating the second control instruction and referring to second control
Order is transmitted to the control module.The control pedal connect with the terminal body and is electrically connected with the control module, institute
Control pedal is stated for generating third control instruction and the third control instruction being transmitted to the control module.The control
For connect with the robot communication, the control module is additionally operable to control described the according to first control instruction module
One multi-degree-of-freemechanical mechanical arm moves, and the control module is additionally operable to according to second control instruction control described more than second freely
Manipulator motion is spent, the control module is additionally operable to control the relatively described branch of mounting body according to the third control instruction
Support body rotation.
Further, the endoscopic surgery tow-armed robot further includes force snesor, and the force snesor is set to described
It intervenes the end of pipe and is electrically connected with the control terminal；The force snesor is used to detect the stress of the intervention tube end,
And by the stress transfer to the control module, the control module is additionally operable to that the first handle is arranged according to the stress
The feedback force of component and the second handle component.
Further, the first handle component includes installation chassis, position adjustment structure, intermediate connector, posture tune
The both ends of section structure and operating parts, the position adjustment structure connect with the installation chassis and intermediate connector rotation respectively
It connects, the both ends of the attitude regulation structure are connect with the intermediate connector and the operating parts respectively.
Further, the position adjustment structure includes the first linking arm, the first control motor, the second linking arm, second
It controls motor, third linking arm and third and controls motor；The first control motor, the second control motor and the third
Control motor be installed on spaced reciprocally on the installation chassis, and it is described first control motor, it is described second control motor and
The third control motor is electrically connected with the control module；One end of first linking arm controls motor with described first
Rotation connection, the other end are rotatablely connected with the intermediate connector；One end of second linking arm and the second control electricity
Machine is rotatablely connected, and the other end is connect with the intermediate connector rotating member；One end of the third linking arm and the third control
Motor rotation connection processed, the other end are rotatablely connected with the intermediate connector；The control module is additionally operable to according to the stress
The torque size of the first control motor, the second control motor and third control motor is set.
Further, first linking arm includes the first arm body, first rotating shaft, the second arm body and the second shaft, described
First rotating shaft with it is described first control motor rotation connection and the first rotating shaft both ends respectively with the first arm body and institute
State the connection of the second arm body, second shaft and the intermediate connector be rotatablely connected and the both ends of second shaft respectively with
The first arm body is connected with the other end of the second arm body.
Further, the attitude regulation structure include the first connector, first motor, the second connector, the second motor,
Third connector and third motor；One end of first connector is connect with the intermediate connector, the other end and described the
One motor connects；One end of second connector is connect with the output end of the first motor, the other end and second electricity
Machine connects；One end of the third connector is connect with the output end of second motor, and the other end connects with the third motor
It connects, the operating parts is connect with the output end of the third motor；The control module is additionally operable to that institute is arranged according to the stress
State first motor, the torque size of second motor and the third motor.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described.It should be appreciated that the following drawings illustrates only certain embodiments of the present invention, therefore it is not construed as pair
The restriction of range.It for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram for the robot system that the embodiment of the present invention provides；
Fig. 2 is the structural schematic diagram of the robot system that provides of the embodiment of the present invention at work；
Fig. 3 is the structural schematic diagram for the endoscopic surgery tow-armed robot that the embodiment of the present invention provides；
Fig. 4 is the structural schematic diagram for the control terminal that the embodiment of the present invention provides；
Fig. 5 is structural schematic diagram of the first handle component that provides of the embodiment of the present invention under the first visual angle；
Fig. 6 is structural schematic diagram of the first handle component that provides of the embodiment of the present invention under the second visual angle；
Fig. 7 is the enlarged structure schematic diagram at VII in Fig. 6；
Fig. 8 is the structural schematic diagram for the attitude regulation structure that the embodiment of the present invention provides.
Icon：10- robot systems；11- intervention pipes；100- control terminals；110- terminal bodies；112- supporting racks；
113- spaces；120- shows equipment；The first displays of 121-；122- second displays；130- controls handle；131- first
Handleset；132- second handle components；133- installation chassis；134- position adjustment structures；The first linking arms of 1341-；1342-
First control motor；The second linking arms of 1343-；1344- second controls motor；1345- third linking arms；1346- thirds control
Motor；1347- the first arm bodies；1348- first rotating shafts；1349- the second arm bodies；The second shafts of 1340-；135- intermediate connectors；
136- attitude regulation structures；The first connectors of 1361-；1362- first motors；The second connectors of 1363-；The second motors of 1364-；
1365- third connectors；1367- third motors；137- operating parts；140- control pedals；200- endoscopic surgery tow-armed robots；
210- robot bodies；211- mounting bodies；212- supportive bodies；The first multi-degree-of-freemechanical mechanical arms of 220-；230- more than second is certainly
By degree mechanical arm；240- send mirror structure；250- holds mirror structure；260- vision modules.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
The every other embodiment that technical staff is obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it is to be understood that, the instructions such as term "upper", "lower", "inner", "outside", "left", "right"
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings or the invention product using when usually put
Orientation or positional relationship or the orientation or positional relationship that usually understands of those skilled in the art, be merely for convenience of retouching
It states the present invention and simplifies description, do not indicate or imply the indicated equipment or element must have a particular orientation, with specific
Azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " etc. are only used for distinguishing description, it is not understood to indicate or imply relatively important
Property.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, " setting ", " even
Connect " etc. terms shall be understood in a broad sense, for example, " connection " may be a fixed connection, may be a detachable connection, or integrally connect
It connects；It can be mechanical connection, can also be electrical connection；Can be directly connected to, can also be indirectly connected with by intermediary, it can
To be the connection inside two elements.For the ordinary skill in the art, can understand as the case may be above-mentioned
The concrete meaning of term in the present invention.
Below in conjunction with the accompanying drawings, the specific implementation mode of the present invention is described in detail.
Specific embodiment
Fig. 1 to Fig. 8 is please referred to, a kind of robot system 10, simple in structure, user are present embodiments provided
Just, a variety of endoscopic surgeries can be carried out, and can avoid causing unnecessary damage to patient.
Robot system 10 provided in this embodiment is for implementing digestive endoscopy interventional procedure comprising the scope for execution
Operation tow-armed robot 200 and the control terminal 100 acted for controlling endoscopic surgery tow-armed robot 200.
Endoscopic surgery tow-armed robot 200 provided in this embodiment includes robot body 210, the first multi freedom degree mechanical
Arm 220, the second multi-degree-of-freemechanical mechanical arm 230 send mirror structure 240 and hold mirror structure 250.Robot body 210 includes that support is led
Body 212 and mounting body 211, mounting body 211 and supportive body 212 are rotatablely connected, the first multi-degree-of-freemechanical mechanical arm 220 and the
Two multi-degree-of-freemechanical mechanical arms 230 are respectively arranged in mounting body 211, and mirror structure 240 is sent to be set to the first multi freedom degree mechanical
End of the arm 220 far from mounting body 211 holds mirror structure 250 and is installed on the second multi-degree-of-freemechanical mechanical arm 230 far from mounting body
211 end holds mirror structure 250 for fixing digestive endoscopy, send mirror structure 240 for driving the intervention pipe 11 of digestive endoscopy to transport
It is dynamic.First multi-degree-of-freemechanical mechanical arm 220 and the second multi-degree-of-freemechanical mechanical arm 230 are used to communicate to connect with control terminal 100, with
The first multi-degree-of-freemechanical mechanical arm 220 and the movement of the second multi-degree-of-freemechanical mechanical arm 230 are controlled respectively by control terminal 100.Installation
Main body 211 is used to communicate to connect with control terminal 100, to control mounting body 211 with respect to supportive body by control terminal 100
212 rotations.
In the present embodiment, mounting body 211 is set as humanoid, to reduce rejection feeling of the patient to machinery, promotes patient
Medical treatment experience.Mounting body 211 is rotatablely arranged at by shaft on supportive body 212.Optionally, supportive body 212
Castor or other driving equipments can be provided with, in order to carry.
When in use, the second multi-degree-of-freemechanical mechanical arm 230 is used to fix the main body of digestive endoscopy, the first multi freedom degree mechanical
Arm 220 is used to the intervention pipe 11 of digestive endoscopy being sent into human body.When work, holds mirror structure 250 and to send mirror structure 240 be synchronous dynamic
Make.It holds mirror structure 250 and is accomplished that fixed digestive endoscopy, the concrete structure of mirror structure 240 is sent to be referred to current single armed machine
Device people, details are not described herein.
In addition, the first multi-degree-of-freemechanical mechanical arm 220 and the second multi-degree-of-freemechanical mechanical arm 230 be mechanical arm mechanical structure and
Driving device is both provided with decelerating motor or servo motor etc. in each multi-degree-of-freemechanical mechanical arm.Optionally, more than first certainly
It is the mechanical arm of seven freedom by degree mechanical arm 220 and the second multi-degree-of-freemechanical mechanical arm 230.It is appreciated that above-mentioned control is whole
End 100 and the first multi-degree-of-freemechanical mechanical arm 220 and the communication connection of the second multi-degree-of-freemechanical mechanical arm 230 refer to and its driving device
Communication connection, by the state of driving device control machinery arm, to hold mirror according to actual requirement realization and send mirror function.
In the present embodiment, endoscopic surgery tow-armed robot 200 further includes force snesor, and force snesor is set to intervention pipe
11 end is simultaneously electrically connected with control terminal 100；Force snesor is used to detect the stress for intervening pipe 11 end, and by stress transfer
To control terminal 100.
It is appreciated that the effect of force snesor is the active force between detection intervention pipe 11 and human body, and by the active force
Control terminal 100 is fed back in real time, in order to which operator can operate in operation according to feedback dynamics suitable control treatment,
Reduce unexpected occur.
In the present embodiment, endoscopic surgery tow-armed robot 200 further includes vision module 260, and vision module 260 is installed on
In mounting body 211 and for being communicated to connect with control terminal 100；Vision module 260 is for detecting the first multi freedom degree mechanical
The action message of arm 220 and the second multi-degree-of-freemechanical mechanical arm 230, and action message is transmitted to control terminal 100.
It is appreciated that long-range operation may be implemented by vision system doctor, and then avoid direct contact with the saliva of patient
Liquid, gastro-intestinal Fluid, secretion and blood of pollution etc., effectively reduce professional risk.Camera etc. may be used in the vision module 260
Equipment, and two cameras can be respectively set respectively to the first multi-degree-of-freemechanical mechanical arm 220 and the second multi freedom degree mechanical
The action message of arm 230 is acquired, to improve efficiency.
Control terminal 100 provided in this embodiment includes terminal body 110, display equipment 120, control handle 130, control
Pedal 140 and control module.
In this example it is shown that equipment 120 includes the first display 121 and second display 122, the first display
121 and second display 122 be flexibly connected with terminal body 110, so that operator can be adjusted as needed when in use
First display 121 and second display 122；First display 121 and second display 122 electrically connect with control module
It connects, when in use, the first display 121 is used to show the image information of vision module 260, and second display 122 is for showing
The image information of digestive endoscopy.Vision module 260 is for detecting the first multi-degree-of-freemechanical mechanical arm 220 and the second multi freedom degree mechanical
The action message of arm 230, and action message is transmitted to control module, control module is used for aobvious according to action message control first
Show the display content of device 121 and second display 122.
In the present embodiment, control handle 130 includes first handle component 131 and second handle component 132, first handle
Component 131 and second handle component 132 connect with terminal body 110 and are electrically connected with control module, first handle component
131 for generating the first control instruction and the first control instruction being transmitted to control module, and second handle component 132 is for generating
Second control instruction is simultaneously transmitted to control module by the second control instruction.Control pedal 140 connect with terminal body 110 and with control
Molding block is electrically connected, and control pedal 140 is for generating third control instruction and third control instruction being transmitted to control module.Control
Molding block is used to communicate to connect with endoscopic surgery tow-armed robot 200, and control module is additionally operable to be controlled according to the first control instruction
First multi-degree-of-freemechanical mechanical arm 220 moves, and control module is additionally operable to control the second multi freedom degree mechanical according to the second control instruction
Arm 230 moves, and control module is additionally operable to control mounting body 211 relative to the rotation of supportive body 212 according to third control instruction.
First handle component 131 and second handle component 132 can be respectively to the first multi-degree-of-freemechanical mechanical arms 220 and second
Multi-degree-of-freemechanical mechanical arm 230 carries out control manipulation, while the stress of 11 end of force snesor detection intervention pipe can also be fed back to
First handle component 131 and second handle component 132, and to first handle component 131 and the setting feedback of second handle component 132
Power.Can be between the stress that first handle component 131 and the feedback force on second handle component 132 and force snesor detect
It is configured according to preset ratio, which can be configured according to the actual conditions of surgical environments and operator.
It is appreciated that can be behaviour by the cooperation of force snesor and first handle component 131 and second handle component 132
Author experiences the dynamics of digestive endoscopy, and then the operation treated according to force feedback in real time, with reduce to patient need not
Damage and avoid accident.
Meanwhile it is to be appreciated that in the present embodiment, the structure one of first handle component 131 and second handle component 132
It causes, first handle component 131 is illustrated below, second handle component 132 is referred to following explanation and is configured.
In the present embodiment, first handle component 131 includes installation chassis 133, position adjustment structure 134, intermediate connection
Part 135, attitude regulation structure 136 and operating parts 137, the both ends of position adjustment structure 134 respectively with installation chassis 133 and centre
Connector 135 is rotatablely connected, and the both ends of attitude regulation structure 136 are connect with intermediate connector 135 and operating parts 137 respectively.
Further, in the present embodiment, position adjustment structure 134 includes that the first linking arm 1341, first controls motor
1342, the second linking arm 1343, second control motor 1344, third linking arm 1345 and third control motor 1346；First control
Motor 1342, second processed controls motor 1344 and third control motor 1346 is installed on spaced reciprocally on installation chassis 133, and
First control motor 1342, second controls motor 1344 and third control motor 1346 is electrically connected with control module；First connects
The one end and the first control motor 1342 for connecing arm 1341 are rotatablely connected, and the other end is rotatablely connected with intermediate connector 135；Second connects
The one end and the second control motor 1344 for connecing arm 1343 are rotatablely connected, and the other end is connect with 135 rotating member of intermediate connector；Third
One end of linking arm 1345 is rotatablely connected with third control motor 1346, and the other end is rotatablely connected with intermediate connector 135；Control
Module is additionally operable to control motor 1344 according to stress setting the first control motor 1342, second and third controls the power of motor 1346
Square size.
Further, in the present embodiment, the first linking arm 1341 include the first arm body 1347, first rotating shaft 1348,
Second arm body 1349 and the second shaft 1340, first rotating shaft 1348 and first control the rotation connection of motor 1342 and first rotating shaft
1348 both ends are connect with the first arm body 1347 and the second arm body 1349 respectively, 135 turns of the second shaft 1340 and intermediate connector
The both ends of dynamic connection and the second shaft 1340 are connect with the other end of the first arm body 1347 and the second arm body 1349 respectively.
In the present embodiment, attitude regulation structure 136 includes the first connector 1361, the connection of first motor 1362, second
Part 1363, the second motor 1364, third connector 1365 and third motor 1367；One end and centre of first connector 1361 connect
Fitting 135 connects, and the other end is connect with first motor 1362；The output of one end and first motor 1362 of the second connector 1363
End connection, the other end are connect with the second motor 1364；One end of third connector 1365 and the output end of the second motor 1364 connect
It connects, the other end is connect with third motor 1367, and operating parts 137 is connect with the output end of third motor 1367；Control module is also used
According to stress setting first motor 1362, the torque size of the second motor 1364 and third motor 1367.
It is appreciated that the first linking arm 1341, the second linking arm 1343 and third linking arm 1345 are parallel with one another three
A degree of freedom can realize the adjustment to mechanical arm position；First connector 1361, the second connector 1363 and third connector
1365 be the three degree of freedom being serially connected, and can realize the adjustment to mechanical arm posture and position.
In the present embodiment, first motor 1362, the second motor 1364, third motor 1367, first control motor 1342,
Second control motor 1344 and third control motor 1346 are torque motor, while being configured to torque motor and can make behaviour
Author has prestressing force when in use, and then the stress that force snesor detects is fed back to operator.
In the present embodiment, the rotation direction of the output end of first motor 1362, the second motor 1364 output end turn
The rotation direction three of the output end of dynamic direction and third motor 1367 is mutually perpendicular to.
In the present embodiment, terminal body 110 is provided with supporting rack 112, and between supporting rack 112 and terminal body 110
It is provided with space 113, control handle 130 is located in space 113.
In the present embodiment, terminal body 110 is additionally provided with multiple castors.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of endoscopic surgery tow-armed robot is used for robot system, the robot system includes control terminal, feature
It is, the endoscopic surgery tow-armed robot includes robot body, the first multi-degree-of-freemechanical mechanical arm, the second multi freedom degree mechanical
Arm send mirror structure and holds mirror structure；
The robot body includes supportive body and mounting body, and the mounting body is rotatablely connected with the supportive body,
First multi-degree-of-freemechanical mechanical arm and second multi-degree-of-freemechanical mechanical arm are respectively arranged in the mounting body, described to send
Mirror structure setting is installed on institute in the end of first multi-degree-of-freemechanical mechanical arm far from the mounting body, the mirror structure of holding
End of second multi-degree-of-freemechanical mechanical arm far from the mounting body is stated, the mirror structure of holding is described for fixing digestive endoscopy
Send mirror structure for driving the intervention pipe of the digestive endoscopy to move；
First multi-degree-of-freemechanical mechanical arm and second multi-degree-of-freemechanical mechanical arm are used to and the control terminal communication link
It connects, to control first multi-degree-of-freemechanical mechanical arm and second multi-degree-of-freemechanical mechanical arm fortune respectively by the control terminal
It is dynamic；
The mounting body is used to communicate to connect with the control terminal, to control the mounting body by the control terminal
It is rotated relative to the supportive body.
2. endoscopic surgery tow-armed robot according to claim 1, which is characterized in that the endoscopic surgery tow-armed robot
Further include force snesor, the force snesor is set to the end of the intervention pipe and is electrically connected with the control terminal；It is described
Force snesor is used to detect the stress of the intervention tube end, and by the stress transfer to the control terminal.
3. endoscopic surgery tow-armed robot according to claim 1, which is characterized in that the endoscopic surgery tow-armed robot
Further include vision module, the vision module is installed in the mounting body and for being communicated to connect with the control terminal；
The vision module is used to detect the action message of first multi-degree-of-freemechanical mechanical arm and second multi-degree-of-freemechanical mechanical arm,
And the action message is transmitted to the control terminal.
4. a kind of robot system is used for digestive endoscopy interventional procedure, which is characterized in that the robot system includes control terminal
With the endoscopic surgery tow-armed robot as described in any one of claim 1-3, the control terminal is respectively with described first
Multi-degree-of-freemechanical mechanical arm, second multi-degree-of-freemechanical mechanical arm and mounting body communication connection.
5. robot system according to claim 4, which is characterized in that the control terminal includes terminal body, display
Equipment, control handle, control pedal and control module；
The display equipment includes the first display and second display, first display and the second display with
The terminal body flexible connection, first display and the second display are electrically connected with the control module；
The endoscopic surgery tow-armed robot further includes vision module, the vision module be installed in the mounting body and for
The control terminal communication connection；The vision module is for detecting first multi-degree-of-freemechanical mechanical arm and described more than second certainly
It is transmitted to the control module by the action message of degree mechanical arm, and by the action message, the control module is used for basis
The action message controls the display content of first display and the second display；
The control handle includes first handle component and second handle component, the first handle component and the second handle
Component connect with the terminal body and is electrically connected with the control module, and the first handle component is for generating first
First control instruction is simultaneously transmitted to the control module by control instruction, and the second handle component is for generating the second control
System instructs and second control instruction is transmitted to the control module；
The control pedal connect with the terminal body and is electrically connected with the control module, and the control pedal is for generating
The third control instruction is simultaneously transmitted to the control module by third control instruction；
For being connect with the robot communication, the control module is additionally operable to be referred to according to first control control module
It enables and controls the first multi-degree-of-freemechanical mechanical arm movement, the control module is additionally operable to control institute according to second control instruction
The movement of the second multi-degree-of-freemechanical mechanical arm is stated, the control module is additionally operable to control the installation master according to the third control instruction
Body is rotated relative to the supportive body.
6. robot system according to claim 5, which is characterized in that the endoscopic surgery tow-armed robot further includes power
Sensor, the force snesor are set to the end of the intervention pipe and are electrically connected with the control terminal；The force snesor
Stress for detecting the intervention tube end, and by the stress transfer to the control module, the control module is also used
In the feedback force that the first handle component and the second handle component are arranged according to the stress.
7. robot system according to claim 6, which is characterized in that the first handle component include installation chassis,
Position adjustment structure, intermediate connector, attitude regulation structure and operating parts, the both ends of the position adjustment structure respectively with it is described
Installation chassis and intermediate connector rotation connection, the both ends of the attitude regulation structure respectively with the intermediate connector and
The operating parts connection.
8. robot system according to claim 7, which is characterized in that the position adjustment structure includes the first connection
Arm, the first control motor, the second linking arm, the second control motor, third linking arm and third control motor；First control
Motor, the second control motor and third control motor are installed on spaced reciprocally on the installation chassis, and described
First control motor, the second control motor and third control motor are electrically connected with the control module；Described
One end of one linking arm controls motor rotation connection with described first, and the other end is rotatablely connected with the intermediate connector；It is described
One end of second linking arm controls motor rotation connection with described second, and the other end is connect with the intermediate connector rotating member；
One end of the third linking arm connects with third control motor rotation connection, the other end with intermediate connector rotation
It connects；The control module is additionally operable to according to stress setting the first control motor, the second control motor and described
Third controls the torque size of motor.
9. robot system according to claim 8, which is characterized in that first linking arm includes the first arm body, the
One shaft, the second arm body and the second shaft, the first rotating shaft with it is described first control motor rotation connection and it is first turn described
The both ends of axis are connect with the first arm body and the second arm body respectively, and second shaft is rotated with the intermediate connector
The both ends of connection and second shaft are connect with the other end of the first arm body and the second arm body respectively.
10. robot system according to claim 7, which is characterized in that the attitude regulation structure includes the first connection
Part, first motor, the second connector, the second motor, third connector and third motor；One end of first connector and institute
Intermediate connector connection is stated, the other end is connect with the first motor；One end of second connector and the first motor
Output end connection, the other end connect with second motor；One end of the third connector is defeated with second motor
Outlet connects, and the other end is connect with the third motor, and the operating parts is connect with the output end of the third motor；The control
The torque that molding block is additionally operable to be arranged according to the stress first motor, second motor and the third motor is big
It is small.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810604249.1A CN108670415A (en) | 2018-06-11 | 2018-06-11 | Endoscopic surgery tow-armed robot and robot system |
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| CN201810604249.1A CN108670415A (en) | 2018-06-11 | 2018-06-11 | Endoscopic surgery tow-armed robot and robot system |
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Cited By (1)
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|---|---|---|---|---|
| WO2022110312A1 (en) * | 2020-11-30 | 2022-06-02 | 中国科学院沈阳自动化研究所 | Flexible endoscope control robot |
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Effective date of registration: 20190723 Address after: 215000 A326, No. 150 Ren'ai Road, Dushu Lake Higher Education Area, Suzhou Industrial Park, Jiangsu Province Applicant after: Suzhou Shang Xian medical robot technology Limited by Share Ltd Address before: The innovation road of Shenyang city Liaoning province 110000 Hunnan District No. 153-5 (1) Applicant before: SHENYANG SHANGXIAN MINIMALLY INVASIVE MEDICAL DEVICES CO., LTD. |