CN209611307U - A kind of tubulose Combined operation robot - Google Patents
A kind of tubulose Combined operation robot Download PDFInfo
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- CN209611307U CN209611307U CN201821605177.4U CN201821605177U CN209611307U CN 209611307 U CN209611307 U CN 209611307U CN 201821605177 U CN201821605177 U CN 201821605177U CN 209611307 U CN209611307 U CN 209611307U
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Abstract
The utility model provides a kind of tubulose Combined operation robot, including instrument fixing piece, tube channel and driving assembly；Instrument fixing piece passes through tube channel, and tube channel is engaged with driving assembly；Tube channel can axially connect with another tube channel and be applied in combination.The utility model provides the control device based on identical structural principle simultaneously.The utility model axially connects the tube channel of different driving function, simplifies the structure of operating robot and control device, increases mobility of the operating robot in small space.The control device of the utility model is identical with executive device structure, tactile to feed back to operator, improves the portability and operability of operating robot, is common to soft lens robotic surgery and intervention robotic surgery.
Description
Technical field
The utility model relates to a kind of surgical robot systems, and in particular to a kind of tubulose Combined operation robot.
Background technique
Leonardo da Vinci robot is that commercialization and the most successful minimally invasive robot of clinicization, the robot use in the world at present
Open loop parallelogram telecentricity positioning mechanism, parallel four sides mechanism is realized by synchronous steel belt constraint, the shortcomings that the mechanism
It is to need to find telecentricity anchor point by device in assembly.Passive arm is integrated using the mechanical arm based on mobile platform, this
The shortcomings that mode is that entire mechanical system volume is larger, and needing passive arm tool for the ease of preoperative adjustment, there are four freedom degrees, is led
Cause cantilever beam longer, so that robot overall stiffness reduces.Patent wall for Leonardo da Vinci's minimally invasive robot in this respect simultaneously
It builds and considers, and the driving of most of Surgical instrument is often to make to drive in this way by motor direct-drive now
Motor is arranged in the top of platform, causes top-heavy, the driving moment in joint is increased, so that mechanical arm system is easy to produce
Vibration.
With the significant improvement of Medical Devices, soft lens operation and intervention operation are quickly grown.But it is most outer in operation
Section doctor, which must stand, completes operation, and human body attitude can cause doctor's skeletal diseases, while the sense tired out that doctor stands for a long time
It can cause the adverse effect to patient.What is more, and when needing guide of fluoroscopy, there are ray exposures by doctor.
The surgical operation of robot assisted have the characteristics that it is significant minimally invasive, since 2012, ELMED (Ankara,
Turkey Flexible ureteroscope robot operation bench) is already functioned as.The domestic patent No. 201310342896.7 discloses a kind of soft lens
Operation aided arm prosthesis system, including the manipulator for keeping five maintenance and operation of soft lens dynamic, for overcoming doctor in the prior art
By when radiating larger, soft lens position inaccurate, surgical the problems such as the shake of hand.Domestic patent No. 201010535544.X
Interventional surgery robotic catheter push-pull device at fixed and conduit twisting device are individually disclosed with 201010220614.2.With
It will have a direct impact on surgical quality in the factors such as doctor's fatigue and hand tremor of reduction, and reduce doctor's radiation.But above equipment without
Method is common to soft lens operation and intervention operation, forces hospital that must purchase two kinds of equipment, causes additional spending and the wasting of resources.
Therefore researching and developing novel minimally invasive robot mechanical arm system has important meaning to the development of China minimally invasive robot field
Justice.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the utility model provides a kind of tubulose Combined hand
Soft lens operation can be completed in art robot, and achievable intervention is performed the operation, and can also further be completed with after other combination of drive means
More complicated Robot-assisted transperitoneal laparoscopic operation.
Technical solution: in order to solve the above technical problems, tubulose Combined operation provided by the utility model robot, including
Instrument fixing piece, tube channel and drive seat；The instrument fixing piece passes through tube channel；The tube channel passes through drive seat；It is described
There is driving assembly in drive seat, the driving component is for driving tube channel and/or instrument kinematic mount.The instrument is fixed
Part is also possible to the body of rod or tube body that surgical instrument inherently possesses.
Specifically, the driving component includes actuator, driving motor and drive seat, and the driving motor is connected to driving
On seat, the actuator and driving motor are directly connected to or are coupled by transmission device.
Specifically, the tube channel is divided into rotating channel pipe and two kinds of advance and retreat tube channel, and of the same race or xenogenesis tube channel can
To be mutually detachably connected.It is described be detachably connected be threadedly coupled or lock connection or grafting.
Specifically, driving instrument fixing piece is installed along the driving group of tube channel axial-rotation on the rotating channel pipe
Part.
Specifically, the driving group that driving instrument fixing piece is axially retreated along tube channel is installed in the advance and retreat tube channel
Part.
Specifically, the instrument fixing piece is cylindrical type or tubular type, and the connection operation of instrument fixing piece one end executes
Instrument, the instrument fixing piece is retreated for driving operation execution instrument completion and spinning movement.
Specifically, the operation executes the conduit holder and adjusting knob that instrument includes tubular type；The adjusting knob
It is connected on conduit holder, for adjusting elasticity when clamping conduit.
Specifically, it includes clamper and adjusting buckle that the operation, which executes instrument,；The adjusting is snapped connection in clamper
On, for adjusting elasticity when clamping endoscope.It further include soft lens driver plate servo on clamper when endoscope is soft lens
Device.
The control device of a kind of tubulose Combined operation robot, it is characterised in that: be in tubulose combined type described above
In the structure basis of operating robot, using the driving assembly of inductive component replacement tubulose Combined operation robot, and logical
Road inside pipe wall is limited a part.The inductive component is used to incude the movement of instrument fixing piece opposing channel pipe.
A kind of tubulose Combined operation robot of tactile feedback, it is characterised in that: combined in tubulose described above
Further include inductor in the driving component in the structure basis of formula operating robot, actuator and inductor be directly connected to or
Coupled by transmission device, the rotary motion of the inductor induction actuator.
A kind of pedestal of tubulose Combined operation robot is used to support fixed tubulose Combined operation robot, special
Sign is: the pedestal includes mobile station, and mobile station is equipped at least one installation position, for installing above-described tubulose group
Box-like operating robot.
Specifically, the mobile station bottom is equipped with universal wheel, and mobile station bottom is equipped with jack device or adjustable height
The fixing leg of degree rises mobile station in surgical procedure, guarantee mobile station can up and down, left and right and move forward and backward；Wherein at least 2
A universal wheel is equipped with brake block, for fixing location of mobile station.
The utility model has the advantages that
1. portable.Fabricated structure, each component can independent packed and transported, it is small in size, it is light-weight, it is easy to carry and
Assembling.It can also be applied in field rescue, space flight and aviation.
2. convenient for batch production.Since control device is identical with executive device structure, when use, can be replaced mutually.Production
When can share same production line, same packaging and same storage.New component can be replaced after damage at any time, can also be made
For medical disposable material use.
3. structure is simple, installation, debugging are simple.The component for needing to control is few, and system is simple, breaks down few, maintenance is held
Easily.Good economy performance reduces the financial burden of patient.
4. compatible strong.Traditional operation robot is only used for specifically performing the operation, and the utility model can according to need spirit
Soft lens operation, and achievable intervention operation can be completed in composite configuration living, can also further with it is complete after other combination of drive means
It performs the operation at more complicated Robot-assisted transperitoneal laparoscopic.
5. possessing haptic feedback system.
The technical issues of except the solution of above-described the utility model, constitutes the technical characteristic of technical solution and by these
Outside advantage brought by the technical characteristic of technical solution.To keep the utility model aim, technical scheme and beneficial effects more clear
Chu, other technologies problem, the technology that the following will be combined with the drawings in the embodiments of the present invention, can solve the utility model
The advantages of other technical characteristics for including in scheme and these technical characteristics are brought does apparent, complete description, it is clear that
The embodiments are a part of the embodiments of the present invention rather than all of the embodiments.Usually retouched in attached drawing here
The component of the utility model embodiment stated and shown can be arranged and be designed with a variety of different configurations.Therefore, right below
The detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit claimed invention
Range, but it is merely representative of the selected embodiment of the utility model.Based on the embodiments of the present invention, the common skill in this field
Art personnel every other embodiment obtained without creative efforts belongs to the utility model protection
Range.
Detailed description of the invention
Schematic diagram when Fig. 1 is the use of the tubulose Combined operation robot of the utility model embodiment one；
Fig. 2 is the drive seat structural schematic diagram for driving instrument fixing piece to retreat；
Fig. 3 is the drive seat structural schematic diagram for driving the rotation of instrument fixing piece；
Fig. 4 is the schematic diagram that two kinds of drive seats are connected using coupling tube；
Fig. 5 is the schematic diagram that two kinds of drive seats are directly connected to；
Fig. 6 is driving assembly structural schematic diagram；
Fig. 7 is the structural schematic diagram of inductive component；
Fig. 8 is the schematic diagram that soft lens is controlled in soft lens operation；
Fig. 9 is the structural schematic diagram of control device；
Figure 10 is the schematic diagram that embodiment two controls conduit in intervention operation.
Figure 11 is the structural schematic diagram that two kinds of drive seats are not directly connected in embodiment three.
Figure 12 is the schematic diagram that operating robot is run in embodiment three.
Wherein: 1- operation executes instrument, 2- drive seat, 3- support device, 4- instrument fixing piece, 5- driving assembly, 6- sense
Answer component, 7- striking gear, 8- control device；
11- clamper, 12- adjust buckle, and 13- soft lens dialing device, 14- soft lens, 15- conduit holder, 16-, which is adjusted, to be revolved
Button, 17- conduit；
21- tube channel, 22- tube channel notch, the channel 23- tube faucet, 24- tube channel socket, 25- conical pipeline neck, 26-
Coupling tube, 27- drive seat shell, 28- pipeline fixture nut；
31- pedestal, 32- idler wheel, 33- fixed frame, 34- horizontal support bar, 35- vertical support rod, 36- vertical supporting bar,
37- fixture nut, 38- sliding groove；
41- instrument fixed link, 42-L type bar, 43- stringer locating part, 44- go in ring locating part
51- actuator, 52- driving motor, 53- transmission device and circuit board, 54- actuator fixed frame；
61- induction pieces, 62- inductor, 63- incude roller bearing, 64- reaction magnetic ring, 65- Hall sensor and circuit board, 66-
Shell；
71- stayed pole, 72- soft lens poke rod；
81- manual control sense base, 82- manual control soft lens dialing device, 83- hand lever, 84- display, 85- console bracket, 86-
Seat.
Specific embodiment
Embodiment one
The structure of the tubulose Combined operation robot of the utility model is as shown in Figure 1, support device is moved to operating table
Side, fixed idler whell 32.The position of horizontal support bar 34, vertical support rod 35 and vertical supporting bar 36 is adjusted to suitable position, is used
Fixture nut 37 is fixed in sliding groove 38.Operating robot includes instrument fixing piece 4 and drive seat 2, drive seat 2 and vertical
It is connected and fixed to support rod 36.
As shown in Fig. 2, being equipped with driving assembly 5 and inductive component 6 in drive seat shell 27, there is Fixing clamp-seat to fix.
This be for drive instrument fixing piece 4 along tube channel 21 inner wall move forward or back tube channel, below all referred to as into
Move back tube channel.The driving direction of all actuators 51 is all parallel with the long axis direction of tube channel 21 in drive seat 2.As shown in figure 3,
This is the tube channel for driving instrument fixing piece 4 to rotate along the inner wall of tube channel 21, is all referred to as rotating channel below
Pipe.The driving direction of all actuators 51 in drive seat 2 is all vertical with the long axis direction of tube channel 21.
Tube channel 21 passes through drive seat shell 27 and is connected thereto, and tube channel 21 is located at the duct wall in drive seat shell 27
There is tube channel notch 22, actuator 51 passes through instrument fixing piece 4 of the tube channel notch 22 inside tube channel 21 and contacts and drive
It is moved, and induction pieces 61 pass through instrument fixing piece 4 of the tube channel notch 22 inside tube channel 21 and contact and incude its movement.It is logical
The shape of deferent notch 22 with need across actuator 51 and the shapes of induction pieces 61 be consistent.
21 both ends of tube channel are respectively threaded bellmouth 23 and socket 24.The internal diameter and socket of 23 inner thread of bellmouth
The outer diameter of the screw thread of 23 outer walls is identical.The bellmouth 24 of one tube channel 21 can be connect with the socket 23 of another tube channel.
In one embodiment, the both ends of tube channel 21 are respectively the socket of band clasp and the bellmouth with card slot, bellmouth inner wall card slot
Internal diameter is identical as the outer diameter of the snap ring of receptacle wall.
As shown in figure 4, multiple tube channels 21 can tandem be driven across its internal instrument fixing piece 4 jointly and move.
The identical tube channel of driving direction can be directly connected to, and the different tube channel of driving direction needs to be connected with coupling tube 26.Transition
The outer diameter of 26 pipe shaft of pipe is slightly less than the internal diameter of rotating channel pipe, and rotating channel pipe and the driving backspin in actuator 51 can be inserted
Turn.There are 25 transition of conical pipeline neck, the fixed spiral shell of the socket conduit connectable of coupling tube 26 between the bellmouth and pipe shaft of coupling tube 26
Mother 28.Conical pipeline neck 25 and the outer diameter of pipeline fixture nut 28 be respectively greater than tube channel 21 bellmouth 23 and socket 24 it is interior
Diameter, therefore position-limiting action can be played, limitation coupling tube 26 can only be rotated and cannot be moved forward and backward.
The bellmouth of coupling tube 26 is connected on the socket 24 of previous tube channel 21, can drive tube channel 21 and drive seat
Shell 27 rotates together.Since actuator 51 is closely connect with instrument fixing piece 4 and generates certain frictional force, coupling tube
26 can also carry instrument fixing piece 4 secretly indirectly rotates together.Instrument fixing piece 4 is also retreated under the driving of actuator 51 simultaneously
Movement.In one embodiment, in order to reinforce the strength that entrainment instrument fixing piece 4 rotates together indirectly of coupling tube 26, in channel
It is equipped with the limiting slot parallel with long axis direction in pipe 21, it is prominent that the limit parallel with long axis direction is equipped on instrument fixing piece 4
Item agrees with above-mentioned limiting slot, to ensure that instrument fixing piece 4 also can accurately rotate while retreating.
As shown in figure 5, there is no notch 22, the outer wall and driving assembly of tube channel 21 in tube channel 21 in rotating channel pipe
5 engagements, can rotate in drive seat 27.Coupling tube 26 is eliminated, the bellmouth of advance and retreat tube channel 21 can be with rotating channel pipe
Socket connection.The conical pipeline neck of tube channel 21 and the diameter of pipeline fixture nut 28 are both greater than the logical of drive seat shell 27
Hole, can be used as locating part limiting channel pipe 21 can only rotate in drive seat and cannot advance.
As shown in fig. 6, driving assembly 5 is driven by driving motor 52, power is reached by actuator 51 by transmission device 53.
Actuator 51 is roller bearing spline structure in the present embodiment, is fixed on drive seat shell 27 by actuator fixed frame 54.At one
In non-limiting embodiments, driving assembly 5 is increased again on the basis of example 1, to increase driving force,
As shown in fig. 7, induction pieces are general track-ball structure in the present embodiment, the rotations of induction pieces 61 can dynamic answer
Roller bearing 63 rotates, and the reaction magnetic ring 64 being mounted on induction roller bearing 63 can rotate with it.The hall sensing of installation on circuit boards
Device 65 senses the variation of 64 upper magnetic pole of reaction magnetic ring, generates pulse signal, is sent to robot control by signal transmission system
In device processed.
In a non-limiting embodiments, inductive component 6 is identical as 5 structure of driving assembly, and difference is driving motor 52
Changing rotary encoder into.When driving motor 52 rotates in driving assembly 5, the rotary coding of corresponding position in inductive component 6
Device also proportionally rotates.
As shown in figure 8, soft lens 14 used in the present embodiment is the Flexible ureteroscope of Olympus company production, soft lens 14
Handle is snapped into clamper 11 and adjusts between buckle 12, adjusts buckle 12 and is connected on clamper 11, soft for adjusting clamping
Elasticity when mirror 14.
Clamper 11 is mounted on one end of l-shaped rod 42, and the other end of l-shaped rod 42 is connect with instrument fixing piece 4.L-shaped rod 42
Effect be make soft lens axis of rotation and instrument fixing piece 4 axis of rotation on same straight line.
Soft lens dialing device 13,13 structure of soft lens dialing device and above-mentioned 2 structure phase of drive seat are also connected on clamper 11
Together, internal installation stayed pole 71, stayed pole 71 are connected with the poke rod 72 of soft lens.Soft lens dialing device 13 can stir soft lens poke rod
72, control the bending motion of 14 end of soft lens.
As shown in figure 9, the control device of tubulose Combined operation robot is mounted on console bracket 85, console branch
Frame 85 is similar to 3 structure of support device of tubulose Combined operation robot.The structure phase of manual sense base 81 and drive seat 2
Seemingly, manual dialing device 82 is identical as 13 structure of soft lens dialing device, and difference is, each drive of tubulose Combined operation robot
Dynamic component 5 is inductive component 6 in the corresponding position of control device, and the inductive component 6 of each of control device is in tubulose
The corresponding position of Combined operation robot is driving assembly 5.The structure of hand lever 83 is identical as instrument fixing piece 4.
The soft lens of operator's operation simulation, soft lens drive hand lever 83 to move, and movement is broken down into advance and rotary motion,
It drives the induction pieces 61 of different location in manual sense base 81 to rotate, generates electric signal.Electric signal transmits in one's hands through signal processing
Art robot, the driving assembly 5 for controlling corresponding position move, and drive instrument fixing piece 4 to do and similarly move with operator's hand.
Operator operates soft lens poke rod 72 and deflects certain angle, and stayed pole 71 is driven to produce in manual soft lens dialing device 82
Raw certain displacement, drives internal induction pieces 61 to rotate, and generates electric signal.Electric signal is transmitted to surgical machine through signal processing
People, control striking gear 7 in corresponding position driving assembly 5 move, drive operating robot on soft lens poke rod 72 do and
Operator's hand similarly moves.
In another embodiment, driving assembly 5 and induction are all installed simultaneously in operating robot and its control device
Component 6, each of control device driving assembly 5 are inductive component 6 in the corresponding position of operating robot, control dress
The inductive component 6 each of set is driving assembly 5 in the corresponding position of operating robot.
When the movement of the synchronous execution operator of operating robot, the movement of instrument fixing piece 4 is acquired also by inductive component 6
Displacement is transmitted to control device through signal processing, and the internal corresponding driving assembly 5 of control moves, and hand lever 83 is driven to move.By
It is held in the hand in hand lever 83 at this time by operator, therefore the tactile of true touching tissue can be generated to operator with force feedback
And experience the size of reaction force.
In another embodiment, same driving assembly 5 all is installed simultaneously in operating robot and its control device,
Inductive component is installed in the driving assembly, can recorde the movement of the driving assembly.In operating robot and control device
Driving assembly is controlled by the signal that the inductive component of other side acquires mutually, using the size and degree of delay of software adjustment signal.This
Sample keeps operating robot and control device structure even more like, simplifies production, use and maintenance process.
The various instruments that other operations need, laparoscopic camera, clamper, suction tube, actuator etc., Ke Yian
Mounted in the terminal part of the instrument fixing piece 4 for being operated.Surgical instrument with the cylindrical type body of rod can also generation
For instrument fixing piece 4 directly through drive seat 2.
Embodiment two
The present embodiment is as shown in Figure 10, is simplification on the basis of embodiment one.The present embodiment is improved for intervening operation
What place was to clamp on clamper 11 is conduit holder 15, cancels the striking gear 7 in embodiment one.Conduit holder
It is pipeline, conduit 17 is conditioned knob 16 after penetrating fixed.The other structures of operating robot are identical as embodiment one.This reality
The control device for applying operating robot in example is basically the same as the first embodiment, and difference place is to eliminate manual dialing device 82.
Embodiment three
As shown in figure 11, the present embodiment is similar to one structure of embodiment, and difference is to rotate drive seat and advance and retreat drive seat
It is not directly connected to.Advance and retreat drive seat is connect with vertical supporting bar 36, there is the stringer locating part 43 of strip on instrument fixing piece 4,
There is the notch agreed with therewith in tube channel.As shown in figure 12, stringer locating part 43 limit instrument fixing piece 4 in tube channel 21 only
It can move forward or back.One end of instrument fixing piece 4 is equipped with the locating part 44 that goes in ring, and limitation rotation drive seat can only be in belt locating part
It is rotated between 44 and tube channel conical pipeline neck.42 one end of l-shaped rod and rotation drive seat cage connection, the other end and clamper 11
Connection.
Example IV
The present embodiment is similar to one structure of embodiment, and difference is, operating robot is not used to drive in the present embodiment
The drive seat instead electronic strut that instrument fixing piece 4 is retreated and driving stayed pole 71 is retreated.Electronic strut, including
Screw rod, screw rod outer tube, spring, inner sleeve and outer sleeve, each sleeve are solid with one end of screw rod or one end of screw rod outer tube respectively
Fixed connection, spring pocket are set to outside screw rod and screw rod outer tube, and the both ends of spring are individually fixed in the end in two sleeves, screw rod with
Screw rod outer tube matches, and screw rod rotates in the cavity of screw rod outer tube and does straight reciprocating motion, two sleeve one end sockets, screw rod
Doing straight reciprocating motion drives inner sleeve to slide in outer sleeve.Outer sleeve penetrates in the drive seat 2 of driving rotation.
Operating robot control device is similar to embodiment one in the present embodiment, and difference is, operation control device acquisition
The moving back and forth signal controlled device of the hand lever 83 and stayed pole 71 that arrive is handled, and is converted to the electronic strut advancing and retreating movement of control
Signal.
Embodiment five
The robot controller of the station control device and control robot arm running that are connect with station, and grasp
Make platform control device to connect with robot controller.In use, robot arm is controlled by station, the instruction of station by
Station control device is assigned, and is reached by RTC instant messaging from end robot controller, robot controller reception refers to
It would be communicated to robot arm after order to be acted accordingly.The status summary of robot arm to robot controller, by
Robot controller is communicated by RTC reaches station control device, while the status information and machine of station control device
The status information aggregation process of device human arm reaches station, and feeds back to staff.
Be provided on station control device for monitoring personnel whether monitoring device in place and for showing behaviour
Make the display of the status information of platform and robot.Monitoring device, then can be according to monitoring result when monitoring abnormal condition
Braking or power operation are carried out, is carried out with the safety for ensuring to perform the operation.Preferably, above-mentioned monitoring device includes the photography of 3D body-sensing
Machine (Kinect) and floor push can carry out robot arm when 3D body-sensing video camera monitors staff in place
Partial function operation, when staff steps on floor push at this time, robot arm just can start operation；In staff
When not in place, and floor push is not stepped on, robot arm braking, to avoid the running of operation interface caused by improper factor
Caused by robot arm it is mobile.
It is provided on robot controller for recording the inductive component 6 for executing instrument fixing piece 4,6 energy of inductive component
Enough records execute the displacement of instrument fixing piece 4, to record the motion profile for executing instrument fixing piece 4.Pass through inductive component 6
Whether the motion path that the information of record can judge automatically execution instrument fixing piece 4 meets operation demand, holds when with multiple
When row instrument fixing piece 4, it can monitor whether each motion path for executing instrument fixing piece 4 can interfere, thus weight
It newly plans new motion path, guarantees the safety for executing the movement of instrument fixing piece 4.
The motor driver and reaction machine for obtaining motor status information are also provided on robot controller
The dynamic braking device of people's state, when monitoring danger signal, dynamic braking device automatic braking.Above-mentioned motor driver
It can be used cooperatively, be deposited when abnormal in the motion path of encoders monitor to robot arm, encoder can with encoder
Information is fed back into motor driver, and motor driver driving motor is made to start new operating path.
Further include having motor communication device on above-mentioned robot controller, is filled with real-time monitoring motor and motor driven
It sets, the feedback states between motor driver and robot arm, and monitoring information is fed back into staff, event occurring
In the case where barrier, motor communication device can carry out Brake lamp operation according to monitoring information, to guarantee the normal of operating robot
Running, or fault message is fed back into staff, enable the quick handling failure of staff.
In addition, station control device is for recorder human arm parameter information and/or the number of station parameter information
According to logging modle, in order to search fault message.Specifically, the data recordin module include running log and control hand data,
For example in control hand data, staff's operation handle is passed to robot arm end by station controller, makes machine
Human arm movement, information when robot arm acts pass through encoder, motor driver feedback to station controller, shape
At feedback mechanism, if there is inconsistent, system adjust automatically with encoder or motor data in operation data, if not adjusting,
It then breaks down, needs to check data and tracing for troubles place in control hand data.
Preferably, being provided with the emergency stop switch for emergency braking on station control device with right in the event of a failure
Robot carries out emergency braking, and then reduces loss caused by failure.
In one embodiment of the application, monitoring is also respectively provided on robot controller and station control device
Voltage and the first ups power (uninterruptible power supply) and the second ups power for protecting circuit.Size and power grid for monitoring voltage
Stable case enable above-mentioned ups power and in the event of a power failure, guarantee the smooth progress of operation, and will monitor resulting
Information feeds back to staff by station controller.
Each position circuit shape of monitor controller is also respectively provided on robot controller and station control device
The the first power monitor and second source power monitor of state, the voltage of circuit, current values are in preset parameter range
It is then worked normally when interior, when being more than parameter preset, then faulty presence is braked immediately or powered off.
Display robot arm working condition is also respectively provided on robot controller and station control device
Second status indicator lamp of first state indicator light and display operation platform working condition.Above-mentioned indicator light can by robotic end and
The working condition of station is most intuitively presented to staff, and staff passes through inspection according to the display situation of indicator light
Error code can quickly find out guilty culprit.Specifically, above-mentioned indicator light can specifically be provided with it is normal, await orders, warn
Announcement, danger etc. indicate situation, so as to the use state of personnel monitoring robot.
Control device provided by the embodiment of the utility model specifically includes station control device and robot control dress
It sets, is controlled with the state respectively to station and robot arm, and station control device and robot controller
Connection, thus realize between the two information connection and feedback, enable staff operation end to robot arm into
Row operation is to implement to perform the operation.In surgical procedure, monitoring device can real-time monitoring staff whether in place, to judge whether
It is braked, effectively avoids the running of robot arm under the maloperation of part；Display can be by station and robot
All status informations show and be presented directly to staff, enable staff fast and accurately to find to ask existing for system
Topic, and then quickly solve the problems, such as, guarantee the safety of operation；In addition, the encoder on robot controller is able to record motor
Turnning circle fortune can be judged automatically by the information system of encoder feedback to record the motion profile of mechanical arm
Dynamic path whether there is problem, and judge whether interfere when the movement of multiple robot arms, can according to its feedback information
Ensure the more accurate trouble free service of each robot arm, and then improves the safety of operation.
The control device provided based on the above embodiment, the utility model embodiment also provide a kind of operating robot, packet
Station, robot arm are included, and the control device connecting respectively with station and robot arm；And control device is above-mentioned
The control device of any one.For the structure of the rest part of above-mentioned operating robot, the prior art is referred to, it is no longer superfluous herein
It states.
Since the operating robot has above-mentioned control device, to a certain extent, which also has
Higher safety in utilization.
In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, term " is set
Set ", " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection,
Or it is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, intermediary can also be passed through
It is indirectly connected, can be the connection inside two elements.For the ordinary skill in the art, it can be managed with concrete condition
Solve the concrete meaning of above-mentioned term in the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, or
The utility model product using when the orientation or positional relationship usually put, be merely for convenience of description the utility model and letter
Change description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construct and
Operation, therefore should not be understood as limiting the present invention.In addition, term " first ", " second ", " third " etc. are only used for area
Divide description, is not understood to indicate or imply relative importance.
Above description is merely a prefered embodiment of the utility model, is not intended to limit the utility model, for
For those skilled in the art, various modifications and changes may be made to the present invention, in the principles of the present invention and technology
In the range of thought, a variety of variations, modifications, equivalent substitutions and improvements etc. are carried out to these embodiments, should be included in this reality
Within novel protection scope.
Claims (8)
1. a kind of tubulose Combined operation robot, it is characterised in that: including instrument fixing piece, tube channel and drive seat；It is described
Instrument fixing piece passes through tube channel；The tube channel passes through drive seat；There are driving assembly, the driving component in the drive seat
For driving tube channel and/or instrument kinematic mount.
2. tubulose Combined operation according to claim 1 robot, it is characterised in that: the driving component includes driving
Part, driving motor, the driving motor are connected in drive seat, and the actuator and driving motor are directly connected to or pass through transmission
Device connection.
3. tubulose Combined operation according to claim 1 robot, it is characterised in that: the tube channel be include rotation
Tube channel, the rotating channel pipe install the first driving assembly, and the first driving assembly driving instrument fixing piece is along tube channel
Axial-rotation.
4. tubulose Combined operation according to claim 1 robot, it is characterised in that: the tube channel is advance and retreat channel
Pipe, the advance and retreat tube channel are equipped with the second driving assembly, and the second driving assembly driving instrument fixing piece is along tube channel axis
To advance and retreat.
5. tubulose Combined operation according to claim 1 robot, it is characterised in that: the tube channel can be by removable
Unloading connection, axially connection is combined with another tube channel.
6. tubulose Combined operation according to claim 1 robot, it is characterised in that: the instrument fixing piece is cylinder
Or round tube, the connection operation of instrument fixing piece one end execute instrument, the instrument fixing piece is for driving operation to execute instrument
Complete advance and retreat and spinning movement.
7. tubulose Combined operation according to claim 6 robot, it is characterised in that: the operation executes instrument and includes
The conduit holder and adjusting knob of tubular type；The adjusting knob is connected on conduit holder, for adjusting clamping conduit
When elasticity.
8. tubulose Combined operation according to claim 6 robot, it is characterised in that: the operation executes instrument and includes
Clamper and adjusting buckle；The adjusting snaps connection on clamper, for adjusting elasticity when clamping endoscope.
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| CN201821605177.4U CN209611307U (en) | 2018-09-30 | 2018-09-30 | A kind of tubulose Combined operation robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821605177.4U CN209611307U (en) | 2018-09-30 | 2018-09-30 | A kind of tubulose Combined operation robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111513853A (en) * | 2020-05-11 | 2020-08-11 | 绍兴梅奥心磁医疗科技有限公司 | Catheter manipulation device and system |
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2018
- 2018-09-30 CN CN201821605177.4U patent/CN209611307U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111513853A (en) * | 2020-05-11 | 2020-08-11 | 绍兴梅奥心磁医疗科技有限公司 | Catheter manipulation device and system |
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