CN102058433A - Motion input device for robot-assisted minimally invasive surgery - Google Patents
Motion input device for robot-assisted minimally invasive surgery Download PDFInfo
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- CN102058433A CN102058433A CN2010105898484A CN201010589848A CN102058433A CN 102058433 A CN102058433 A CN 102058433A CN 2010105898484 A CN2010105898484 A CN 2010105898484A CN 201010589848 A CN201010589848 A CN 201010589848A CN 102058433 A CN102058433 A CN 102058433A
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Abstract
The invention discloses a motion input device for a robot-assisted minimally invasive surgery, comprising a main hand seat and a joint I bracket, wherein the lower part of the joint I bracket is rotationally connected with the main hand seat; a support platform is arranged on the joint I bracket through a rotary pair; a rotary motion axis of the support platform on the joint I bracket and the rotary motion axis of the joint I bracket on the main hand seat are perpendicular to each other; three branched chains with same structures are symmetrically and uniformly arranged between the support platform and an operating platform which is parallel to the support platform; each branched chain comprises a connecting rod I and a connecting rod II, wherein one ends of the connecting rods I and one ends of the connecting rods II are connected with each other through rotary pairs, the other ends of the connecting rods I are connected with the support platform through the rotary pairs, and the other ends of the connecting rods II are connected with the operating platform through the rotary pairs; the rotary pairs connecting the parts of the branched chains are parallel to each other; and the operating platform is rotationally connected with an operating end through the rotary pair. The motion input device is consistent with the traditional minimally invasive surgery in motion mode, thereby shortening the training cycle of doctors and reducing the training difficulty of the doctors.
Description
Technical field
The present invention relates to a kind of motion input equipment, particularly relate to a kind of motion input equipment that is used for the auxiliary Minimally Invasive Surgery of robot.
Background technology
Be that the minimally invasive surgery of representative is described as 20th century medical sciencies to one of significant contribution of human civilization with the peritoneoscope, the Minimally Invasive Surgery operation is meant that the doctor utilizes the miniature incision of elongated operation tool by human body surface to be insinuated into the operation that undergos surgery in the body.It is compared with traditional open surgery has advantages such as operative incision is little, amount of bleeding is few, scar after the operation is little, recovery time is fast, and this misery that makes patient suffer significantly reduces; Therefore minimally invasive surgery is widely used in clinical operation.In order further to increase the range of application of this advanced technology, micro-wound operation robot arises at the historic moment.At present, the da Vinci surgical robot system of American I ntuitive Surgical company exploitation has obtained extensive use clinically.The main operation equipment that commercialization can be used as motion input equipment mainly contains the PHANToM series main manipulator of U.S. Sensable company and the Omega series main manipulator of Switzerland ForceDimension work.For the PHANToM system, itself exist system rigidity poor, the defective of aspect such as the force feedback that is provided is limited has limited its range of application; And, but have shortcomings such as the volume that mechanism takies is big, work space is less to the Omega system.In addition, more than two kinds of main manipulators also exist cost an arm and a leg, the problem of aspect such as technical monopoly.Therefore China still is in the starting stage in the research in this field, and developing the novel main manipulator system that a cover has independent intellectual property right has very important meaning to filling up the blank of China in this field.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, provide a kind of and can shorten training cycle and difficulty and make the doctor who is familiar with the robot manipulation can also keep a kind of motion input equipment that is used for the auxiliary Minimally Invasive Surgery of robot of traditional Minimally Invasive Surgery motor habit.
A kind of motion input equipment that is used for the auxiliary Minimally Invasive Surgery of robot of the present invention, it comprises main hands seat, the joint I frame that its underpart and described main hands seat are rotatedly connected by revolute, support platform is installed on the I frame of joint by revolute, support platform is in the setting that is perpendicular to one another with the axis that rotatablely moves of joint I frame on main hands seat of the axis that rotatablely moves on the I frame of joint, with the line of centres of support platform and operating platform as axis of symmetry, article three, the side chain axial symmetry that structure is identical evenly is arranged on support platform and parallels between the operating platform of setting with described support platform, each side chain is made up of by connecting rod I and the connecting rod II that revolute is connected with each other an end, the other end of connecting rod I links to each other by revolute with support platform, the other end of connecting rod II is linked to each other with operating platform by revolute, the described revolute that connects the side chain each several part is arranged in parallel, and is connected with the operating side by what revolute was rotated on described operating platform.
Outstanding advantage of the present invention is:
1. the present invention can be as the main manipulator of master-slave minimally-invasive surgery robot, and its forms of motion is consistent with traditional less invasive techniques, therefore can shorten the cycle and the training difficulty of training of doctors;
2. motion input equipment of the present invention can make the doctor when carrying out robotic assisted surgery, keeps the motor habit of traditional less invasive techniques;
3. all motions of mechanism all realize having the motion flexible characteristic by rotary joint;
4. the present invention can also be used as surgical simulation input equipment, is used for the operating technology of training doctor's tradition Minimally Invasive Surgery;
5. the present invention can also be used as universal motion input equipment, is applied in any master-slave mode robot as main manipulator.
Description of drawings
Fig. 1 is the sketch map of Minimally Invasive Surgery operation;
Fig. 2 is a kind of overall structure sketch map that is used for the motion input equipment of auxiliary Minimally Invasive Surgery of the present invention;
What Fig. 3 described is a kind of a kind of operating grip form that is used for the motion input equipment of auxiliary Minimally Invasive Surgery of the present invention;
What Fig. 4 described is a kind of Three Degree Of Freedom wrist shape that is used for the motion input equipment of auxiliary Minimally Invasive Surgery of the present invention.
Wherein:
1-master's hands seat 2-joint I frame 3-support platform 4-side chain
4a-connecting rod I 4b-connecting rod II 5-operating platform 6-operating side
6-1-handle form I 6-2-wrist shape handle 6-21-wrist rotary joint I
6-22-wrist rotary joint II 6-23-wrist rotary joint III
700-operation tool 701-stabs card 702-weaving 703-yaw motion
704-spinning motion 705-turnover motion 706-body lumen wall
The specific embodiment
Below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described further:
Figure 1 shows that the sketch map of Minimally Invasive Surgery operation.Operation tool 700 enters the operation that undergos surgery in the body by the stamp card 701 that is installed on the body lumen wall 706.Because this restriction, the mass motion of operation tool 700 is confined to 4, that is: weaving 702, yaw motion 703, spinning motion 704 and turnover motion 705.Motion input equipment of the present invention can keep the motor pattern of this Minimally Invasive Surgery when being used for the auxiliary Minimally Invasive Surgery of robot.
Of the present invention a kind of motion input equipment that is used for the auxiliary Minimally Invasive Surgery of robot as shown in Figure 2, it comprises main hands seat 1, the joint I frame 2 that its underpart and described main hands seat 1 are rotatedly connected by revolute, support platform 3 is installed on the joint I frame 2 by revolute, support platform 3 is in the setting that is perpendicular to one another with the axis that rotatablely moves of joint I frame on main hands seat 1 of the axis that rotatablely moves on the I frame of joint, with the line of centres of support platform 3 and operating platform 5 as axis of symmetry, article three, the side chain axial symmetry that structure is identical evenly is arranged on support platform and parallels between the operating platform of setting with described support platform, and each side chain is made up of by connecting rod I4a and the connecting rod II4b that revolute is connected with each other an end.The other end of connecting rod I4a and support platform 3 link to each other by revolute, and the other end of connecting rod II4b is linked to each other with operating platform 5 by revolute, and the described revolute that connects the side chain each several part is arranged in parallel.Under the constraint of three side chains 4, operating platform 5 only exists along the single-degree-of-freedom rectilinear motion of the line of centres 8 of operating platform 5 and support platform 3 with respect to support platform 3.Can be on operating platform 5 by the revolute operating side 6 that is rotatably connected.Revolute in this device all can adopt the hinge arrangement of axle and bearing formation, can certainly adopt existing other can realize the version that rotatablely moves.
Can be on operating platform 5 by the revolute operating side 6 that is rotatably connected, this revolute rotation axis can be perpendicular to operating platform 5.This device is caught operating side 6 input motions by user in use.By the three-dimensional force feedback main manipulator (patent No.: 200810154364.X) disclosed version as the patent assisted minimally invasive surgical operation robot, point of addition pick off or drive motors in the rotary joint that each revolute of described motion input equipment constitutes, then this device can reflect operator's operation information, and be converted into signal, be used for robot is controlled, as the various motions that realize operation tool as shown in Figure 1 or be used for operation is simulated.
Figure 4 shows that the wrist shape wrist 6-2 with three degree of freedom, three wrist rotary joint 6-21,6-22 and 6-23 that it is intersected at a point by rotation axis form.Other forms of operating side 6 do not repeat them here.
Below schematically the present invention and embodiment thereof are described, this description does not have restricted, and shown in the accompanying drawing is one of embodiments of the present invention also, and practical structure is not limited thereto.So; if those skilled in the art is enlightened by it; under the situation that does not break away from the invention aim; the transmission, driving device and the connected mode that adopt other form all should belong to protection scope of the present invention without creationary design frame mode and the embodiment similar to this technical scheme.
Claims (1)
1. motion input equipment that is used for the auxiliary Minimally Invasive Surgery of robot, it is characterized in that: it comprises main hands seat, the joint I frame that its underpart and described main hands seat are rotatedly connected by revolute, support platform is installed on the I frame of joint by revolute, support platform is in the setting that is perpendicular to one another with the axis that rotatablely moves of joint I frame on main hands seat of the axis that rotatablely moves on the I frame of joint, with the line of centres of support platform and operating platform as axis of symmetry, article three, the side chain axial symmetry that structure is identical evenly is arranged on support platform and parallels between the operating platform of setting with described support platform, each side chain is made up of by connecting rod I and the connecting rod II that revolute is connected with each other an end, the other end of connecting rod I links to each other by revolute with support platform, the other end of connecting rod II is linked to each other with operating platform by revolute, the described revolute that connects the side chain each several part is arranged in parallel, and is connected with the operating side by what revolute was rotated on described operating platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2010105898484A CN102058433A (en) | 2010-12-15 | 2010-12-15 | Motion input device for robot-assisted minimally invasive surgery |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010105898484A CN102058433A (en) | 2010-12-15 | 2010-12-15 | Motion input device for robot-assisted minimally invasive surgery |
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| CN102058433A true CN102058433A (en) | 2011-05-18 |
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| CN2010105898484A Pending CN102058433A (en) | 2010-12-15 | 2010-12-15 | Motion input device for robot-assisted minimally invasive surgery |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102785240A (en) * | 2012-08-21 | 2012-11-21 | 深圳先进技术研究院 | Series-parallel pressing robot |
| CN102973317A (en) * | 2011-09-05 | 2013-03-20 | 周宁新 | Arrangement structure for mechanical arm of minimally invasive surgery robot |
| CN105263435A (en) * | 2013-04-08 | 2016-01-20 | 库卡罗伯特有限公司 | Medical robot |
| CN107157584A (en) * | 2016-11-25 | 2017-09-15 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of clamping device applied to laparoscopic surgery robot main manipulator |
| CN114052930A (en) * | 2021-11-25 | 2022-02-18 | 天津大学医疗机器人与智能系统研究院 | Main operating hand |
| CN114748170A (en) * | 2022-04-01 | 2022-07-15 | 天津大学 | Main manipulator for endoscope type minimally invasive surgery robot |
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| CN2936617Y (en) * | 2006-07-31 | 2007-08-22 | 华南理工大学 | One-dimension translation, two-dimension rotation three-freedom parallel robot mechanism |
| CN101390763A (en) * | 2008-10-31 | 2009-03-25 | 天津大学 | Robot main body system for assisting micro-wound surgical operation |
| CN101411632A (en) * | 2008-12-03 | 2009-04-22 | 天津大学 | Robot active bracket for assisting minimally invasive surgical operation |
| CN101444431A (en) * | 2008-12-23 | 2009-06-03 | 天津大学 | Three dimensional force feedback main operator assisting minimally invasive surgery robot |
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2010
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Patent Citations (4)
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| CN2936617Y (en) * | 2006-07-31 | 2007-08-22 | 华南理工大学 | One-dimension translation, two-dimension rotation three-freedom parallel robot mechanism |
| CN101390763A (en) * | 2008-10-31 | 2009-03-25 | 天津大学 | Robot main body system for assisting micro-wound surgical operation |
| CN101411632A (en) * | 2008-12-03 | 2009-04-22 | 天津大学 | Robot active bracket for assisting minimally invasive surgical operation |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102973317A (en) * | 2011-09-05 | 2013-03-20 | 周宁新 | Arrangement structure for mechanical arm of minimally invasive surgery robot |
| CN102785240A (en) * | 2012-08-21 | 2012-11-21 | 深圳先进技术研究院 | Series-parallel pressing robot |
| CN102785240B (en) * | 2012-08-21 | 2015-06-10 | 深圳先进技术研究院 | Series-parallel pressing robot |
| CN105263435A (en) * | 2013-04-08 | 2016-01-20 | 库卡罗伯特有限公司 | Medical robot |
| CN105263435B (en) * | 2013-04-08 | 2018-10-19 | 库卡罗伯特有限公司 | Medical robot |
| CN107157584A (en) * | 2016-11-25 | 2017-09-15 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of clamping device applied to laparoscopic surgery robot main manipulator |
| CN107157584B (en) * | 2016-11-25 | 2024-04-05 | 哈尔滨思哲睿智能医疗设备股份有限公司 | Clamping device applied to main manipulator of laparoscopic surgery robot |
| CN114052930A (en) * | 2021-11-25 | 2022-02-18 | 天津大学医疗机器人与智能系统研究院 | Main operating hand |
| CN114052930B (en) * | 2021-11-25 | 2023-08-22 | 天津大学医疗机器人与智能系统研究院 | Main operation hand |
| CN114748170A (en) * | 2022-04-01 | 2022-07-15 | 天津大学 | Main manipulator for endoscope type minimally invasive surgery robot |
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