CN107361848A - The joystick of executing agency - Google Patents
The joystick of executing agency Download PDFInfo
- Publication number
- CN107361848A CN107361848A CN201710642865.1A CN201710642865A CN107361848A CN 107361848 A CN107361848 A CN 107361848A CN 201710642865 A CN201710642865 A CN 201710642865A CN 107361848 A CN107361848 A CN 107361848A
- Authority
- CN
- China
- Prior art keywords
- executing agency
- joystick
- clutch
- mounting seat
- position adjustment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The present invention relates to a kind of joystick of executing agency, it is related to technical field of robot control, the sense of reality for not having to grasp for solving operator present in prior art when being operated is from making the relatively low technical problem of operability.The joystick of the executing agency of the present invention, including installation chassis, hand held position adjustment part and connecting rod, by setting hand held position adjustment part, it is set to be grasped by operator, allow the operator to really experience the various information in surgical procedure, the grasping sense of operator is improved, so that the operability of joystick is stronger；In addition, locus and attitude information and the clamping subtended angle information of hand held position adjustment part are gathered by sensor, to control executing agency to make corresponding action, the problems such as making operator not have to directly operate executing agency, therefore the hand fatigue that operator's long-time operation is brought can be avoided.
Description
Technical field
The present invention relates to technical field of robot control, a kind of particularly joystick of executing agency.
Background technology
Microsurgery is the operation that doctor completes under the microscope.Because the object of such operation is mostly small
Nerve and blood vessel, therefore such operation technique needs high performance accuracy and action stability, and also the surgical work time is very long,
Doctor can be made to feel very tired out, it is possible that the trembleing of doctor's hand, fatigue, the feedback of myoneural, cause action not
Accurately, the pain of patient is increased, reduces the success rate of operation.In this case, surgical operation robot arises at the historic moment,
It can provide visualization guiding in operation or monitoring service function, auxiliary doctor complete the robot of operation technique in high quality
Integrated system.It improves the quality of operation, and the defects of can overcome traditional Minimally Invasive Surgery, widens the scope of Minimally Invasive Surgery,
Surgery Simulation can also be carried out.
The main hand of force feedback (i.e. joystick) is the key equipment of master-slave telecontrol operation robot system, it be from hand (i.e.
Manipulator) carry out real time kinematics control input equipment, when main hand provides the interaction force between hand and circumstances not known
To operator, main hand then turns into a kind of power and feels perception/interface equipment.The end of current most of main hand of medical robot is set mostly
Lip pencil is counted into, operator does not have the sense of reality grasped when being operated, makes operability relatively low.
The content of the invention
The present invention provides a kind of joystick of executing agency, is being carried out for solving operator present in prior art
The sense of reality for not having to grasp during operation is from making the relatively low technical problem of operability.
The present invention provides a kind of joystick of executing agency, including：
For the installation chassis being fixed on operating desk；
At least there is the hand held position adjustment part of one degree of freedom, be provided with the hand held position adjustment part
For gathering its positional information and the positional information being sent to the sensor of central control board, central control board is according to institute's rheme
Confidence breath control executing agency acts；And
For connecting the connecting rod of the installation chassis and the hand held position adjustment part.
In one embodiment, the hand held position adjustment part includes disk, bindiny mechanism and Handleset,
One end of the bindiny mechanism is connected by the first rotary shaft with the disk, and the other end of the bindiny mechanism passes through second turn
Moving axis is rotatablely connected with the Handleset.
In one embodiment, the Handleset includes mounting seat and handle and trigger, and the handle is fixed and set
Put in the mounting seat, the trigger is connected by the 3rd rotary shaft with the mounting seat, and the mounting seat passes through described
Two rotary shafts are rotatablely connected with the bindiny mechanism.
In one embodiment, the side of the Handleset is respectively arranged with cam mechanism and damping element；
The both ends of the cam mechanism are connected with the end of the 3rd rotary shaft and the mounting seat respectively；
The damping element is set in the 3rd rotary shaft.
In one embodiment, the sensor include be arranged at the mounting seat sidepiece second displacement sensor and
It is arranged at the first anterior displacement transducer of the mounting seat；
The end set being connected on the cam mechanism with the mounting seat has second clutch, second rotary shaft
End set has first clutch；
First displacement transducer electrically connects with the first clutch, the second displacement sensor and described second
Clutch electrically connects.
In one embodiment, the sensor also includes the triple motion sensing being arranged in the bindiny mechanism
Device；
The end set of first rotary shaft has the 3rd clutch, the triple motion sensor and the 3rd clutch
Device electrically connects.
In one embodiment, one end in the bindiny mechanism close to the Handleset is provided with the 4th rotating shaft,
The end set of 4th rotating shaft has the 4th clutch, and the 4th clutch is connected with the 4th displacement transducer.
In one embodiment, the axis of the axis of the disk and the installation chassis overlaps or parallel
In one embodiment, the cone boss for being connected with the connecting rod, institute are provided with the installation chassis
The quantity for stating cone boss is 3, and circumference of 3 cone bosses along the installation chassis is uniformly distributed.
In one embodiment, it is provided with lightening hole on the installation chassis.
Compared with prior art, the advantage of the invention is that：By setting hand held position adjustment part, operated it
Person grasps, and allows the operator to really experience the various information in surgical procedure, improves the grasping sense of operator, from
And make the operability of joystick stronger；In addition, by sensor gather hand held position adjustment part locus with
Attitude information and clamping subtended angle information, to control executing agency to make corresponding action, make operator not have to directly to execution machine
Structure is operated, therefore the problems such as the hand fatigue that operator's long-time operation is brought can be avoided.
Brief description of the drawings
The invention will be described in more detail below based on embodiments and refering to the accompanying drawings.
Fig. 1 is the dimensional structure diagram of the joystick of executing agency in one embodiment of the present of invention；
Fig. 2 is the dimensional structure diagram of hand held position adjustment part shown in Fig. 1；
Fig. 3 is the front view of hand held position adjustment part shown in Fig. 1；
Fig. 4 is the dimensional structure diagram of Handleset shown in Fig. 2；
Fig. 5 is the dimensional structure diagram of cam mechanism shown in Fig. 4；
Fig. 6 is the dimensional structure diagram of installation chassis in an alternative embodiment of the invention.
Reference：
1- installation chassis；2- hand held position adjustment parts；3- connecting rods；
4- sliding blocks；5- clutch packs；6- sensors；
11- cone bosses；12- lightening holes；21- disks；
22- bindiny mechanisms；23- Handlesets；24- cam mechanisms；
25- damping elements；41- sliding block highest planes；42- sliding block k levels；
43- sliding blocks inclined-plane；51- first clutches；52- second clutches；
The clutches of 53- the 3rd；The clutches of 54- the 4th；The displacement transducers of 61- first；
62- second displacement sensors；63- triple motion sensors；The displacement transducers of 64- the 4th；
The rotary shafts of 221- first；The rotary shafts of 222- second；The rotary shafts of 223- the 4th；
224-L shape fixed mounts；The connecting plates of 225- first；The connecting plates of 226- second；
231- mounting seats；232- handles；233- triggers；
The rotary shafts of 234- the 3rd；241- cams；242- adapting rods；
243- coupling rods；The mounting grooves of 244- first；The mounting grooves of 245- second；
246- hocks；247- connecting shafts.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in figure 1, the invention provides a kind of joystick of executing agency, it includes being used to be fixed on operating desk
Installation chassis 1, at least there is the hand held position adjustment part 2 of one degree of freedom, and for connecting installation chassis 1 and hand
The connecting rod 3 of drot gfasplng position adjustment part 2.
Specifically, it is provided with hand held position adjustment part 2 for gathering its positional information and by the positional information
The sensor 6 of central control board is sent to, central control board controls executing agency to act according to positional information；Pass through sensing
Device is capable of locus and attitude information and the clamping subtended angle information of acquisition control handle, to control executing agency to make accordingly
Action, operator is set not have to directly operate executing agency, therefore the hand that operator's long-time operation can be avoided to bring
The problems such as portion's fatigue.
In one embodiment, as shown in Figures 2 and 3, hand held position adjustment part 2 includes disk 21, bindiny mechanism 22
And Handleset 23, one end of bindiny mechanism 22 are connected by the first rotary shaft 221 with disk 21, bindiny mechanism 22 it is another
End is rotatablely connected by the second rotary shaft 222 with Handleset 23.Bindiny mechanism 22 can rotate with Handleset 23 with first
The axis of axle 221 is that rotary shaft is rotated；Handleset 23 can be revolved using the axis of the second rotary shaft 222 as rotary shaft
Turn.
As shown in figure 3, the axis of the second rotary shaft 222 and the first rotary shaft 221 is mutually perpendicular to.Therefore, bindiny mechanism 22
Connection between Handleset 23 uses such a way：Bindiny mechanism 22 includes L-shaped fixed mount 224, the first connecting plate 225
With the second connecting plate 226, wherein L-shaped fixed mount 224 includes horizontal segment and vertical section, and the both ends of its horizontal segment connect with first respectively
Fishplate bar 225 is connected with the second connecting plate 226, and the first rotary shaft 222 is located at the first connecting plate 225 and the second connecting plate 226
Between；Its vertical section is provided with mounting hole, the length direction extension of the axis of mounting hole along the horizontal segment of L-shaped fixed mount 224；Second
Rotary shaft 222 is arranged in mounting hole.
In addition, in order to improve aesthetic property, the outside of bindiny mechanism 22 and Handleset 23 can be provided with shell, such as scheme
Shown in 1.
As shown in Figures 2 and 4, Handleset 23 includes mounting seat 231 and handle 232 and trigger 233, handle 232 are fixed
It is arranged in mounting seat 231, trigger 233 is connected by the 3rd rotary shaft 234 with mounting seat 231, mounting seat 231 and bindiny mechanism
22 rotation connections.
The side of Handleset 23 is respectively arranged with cam mechanism 24 and damping element 25；The both ends difference of cam mechanism 24
It is connected with the end of the 3rd rotary shaft 234 and mounting seat 231；As shown in figure 5, cam mechanism 24 includes cam 241, adapting rod
242 and coupling rod 243, one end being relatively large in diameter of cam 241 be provided with connecting shaft 247, pass through connecting shaft 247 and mounting seat
231 are connected；Radially direction offers the first mounting groove 244 for less one end of diameter of cam 241, for placing adapting rod
242；One end of coupling rod 243 is provided with the hole being connected with the 3rd rotary shaft 234, and its other end is provided with along coupling rod 243
Second mounting groove 245 of length direction extension, one end of adapting rod 242 are arranged in the first mounting groove 244, adapting rod 242
The other end is arranged in the second mounting groove 245, make cam mechanism 24 with the 3rd rotate chase after 234 and trigger 233 connect, and
Produce linkage.
Also, the side on coupling rod 243 close to adapting rod 242 is provided with hock 246.
In addition, as shown in figure 5, breaker slot 235 is provided with the 3rd rotary shaft 234, for limiting trigger 233 and the 3rd turn
Relative motion between moving axis 234, therefore trigger 233 can only move together with cam mechanism 24, make the motion of trigger 233
Information can be correctly monitored.
Damping element 25 is set in the 3rd rotary shaft 234.In the present embodiment, damping element 25 is torque spring, is
Cocking 231 provides certain damping force, operator is produced real impression.
Sensor 4 is also included before being arranged at the second displacement sensor 62 of the sidepiece of mounting seat 231 and being arranged at mounting seat 231
First displacement transducer 61 in portion；The end set being connected on cam mechanism 24 with mounting seat 231 has a second clutch 52, and second
The end set of rotary shaft 222 has first clutch 51；First displacement transducer 61 electrically connects with first clutch 51, second
Displacement sensor 62 electrically connects with second clutch 52.As shown in Fig. 2 the first displacement transducer 61 is fixed on the first installing plate,
And it is connected by the first installing plate with mounting seat 231；Second displacement sensor 62 is fixed on the second installing plate, and passes through second
Installing plate is connected with mounting seat 231；In addition, the first displacement transducer 61 is located near first clutch 51, the first displacement passes
Sensor 61 is located near first clutch 51, to monitor the movable information of Handleset 23.
In the present embodiment, sensor 4 also includes the triple motion sensor 63 being arranged in bindiny mechanism 22；First turn
The end set of moving axis 221 has the 3rd clutch 53, and triple motion sensor 63 electrically connects with the 3rd clutch 53.Such as Fig. 3 institutes
Show, triple motion sensor 63 is fixed on the 3rd installing plate, the both ends of the 3rd installing plate respectively with the first connecting plate 225 and
Two connecting plates 226 are fixedly connected, and triple motion sensor 63 is located near the 3rd clutch 53, to monitor bindiny mechanism 22
Movable information.
In the present embodiment, as shown in figure 3, sensor 4 also includes the 4th displacement sensing being arranged in bindiny mechanism 22
Device 64；The end set of first rotary shaft 221 has the 4th clutch 54, and the 4th displacement transducer 64 is electrically connected with the 4th clutch 54
Connect.Similarly, the 4th displacement transducer 64 is fixed on the 4th installing plate, the both ends of the 4th installing plate respectively with the first connecting plate
225 are fixedly connected with the second connecting plate 226, the 4th displacement transducer 64 is located near the 4th clutch 54, to monitor hand
The movable information of handle component 23.
Above-mentioned first clutch 51, second clutch 52, the 3rd clutch 53 and the 4th clutch 54 can be selected and encourage
Magnet clutch；First displacement transducer 61, second displacement sensor 62, the displacement transducer 64 of triple motion sensor 63 and the 4th
For absolute type angular displacement sensor.
In addition, the axis of the axis of disk 21 and installation chassis 1 overlaps or parallel.When disk 21 is with the axle of installation chassis 1
Line is after rotary shaft rotates to another posture, the diameter parallel of its axis and installation chassis 1, to make its simple to operate.
In addition, in order to facilitate hidden connection hand held position adjustment part 2 and each steel wire of central control board, in connecting rod 3
Be internally provided with passage.
The quantity of connecting rod 3 is 3, the cone boss 11 for being connected with connecting rod 3 is provided with installation chassis 1, taper is convex
The quantity of platform 11 is 3, and circumference of 3 cone bosses 11 along installation chassis 1 is uniformly distributed.I.e. 3 formation of connecting rods 3 one are equilateral
Triangle, stablize whole joystick firm, be easy to operation.
In order to mitigate the weight of whole equipment, lightening hole 12 is also provided with installation chassis 1.Lightening hole 12 is positioned at installation
The center on chassis 1, its axis overlap with the axis of installation chassis 1, it had both been maintained the rigidity of installation chassis 1, and having to rise
To the effect of loss of weight.
Alternatively, the mode that the connected mode of installation chassis 1 and operating desk can be connected by screw bolts, to ensure its connection
Reliability.
Alternatively, the sliding block 4 of three or more than three is provided with for convenient disassembly, at the top edges of installation chassis 1.Such as
Shown in Fig. 6, the sliding block 4 is wedge shaped or taper, and the sophisticated direction of sliding block 4 is identical, i.e., towards clockwise or the inverse time
Pin direction.
Further, in order to ensure the reliability being connected together between installation chassis 1 and operating desk 1, in the sliding block 4 most
High point is formed with sliding block highest plane 41, and (i.e. the minimum point of sliding block 4) is minimum formed with sliding block between two adjacent sliding blocks 4
Plane 42, formed with sliding block inclined-plane 43 between the peak of sliding block 4 and minimum point；It is corresponding to be, on operating desk
Corresponding slideway is provided with, similarly, the peak of slideway is formed with slideway highest plane, and the minimum point of slideway is formed with slideway
K level, formed with slide ramp between the peak of slideway and minimum point.When rotation installation chassis 1 is installed,
Sliding block inclined-plane 43 coordinates with slide ramp produces slip, until sliding block highest plane 41 is just aligned with slideway highest plane and phase
Mutually contact, sliding block k level 42 are also just aligned and contacted with each other with slideway k level, due to sliding block highest plane 41 just
Well by slideway highest plane vertically block, and sliding block k level 42 is just vertically kept off by slideway k level
Only, therefore sliding block 4 can not skid off from slideway, and locking can be achieved with operating desk in installation chassis 1.
Although by reference to preferred embodiment, invention has been described, is not departing from the situation of the scope of the present invention
Under, various improvement can be carried out to it and part therein can be replaced with equivalent.Especially, as long as being rushed in the absence of structure
Prominent, the every technical characteristic being previously mentioned in each embodiment can combine in any way.The invention is not limited in text
Disclosed in specific embodiment, but all technical schemes including falling within the scope of the appended claims.
Claims (10)
- A kind of 1. joystick of executing agency, it is characterised in that including：For the installation chassis (1) being fixed on operating desk；At least there is the hand held position adjustment part (2) of one degree of freedom, set in the hand held position adjustment part (2) Have for gathering its positional information and the positional information being sent to the sensor (6) of central control board, central control board according to The positional information control executing agency acts；AndFor connecting the connecting rod (3) of the installation chassis (1) and the hand held position adjustment part (2).
- 2. the joystick of executing agency according to claim 1, it is characterised in that the hand held position adjustment part (2) disk (21), bindiny mechanism (22) and Handleset (23) are included, one end of the bindiny mechanism (22) passes through first turn Moving axis (221) is connected with the disk (21), the other end of the bindiny mechanism (22) by the second rotary shaft (222) with it is described Handleset (23) is rotatablely connected.
- 3. the joystick of executing agency according to claim 2, it is characterised in that the Handleset (23) includes peace Dress seat (231) and handle (232) and trigger (233), the handle (232) are fixedly installed in the mounting seat (231), institute State trigger (233) by the 3rd rotary shaft (234) with the mounting seat (231) to be connected, the mounting seat (231) passes through described Two rotary shafts (222) are rotatablely connected with the bindiny mechanism (22).
- 4. the joystick of executing agency according to claim 3, it is characterised in that the side of the Handleset (23) It is respectively arranged with cam mechanism (24) and damping element (25)；The both ends of the cam mechanism (24) end with the 3rd rotary shaft (234) and the mounting seat (231) respectively It is connected；The damping element (25) is set on the 3rd rotary shaft (234).
- 5. the joystick of executing agency according to claim 4, it is characterised in that the sensor (4) includes setting In the mounting seat (231) sidepiece second displacement sensor (62) and be arranged at anterior first of the mounting seat (231) Displacement sensor (61)；The end set being connected on the cam mechanism (24) with the mounting seat (231) has a second clutch (52), and described The end set of two rotary shafts (222) has first clutch (51)；First displacement transducer (61) electrically connects with the first clutch (51), the second displacement sensor (62) with Second clutch (52) electrical connection.
- 6. the joystick of the executing agency according to Claims 2 or 3, it is characterised in that the sensor (4) also includes The triple motion sensor (63) being arranged in the bindiny mechanism (22)；The end set of first rotary shaft (221) has the 3rd clutch (53), the triple motion sensor (63) and institute State the electrical connection of the 3rd clutch (53).
- 7. the joystick of the executing agency according to Claims 2 or 3, it is characterised in that on the bindiny mechanism (22) One end of the Handleset (23) is provided with the 4th rotating shaft (223), the end set of the 4th rotating shaft (223) has the Four clutches (54), the 4th clutch (54) are connected with the 4th displacement transducer (64).
- 8. the joystick of executing agency according to claim 1 or 2, it is characterised in that the axis of the disk (21) Overlapped with the axis of the installation chassis (1) or parallel.
- 9. the joystick of executing agency according to claim 1 or 2, it is characterised in that set on the installation chassis (1) The cone boss (11) for being connected with the connecting rod (3) is equipped with, the quantity of the cone boss (11) is 3,3 cones Circumference of the shape boss (11) along the installation chassis (1) is uniformly distributed.
- 10. the joystick of executing agency according to claim 1 or 2, it is characterised in that on the installation chassis (1) It is provided with lightening hole (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710642865.1A CN107361848B (en) | 2017-07-31 | 2017-07-31 | Control handle of actuating mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710642865.1A CN107361848B (en) | 2017-07-31 | 2017-07-31 | Control handle of actuating mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107361848A true CN107361848A (en) | 2017-11-21 |
| CN107361848B CN107361848B (en) | 2023-05-16 |
Family
ID=60309076
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710642865.1A Active CN107361848B (en) | 2017-07-31 | 2017-07-31 | Control handle of actuating mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN107361848B (en) |
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| CN107981930A (en) * | 2017-12-27 | 2018-05-04 | 廖容 | A kind of surgical operation robot hand instructs sensing device |
| CN107997823A (en) * | 2017-12-27 | 2018-05-08 | 廖容 | A kind of surgical operation robot operating side Force sensor |
| CN108042205A (en) * | 2017-12-27 | 2018-05-18 | 廖容 | A kind of surgical operation robot swings instruction sensing device |
| WO2022161497A1 (en) * | 2021-02-01 | 2022-08-04 | 武汉联影智融医疗科技有限公司 | Master hand control apparatus for use in robot and robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107981930A (en) * | 2017-12-27 | 2018-05-04 | 廖容 | A kind of surgical operation robot hand instructs sensing device |
| CN107997823A (en) * | 2017-12-27 | 2018-05-08 | 廖容 | A kind of surgical operation robot operating side Force sensor |
| CN108042205A (en) * | 2017-12-27 | 2018-05-18 | 廖容 | A kind of surgical operation robot swings instruction sensing device |
| WO2022161497A1 (en) * | 2021-02-01 | 2022-08-04 | 武汉联影智融医疗科技有限公司 | Master hand control apparatus for use in robot and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107361848B (en) | 2023-05-16 |
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