CN107981930B - Hand instruction sensing device of surgical operation robot - Google Patents
Hand instruction sensing device of surgical operation robot Download PDFInfo
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- CN107981930B CN107981930B CN201711450091.9A CN201711450091A CN107981930B CN 107981930 B CN107981930 B CN 107981930B CN 201711450091 A CN201711450091 A CN 201711450091A CN 107981930 B CN107981930 B CN 107981930B
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- movable rod
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- gun
- hall sensor
- gun handle
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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
- A61B34/35—Surgical robots for telesurgery
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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
- A61B34/70—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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
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- Biomedical Technology (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
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- General Health & Medical Sciences (AREA)
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Abstract
The invention discloses a surgical robot hand instruction sensing device, which comprises a movable rod (3) and a gun handle assembly, wherein the gun handle assembly is positioned at the near end of the movable rod and connected with the movable rod for receiving hand instructions, the gun handle assembly comprises a gun handle (1) and a gun body (2), the gun handle can rotate around the gun body along a vertical shaft, and is provided with a Hall sensor for detecting the rotation of the gun handle, so that the surgical robot hand instruction sensing device can be used in minimally invasive surgeries such as neurosurgery, cardiothoracic surgery, cardiovascular surgery, hepatobiliary surgery, gastrointestinal surgery and the like.
Description
Technical Field
The invention relates to a manual sensing device of a surgical robot.
Background
Present teleoperated devices allow for the operator of the physician's console to control the surgical trolley instrumentation and the endoscope in view of the main controller of the da vinci robotic system. The device comprises two main parts, namely a direction platform and a positioning arm, wherein the main direction platform has the functions of rotating the instrument and opening and closing fingers of the instrument; the positioning arm is capable of moving the instrument in a surgical environment. The operation movements from the controller device of da vinci and on the robot arm do not belong to the same mode of operation, and the doctor cannot operate at the doctor's console according to the specific operational requirements of the robot arm.
Disclosure of Invention
In order to solve the problems, the invention discloses a hand command sensing device of a surgical robot, which comprises a movable rod and a gun handle assembly which is positioned at the proximal end of the movable rod and connected with the movable rod for receiving hand commands.
The movable rod of the present invention is usually controlled by an operator such as a doctor, and may be various components capable of controlling the movable rod to move back and forth, but in a medical robot, in order to facilitate the doctor's operation, in a preferred embodiment, the proximal end of the movable rod is a gun handle assembly held by the operator, similar to the gun handle assembly in the existing medical apparatus. While in order to provide more degrees of freedom of detection, in a more preferred embodiment the grip assembly comprises a grip and a grip body, the grip being able to rotate around the grip body along a vertical axis and being provided with hall sensors for detecting its rotation, the doctor can easily manipulate this degree of freedom of rotation without the movable lever being displaced, which is of great importance in the operation of the medical robot, and the doctor should not displace the position significantly during the operation.
As an improvement, the gun handle comprises a trigger and a handle, the trigger rotates around the handle and is provided with a Hall sensor capable of detecting the rotation of the trigger, and during operation, the degree of freedom usually lies in opening and closing an opening structure of an execution end of a distal surgical instrument, such as the opening and closing of an electrocoagulation clamp, so that a doctor looks at a display screen to operate the display screen with a feeling of being personally on the scene, and the doctor can learn and operate the robot more quickly.
As an improvement, the movable rod is provided with a rotary sleeve which can axially rotate relative to the movable rod, and a Hall sensor for detecting the relative rotation of the rotary sleeve is arranged on the movable rod, and the rotary sleeve is mainly used for controlling the far-end long-arm surgical instrument to rotate along the arm shaft.
The movable rod on be equipped with and turn, the restriction movable rod of turning and guarantee that the movable rod moves at least in 1 degree of freedom direction, turn including the interior mounting of fixed movable rod, the movable rod passes interior mounting and can remove along the movable rod direction with interior mounting to be equipped with and detect the hall sensor that should remove, turn still include with interior mounting rotation connection's well revolving part, and be equipped with and detect its pivoted hall sensor. The rotating body comprises an outer rotating part which is rotationally connected with the middle rotating part, the outer rotating part is fixed on an outer fixing device, and the inner fixing part and the outer rotating part comprise 2 rotational degrees of freedom.
The solution to the problem of operating end surgical instruments, which are often used with various rotations of the tissue along the operating end, which are difficult to control at the operating site of the surgeon, is that the rotation of the various intermediate rotating members can be controlled by the outermost rotating member, which is attached to the operating device, during use.
As an improvement, the far end of the movable rod is provided with a movable rod, and gear teeth, a gear and a fixed assembly are distributed on the movable rod along the moving direction; the gear is matched with a gear on the movable rod, the movable rod moves to drive the gear to rotate, and a Hall sensor capable of detecting the rotation of the gear is arranged on the gear; the fixed component is used for fixing the gear and the movable rod. The fixed component is provided with a rod groove (502) positioned at the front end of the movable rod, and a groove for the end part of the movable rod to pass through is arranged in the rod groove, so that the movable rod is axially limited, and the moving stability is improved.
The invention changes the rotation of the Hall sensor on the gear into the moving distance, further detects the axial moving distance of the movable rod, sends corresponding data to the data processing system of the surgical robot, and controls the movement of the far-end execution component such as the electric coagulation forceps, the electric knife, the clip applier and the like.
Meanwhile, the gear and the movable rod are matched through the gear, the stability of the movable rod is improved, and the operation transition of the axial distance of a program is not easy to occur when a doctor operates.
Drawings
FIG. 1 is a schematic structural view of embodiment 1 of the present invention;
FIG. 2 is a schematic structural view of a shaft end piece of embodiment 1;
FIG. 3 is a schematic view of the structure of a grip in accordance with embodiment 1;
fig. 4 is a schematic structural view of a swivel in embodiment 1;
FIG. 5 is a schematic diagram of a portion of a Hall sensor;
the labels in the figure are: the labels in the figure are: 1-gun handle, 101-trigger, 102-handle, 103-transmission rod, 104-rotation seat, 2-gun body, 201-rotation body, 3-movable rod, 303-gear, 4-rotation body, 401-inner fixed piece, 402-middle rotation piece, 402-outer rotation piece, 5-rod end piece, 501-gear, 502-rod groove.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Specific example 1: the invention aims to: to solve the above problems, there is provided a multiple degree of freedom remote operation gun (for convenience of description, the right direction in fig. 1 is X direction, the upward direction is Y direction, and the inward direction perpendicular to the drawing is Z direction), comprising:
the sensor assembly comprises a plurality of Hall sensors, the Hall sensors detect the movement and rotation of the operation cavity, the Hall sensors detect the movement of each rotating or moving part, the types of the Hall sensors and the like are commonly used according to needs, and the requirements can be met;
a handle, said handle comprising a trigger and a handle, said trigger rotating about said handle, said trigger and handle preferably being of a similar construction to the handle of a clip applier or electrocoagulation pliers, wherein the trigger and handle are connected by a drive link, the connection of the drive link and handle being rotatable when the trigger is actuated, the hall sensor being operable to detect this rotation;
the gun body is rotationally connected with the gun handle, the gun body is used for connecting the movable rod with the gun handle, the gun handle and the gun body can rotate around the Y-axis direction within a certain range, and a Hall sensor is arranged for detecting the rotation;
the movable rod and the gun body can rotate in the Y-axis direction,
as an improvement, the movable rod is provided with a rotating body, the rotating body limits the movable rod and ensures that the movable rod moves at least in the direction of 2 degrees of freedom, and under the normal condition, the rotating body is connected with a doctor operating cabin or a fixed part on the control, so that the rotating body plays a role of fixing the operating gun to a certain extent.
As an improvement, the swivel comprises an inner fixed member that fixes the movable rod, the movable rod passing through the inner fixed member and being movable with the inner fixed member in a direction along the movable rod, in which case the inner fixed member is connected to the outside, the movable rod having one degree of freedom of movement.
As a modification, the swivel body and the inner fixed member are rotatably connected to each other, the inner fixed member is rotatable about the intermediate swivel member in the Y-axis or Z-axis direction, in which case the intermediate swivel member is connected to the external device, and the movable rod has one degree of freedom in rotation and one degree of freedom in translation.
As an improvement, the rotating body comprises an outer rotating member which is rotationally connected with a middle rotating member, the inner fixed member and the outer rotating member comprise 2 rotational degrees of freedom, the rotational directions of the inner fixed member and the middle rotating member as well as the middle rotating member and the outer rotating member are not on the same axis, for example, the former is a Y axis, and the latter is a Z axis.
As the improvement, the turn on be equipped with the fixed connection's of turning rod end spare, the movable rod on be equipped with the teeth of a cogwheel, the rod end spare on be equipped with the movable rod on the teeth of a cogwheel complex gear and be equipped with and detect gear pivoted hall sensor, turn into rotary motion with the translational motion of movable rod, can provide the resistance for the translation of movable rod on the one hand, the motion of restriction movable rod, on the other hand improves the detection effect of movable rod displacement.
As an improvement, the rod end piece is provided with a rod groove for the movable rod to pass through, and when the movable rod moves towards the original direction away from the gun handle, the movable rod enters the rod groove.
In the improvement, a rotating body capable of rotating along the direction of the movable rod is arranged in the gun body 2, the rotating body rotates in the X-axis direction, and a sensor is arranged for detecting and sensing.
The operation gun has multiple degrees of freedom for operation, can accurately control surgical accessories such as clamp applying forceps, electric coagulation forceps and the like positioned at the terminal of the mechanical arm, is designed according to the similar structure of the remote accessories, and can facilitate the operation of doctors.
To facilitate an understanding of the present invention, a specific degree of freedom operated teleoperated gun is disclosed, comprising:
the sensor assembly comprises a plurality of Hall sensors, and the Hall sensors detect the movement and rotation of the operating handle;
the gun handle 1, the gun handle 1 comprises a trigger 101 and a handle 102, and the trigger 101 rotates around the handle;
the gun body 2, the gun handle 1 and the gun body 2 are rotationally connected;
and the movable rod 3 is rotatably connected with the gun body 2.
The movable rod 3 is provided with a rotating body 4, and the rotating body 4 limits the movable rod 3 and ensures that the movable rod 3 moves at least in the direction of 2 degrees of freedom.
The swivel 4 comprises an inner fixed part 401 for fixing the movable rod, the movable rod 3 passes through the inner fixed part 401 and can move with the inner fixed part along the direction of the movable rod 3, a middle rotating part 402 is arranged in rotating connection with the inner fixed part 401, an outer rotating part 402 is arranged in rotating connection with the middle rotating part 402, and the inner fixed part and the outer rotating part comprise 2 rotating degrees of freedom.
Be equipped with on 4 and 4 fixed connection's of turning the body rod end piece 5, the movable rod on be equipped with the teeth of a cogwheel, rod end piece 5 on be equipped with the movable rod on the teeth of a cogwheel complex gear 501 and be equipped with and detect gear 501 pivoted hall sensor, rod end piece 5 on be equipped with the pole groove 502 that is used for the movable rod to pass through, when the movable rod moved towards the direction of former leaving the stock, the movable rod got into pole groove 502.
When the movable rod is adjusted, a rotating body 201 which can rotate along the direction of the movable rod is arranged in the gun body 2, the rotating body is preferably a rotating sleeve, and fig. 5 is a schematic diagram of a part of the hall sensor 5.
The product disclosed by the invention can be made of iron, stainless steel and the like under the conventional condition, but the tail end of a robot is influenced by gravity, resistance and the like, and the stability of the product is relatively high, so that the product with high bending strength and other mechanical properties is required, therefore, the invention uses a special copper alloy material which is prepared by vacuum melting of high-purity copper, specifically comprises 100 parts by weight of copper, 2 parts by weight of nickel, 2 parts by weight of zinc, 1 part by weight of tin, 1 part by weight of gallium and 1 part by weight of lead, and is prepared by a conventional vacuum melting technology, and the bending strength can reach over 1200 mpa.
Claims (2)
1. A surgical robot hand instruction sensing device is characterized by comprising a movable rod (3) and a gun handle assembly which is positioned at the proximal end of the movable rod, connected with the movable rod and used for receiving hand instructions, wherein the gun handle assembly comprises a gun handle (1) and a gun body (2), the gun handle can rotate around the gun body along a vertical shaft, and a Hall sensor for detecting the rotation of the gun handle is arranged;
the gun handle (1) comprises a trigger (101) and a handle (102), wherein the trigger (101) rotates around the handle and is provided with a Hall sensor capable of detecting the rotation of the trigger;
the movable rod is provided with a rotary sleeve which can axially rotate relative to the movable rod, and a Hall sensor for detecting the relative rotation of the rotary sleeve;
the movable rod is provided with a rotating body (4), and the rotating body (4) limits the movable rod (3) and ensures that the movable rod (3) moves at least in the direction of 1 degree of freedom;
the swivel (4) comprises an inner fixed part (401) for fixing the movable rod, the movable rod (3) penetrates through the inner fixed part (401) and can move along the direction of the movable rod (3) together with the inner fixed part, and a Hall sensor for detecting the movement is arranged; the rotating body (4) also comprises a middle rotating part (402) which is rotationally connected with the inner fixed part (401), and is provided with a Hall sensor for detecting the rotation of the middle rotating part; the rotating body (4) comprises an outer rotating part (402) rotationally connected with the middle rotating part (402), the outer rotating part is fixed on an outer fixing device, and the inner fixing part and the outer rotating part comprise 2 rotational degrees of freedom;
the cross section of the middle rotating piece is of a rectangular structure, the middle of the rectangular structure is a hollow part, the inner fixing piece is positioned in the hollow part of the middle rotating piece, the cross section of the outer rotating piece is of a rectangular structure, the middle of the rectangular structure of the outer rotating piece is provided with a hollow part, and the middle rotating piece is positioned in the hollow part of the outer rotating piece;
the far end of the movable rod is provided with a movable rod, and gear teeth, a gear and a fixed component are distributed on the movable rod along the moving direction;
the gear is matched with the gear teeth on the movable rod, the movable rod moves to drive the gear to rotate, and the gear is provided with a Hall sensor capable of detecting the rotation of the gear;
the fixed assembly is used for fixing the gear and the movable rod (3);
the sensing device is made of a copper alloy material, the copper alloy material is prepared by vacuum melting of high-purity copper, and the sensing device specifically comprises 100 parts by weight of copper, 2 parts by weight of nickel, 2 parts by weight of zinc, 1 part by weight of tin, 1 part by weight of gallium and 1 part by weight of lead.
2. A surgical robotic hand command sensor device according to claim 1, wherein the fixed member is provided with a rod groove (502) at the forward end of the movable rod, the rod groove being provided with a slot for passage of the end of the movable rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711450091.9A CN107981930B (en) | 2017-12-27 | 2017-12-27 | Hand instruction sensing device of surgical operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711450091.9A CN107981930B (en) | 2017-12-27 | 2017-12-27 | Hand instruction sensing device of surgical operation robot |
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| Publication Number | Publication Date |
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| CN107981930A CN107981930A (en) | 2018-05-04 |
| CN107981930B true CN107981930B (en) | 2020-05-05 |
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| CN201711450091.9A Active CN107981930B (en) | 2017-12-27 | 2017-12-27 | Hand instruction sensing device of surgical operation robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112276974B (en) * | 2019-11-13 | 2024-05-28 | 成都博恩思医学机器人有限公司 | Snatch control module and remote controller |
| CN111281548A (en) * | 2020-03-27 | 2020-06-16 | 杨红伟 | Cosmetic plastic surgery robot feedback device |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100262162A1 (en) * | 2007-12-28 | 2010-10-14 | Terumo Kabushiki Kaisha | Medical manipulator and medical robot system |
| KR100997196B1 (en) * | 2009-08-13 | 2010-11-30 | 주식회사 이턴 | Handling device of surgical robot |
| US9198714B2 (en) * | 2012-06-29 | 2015-12-01 | Ethicon Endo-Surgery, Inc. | Haptic feedback devices for surgical robot |
| CN103714729B (en) * | 2013-12-31 | 2016-08-03 | 广州赛宝联睿信息科技有限公司 | A kind of cystoscope surgical simulation training operating board and its implementation |
| CN105395231B (en) * | 2014-09-11 | 2018-02-13 | 天津瑞奇外科器械股份有限公司 | The operation handle and surgical operating instrument of surgical operating instrument |
| CN204791738U (en) * | 2015-06-26 | 2015-11-18 | 中国科学院合肥物质科学研究院 | Minimal access surgery simulator based on magnetic damper |
| CN107361848B (en) * | 2017-07-31 | 2023-05-16 | 成都博恩思医学机器人有限公司 | Control handle of actuating mechanism |
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| CB03 | Change of inventor or designer information | ||
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Inventor after: Zhang Liangfeng Inventor after: Liao Rong Inventor before: Liao Rong |
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Effective date of registration: 20200407 Address after: 272100 No. 6, lugongtang street, Rencheng District, Jining City, Shandong Province Applicant after: Zhang Liangfeng Address before: 610000 Sichuan Province Chengdu Tianfu New District Lugang 3 Building 1 Unit 601 Applicant before: Liao Rong |
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Effective date of registration: 20220224 Address after: 610041 Chengdu Tianfu international biological city, Chengdu, Sichuan (No. 18, Section 2, biological city middle road, Shuangliu District) Patentee after: CHENGDU BORNS MEDICAL ROBOTICS Inc. Address before: 272100 No.6, lugongtang street, Rencheng District, Jining City, Shandong Province Patentee before: Zhang Liangfeng |