CN108042205A - A kind of surgical operation robot swings instruction sensing device - Google Patents
A kind of surgical operation robot swings instruction sensing device Download PDFInfo
- Publication number
- CN108042205A CN108042205A CN201711447928.4A CN201711447928A CN108042205A CN 108042205 A CN108042205 A CN 108042205A CN 201711447928 A CN201711447928 A CN 201711447928A CN 108042205 A CN108042205 A CN 108042205A
- Authority
- CN
- China
- Prior art keywords
- motion bar
- sensing device
- surgical operation
- operation robot
- rotation
- 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.)
- Pending
Links
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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Abstract
The invention discloses a kind of surgical operation robots to swing instruction sensing device, belong to area of medical devices, by the structure design of pistol, it is capable of the operation of Fang doctor, can be used in the Minimally Invasive Surgeries such as neurosurgery, cardiothoracic surgery, department of cardiovascular surgery, liver and gall surgical department, gastrointestinal surgery.
Description
Technical field
The present invention relates to operating robot Force sensors.
Background technology
Present long-distance operating device is in view of the master controller of Leonardo da Vinci's robot system, for the operation of surgeon console
Personnel control operation trolley instrument and equipment and endoscope.There are two main parts, a direction platform and a positioning arm,
Middle principal direction platform has the function of rotary apparatus, opens and closes instrument finger；Positioning arm can move in surgical environments
Dynamic instrument.Operation movement from Leonardesque control device and on robot arm is not belonging to same operational mode, doctor
It cannot be operated according to the carrying out practically demand of robot arm in surgeon console.
The content of the invention
It is an object of the invention to：In view of the above problems, a kind of surgical operation robot is provided and swings instruction biography
Induction device, which is characterized in that including:
Motion bar and the swivel being sleeved on motion bar, swivel limitation motion bar simultaneously ensure motion bar at least at 2 certainly
It is rotated up either moving by degree side while equipped with detection rotation or mobile Hall sensor；The motion bar passes through
Operator is operated.
The swivel includes the inner fixing member of fixed motion bar, motion bar through inner fixing member simultaneously can and inner fixing member
It is moved along motion bar direction, and equipped with the Hall sensor for detecting the movement.Swivel is further included to be rotated with inner fixing member
The middle revolving part of connection, and equipped with the Hall sensor for detecting its rotation.
The swivel includes and the outer revolving part of middle revolving part rotation connection, outer revolving part are fixed on external fixation device
On, the inner fixing member and outer revolving part include 2 rotational freedoms.
Operating side surgical instrument when in use, will usually organize various rotations along operating side, and this rotation exists
It is uncontrollable at the operation of doctor, said program is this problem solved, when in use, by outermost
On revolving part fixed operation device, intermediate various revolving parts can be controlled to rotate.
As an improvement, motion bar includes the near-end of operator's operation and the distal end away from near-end, near-end connection
There is the small of the stock component that operator holds.
The small of the stock component includes the small of the stock and gun body, and the small of the stock can be rotated around gun body along vertical axes, and equipped with inspection
Survey the Hall sensor of its rotation.
The small of the stock includes trigger and handle, and the trigger is rotated around handle, and equipped with its rotation can be detected
Hall sensor.
The motion bar, which is equipped with, to be relatively rotated with respect to the rotary sleeve of motion bar axial rotation, and equipped with its is detected
Hall sensor.
As an improvement, the small of the stock includes trigger and handle, the trigger is rotated around handle, and equipped with can
The Hall sensor of its rotation is detected, when operation, this degree of freedom is generally placed upon to the execution of the surgical instrument of distal end
The opening and closing of end opening structure, such as the opening and closing of electric coagulation forceps so that doctor, which looks at display screen operation, a sense on the spot in person, and doctor is also more
The people that learns the operation of a machine accelerated.
As an improvement, the distal end of motion bar equipped with its move along directional spreding have the gear teeth and：
Gear, the gear cooperation on the gear and motion bar, rotation of the movement with moving gear of motion bar, on the gear
Equipped with the Hall sensor that can detect its rotation；
Fixation kit, the fixation kit are used for fixed gear and motion bar.
As an improvement, set on the fixation kit there are one the bar slot for being located at motion bar front end, set in bar slot there are one
For movable boom end by slot.
The present invention further detects motion bar by the way that the rotation of the Hall sensor on gear is converted to displacement distance
Axial movement distance, and by corresponding data sending to operation robot data processing system, control distal end execution unit such as
The movement of electric coagulation forceps, electric knife, Clip Applier etc., accuracy is high in this way, and sensing station is easily set, in specific, sensing
Device, which is to detect, to be rotated, therefore is arranged on rational position according to existing mode.
Gear and motion bar are coordinated by gear simultaneously, will be increased the stability of motion bar, when doctor operates, are not allowed
Easy program axial distance operation transition.
Motion bar of the present invention is typically to go to control by operators such as doctors, can be specifically that various can control activity
The component that bar moves back and forth, but among medical robot, operated for the ease of doctor, in preferred scheme, motion bar
Near-end is the small of the stock component that operator holds, the similar this small of the stock component with existing medical instrument.When more in order to provide
Detection degree of freedom, in a more preferred embodiment, the small of the stock component include the small of the stock and gun body, the small of the stock can be around rifle
Body is rotated along vertical axes, and equipped with its Hall sensor rotated is detected, doctor can easily operate this rotatably mounted
Degree, motion bar position will not change, be among medical robot operation it is vital, doctor when operation,
Big movement should not occur in position.
Description of the drawings
Fig. 1 is the structure diagram of the embodiment of the present invention 1；
Fig. 2 is the structure diagram of 1 rod end part of embodiment；
Fig. 3 is the structure diagram of 1 small of the stock of embodiment；
Fig. 4 is the structure diagram that embodiment 1 turns；
Fig. 5 is the schematic diagram of 1 small of the stock of embodiment；
It is marked in figure：It is marked in figure：The 1- smalls of the stock, 101- triggers, 102- handles, 103- drive links, 104- rotation seats, 2- gun bodies,
201- rotary bodies, 3- motion bars, 303- gears, 4- are turned, 401- inner fixing members, revolving part in 402-, the outer revolving parts of 402-, 5-
Rod end part, 501- gears, 502- bar slots, 6- Hall sensors.
Specific embodiment
Below in conjunction with the accompanying drawings, the present invention is described in detail.
Specific embodiment 1：It is an object of the invention to：In view of the above problems, a kind of multiple degrees of freedom operation is provided
Remote operation rifle（It is to the right in order to express easily X-direction in attached drawing 1, is upwards Y-direction, is vertically Z-direction inwards with attached drawing）,
Including：
Sensor module, the sensor include several Hall sensors, Hall sensor detection operating cavity
Mobile and rotation, the Hall sensor is by detecting each rotation or the movement of movable part, the hall sensing
Types etc. disclosure satisfy that demand as needed using common；
The small of the stock, the small of the stock include trigger and handle, and the trigger is rotated around handle, and the trigger and the small of the stock are excellent
A biography can be passed through using the structure similar with the small of the stock in Clip Applier or electric coagulation forceps, wherein trigger and handle by selecting in scheme
Lever connects, and works as cocking, there are one rotating, Hall sensor can go to detect this for the junction meeting of drive link and handle
It rotates；
Gun body, the small of the stock and gun body rotation connection, gun body effect are to connect motion bar and the small of the stock, the rifle
And gun body can be rotated within the specific limits around Y direction, and go equipped with Hall sensor to detect this rotation；
Motion bar, the motion bar and gun body can be rotated in Y direction,
As an improvement, the motion bar is equipped with swivel, swivel limitation motion bar simultaneously ensures motion bar at least at 2
Degree of freedom side moves upwards, it is generally the case that and the swivel is connected with the fixed component on doctor's operational window or control,
Play a part of fixed operation rifle to a certain extent.
As an improvement, the swivel includes the inner fixing member of fixed motion bar, motion bar simultaneously can be with through inner fixing member
It is moved with inner fixing member along motion bar direction, in this case inner fixing member and external connection, motion bar has one
A one-movement-freedom-degree.
As an improvement, the swivel and the middle revolving part of inner fixing member rotation connection, inner fixing member can be around middle rotation
Part rotates in Y-axis or Z-direction, and revolving part middle in the case is connected with external device (ED), and there are one rotate certainly for motion bar tool
By degree and a translation freedoms.
As an improvement, described swivel includes and the outer revolving part of middle revolving part rotation connection, the inner fixing member and
Outer revolving part includes turn of 2 rotational freedoms, the inner fixing member and middle revolving part and middle revolving part and outer revolving part
Dynamic direction is not on an axis, and if the former is Y-axis, the latter is Z axis.
As an improvement, the swivel is equipped with the rod end part being fixedly connected with swivel, the motion bar is equipped with wheel
Tooth, the rod end part are equipped with the gear coordinated with the gear teeth on motion bar and the Hall sensor rotated equipped with detection gear,
The translational motion of motion bar is converted into rotational motion, on the one hand the translation of motion bar can be given to provide resistance, limit motion bar
Movement, on the other hand improve motion bar displacement detection result.
As an improvement, the rod end part be equipped with for motion bar by bar slot, motion bar is towards original from the small of the stock
When direction moves, motion bar enters bar slot.
As an improvement, the rotary body that can be rotated along motion bar direction, the rotary body are equipped in the gun body 2
Sensing is detected in X-direction row rotation, and equipped with sensor.
The operation rifle of the present invention is operated with multiple degree of freedom, can be accurately controlled the clamp positioned at mechanical arm terminal
The surgical attachments such as pincers, electric coagulation forceps, while rifle is operated according to the similar design of distal attachment structure, the operation of doctor can be facilitated.
It is of the invention for the ease of understanding, a specific degree of freedom operation remote operation rifle is disclosed, including：
Sensor module, the sensor include several Hall sensors, Hall sensor detection operation handle
Movement and rotation；
The small of the stock 1, the small of the stock 1 include trigger 101 and handle 102, and the trigger 101 is rotated around handle；
Gun body 2, the small of the stock 1 and gun body 2 are rotatablely connected；
Motion bar 3, the motion bar and gun body 2 are rotatablely connected.
The motion bar 3 is equipped with swivel 4, and the swivel 4 limitation motion bar 3 simultaneously ensures motion bar 3 at least at 2
Degree of freedom side moves upwards.
The swivel 4 includes the inner fixing member 401 of fixed motion bar, and motion bar 3 is through inner fixing member 401 and can be with
Inner fixing member along moved along 3 direction of motion bar and inner fixing member 401 be rotatablely connected be equipped with middle revolving part 402 and middle rotation
Turn the outer revolving part 402 that is equipped with of the rotation connection of part 402, the inner fixing member and outer revolving part include 2 rotational freedoms.
Swivel 4 is equipped with the rod end part 5 being fixedly connected with swivel 4, is toothed around on the motion bar, the rod end
Part 5 be equipped with and motion bar on the gear teeth cooperation gear 501 and equipped with detection gear 501 rotate Hall sensor, rod end
Part 5 be equipped with for motion bar by bar slot 502, motion bar towards original from the small of the stock direction movement when, motion bar enters bar
Slot 502.
The rotary body that can be rotated along motion bar direction is equipped with when motion bar is ajusted, in the gun body 2
201, the preferred rotary sleeve of the swivel.As shown in figure 5, wherein Hall sensor 6, at corresponding position, this position is only convenient for
Understand.
Iron, Stainless Steel etc. may be employed under product regular situation disclosed by the invention, but to be subject to weight in robot end
The influence of power, resistance etc., it is higher to its stability requirement, so the good product of mechanical properties such as need bending strength big, for this purpose,
Present invention uses a kind of special Cu alloy material, Cu alloy material is prepared using the copper vacuum fusion of high-purity, is specifically pressed
Include 100 parts of copper, 2 parts of nickel, 2 parts of zinc, 1 part of tin, 1 part of gallium according to parts by weight, 1 part of lead passes through conventional vacuum-fusion technique, knot
It is configured standby, bending strength can reach more than 1200mpa.
Claims (10)
1. a kind of surgical operation robot swings instruction sensing device, which is characterized in that including:
Motion bar（3）And the swivel on motion bar is sleeved on, the swivel（4）Limit motion bar（3）And ensure motion bar（3）
It at least is rotated up either moving 2 degree of freedom sides while equipped with detection rotation or mobile Hall sensor；
The motion bar is operated by operator.
2. surgical operation robot according to claim 1 swings instruction sensing device, which is characterized in that the swivel
（4）Include the inner fixing member of fixed motion bar（401）, motion bar（3）Through inner fixing member（401）It and can be with inner fixing member edge
It along motion bar（3）Direction is moved, and equipped with the Hall sensor for detecting the movement.
3. surgical operation robot according to claim 2 swings instruction sensing device, which is characterized in that swivel（4）
It further includes and inner fixing member（401）The middle revolving part of rotation connection（402）, and equipped with the Hall sensor for detecting its rotation.
4. surgical operation robot according to claim 3 swings instruction sensing device, which is characterized in that described turns
Body（4）Including with middle revolving part（402）The outer revolving part of rotation connection（402）, outer revolving part is fixed on external fixation device,
The inner fixing member and outer revolving part include 2 rotational freedoms.
5. surgical operation robot according to claim 1 swings instruction sensing device, which is characterized in that motion bar bag
It includes the near-end of operator's operation and the distal end away from near-end, the near-end is connected with the small of the stock component that operator holds.
6. surgical operation robot according to claim 1 swings instruction sensing device, which is characterized in that the small of the stock
Component includes the small of the stock（1）And gun body（2）, the small of the stock can be rotated around gun body along vertical axes, and it is rotated suddenly equipped with detection
That sensor.
7. surgical operation robot according to claim 6 swings instruction sensing device, which is characterized in that the small of the stock
（1）Including trigger（101）And handle（102）, the trigger（101）It is rotated around handle, and equipped with its rotation can be detected
Hall sensor.
8. surgical operation robot according to claim 4 swings instruction sensing device, which is characterized in that the activity
Bar is equipped with can be with respect to the rotary sleeve of motion bar axial rotation, and is equipped with and detects its Hall sensor relatively rotated.
9. surgical operation robot according to claim 1 swings instruction sensing device, which is characterized in that motion bar it is remote
End equipped with its move along directional spreding have the gear teeth and：
Gear（501）, the gear cooperation on the gear and motion bar, rotation of the movement with moving gear of motion bar be described
Gear is equipped with the Hall sensor that can detect its rotation；
Fixation kit, the fixation kit are used for fixed gear and motion bar（3）.
10. surgical operation robot according to claim 9 swings instruction sensing device, which is characterized in that its feature exists
In, set on the fixation kit there are one be located at motion bar front end bar slot（502）, set that there are one for motion bar in bar slot
End by slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711447928.4A CN108042205A (en) | 2017-12-27 | 2017-12-27 | A kind of surgical operation robot swings instruction sensing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711447928.4A CN108042205A (en) | 2017-12-27 | 2017-12-27 | A kind of surgical operation robot swings instruction sensing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108042205A true CN108042205A (en) | 2018-05-18 |
Family
ID=62128305
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711447928.4A Pending CN108042205A (en) | 2017-12-27 | 2017-12-27 | A kind of surgical operation robot swings instruction sensing device |
Country Status (1)
| Country | Link |
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| CN (1) | CN108042205A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201437000U (en) * | 2009-07-24 | 2010-04-14 | 艾派(广州)医疗器械有限公司 | Universal support for arthroscopic knee surgeries |
| CN103714729A (en) * | 2013-12-31 | 2014-04-09 | 广州赛宝联睿信息科技有限公司 | Cystoscope surgery simulation training operating table and implementation method thereof |
| 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 |
| US20170308667A1 (en) * | 2011-07-27 | 2017-10-26 | Ecole Polytechnique Federale De Lausanne (Epfl) | Mechanical teleoperated device for remote manipulation |
| CN107361848A (en) * | 2017-07-31 | 2017-11-21 | 成都中科博恩思医学机器人有限公司 | The joystick of executing agency |
-
2017
- 2017-12-27 CN CN201711447928.4A patent/CN108042205A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201437000U (en) * | 2009-07-24 | 2010-04-14 | 艾派(广州)医疗器械有限公司 | Universal support for arthroscopic knee surgeries |
| US20170308667A1 (en) * | 2011-07-27 | 2017-10-26 | Ecole Polytechnique Federale De Lausanne (Epfl) | Mechanical teleoperated device for remote manipulation |
| CN103714729A (en) * | 2013-12-31 | 2014-04-09 | 广州赛宝联睿信息科技有限公司 | Cystoscope surgery simulation training operating table and implementation method thereof |
| 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 |
| CN107361848A (en) * | 2017-07-31 | 2017-11-21 | 成都中科博恩思医学机器人有限公司 | The joystick of executing agency |
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Application publication date: 20180518 |
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