CN109171967A - One kind can flexible curved surgical robotic apparatus - Google Patents

Abstract

The present invention provides one kind and flexibly curved surgical robotic apparatus can be respectively provided with control unit and wrist part structure with the hollow hard body of rod at the both ends of the body of rod, install front end performer on the wrist part structure.The rotation that the first ball-and-socket is controlled by driving device, the rotation of the second ball-and-socket, the activity at driving effect end are controlled by drag-line.The present invention can be bent with flexible rotating, possess the freedom degree for the human wrist that can match in excellence or beauty.Since control device is identical with executive device structure, when use, can be replaced mutually.Same production line can be shared when production, same packaging and same storage.New component can be replaced after damage at any time, can also be used as medical disposable material use.

Description

One kind can flexible curved surgical robotic apparatus

Technical field

The present invention relates to a kind of operation devices, and in particular to one kind can flexible curved surgical robotic apparatus.

Background technique

In Minimally Invasive Surgery, the smaller wound that surgeon is opened with it by patient, by elongated Minimally Invasive Surgery device Tool enters human body and implements surgical procedure task.Compared with traditional open surgery, Minimally Invasive Surgery has wound small, post-operative recovery Fastly, the advantages such as recurrence rate reduces, and complication is reduced.The operation road required based on the small feature of Minimally Invasive Surgery wound, Minimally Invasive Surgery The case where diameter is complicated, surgical procedure narrow space, can often encounter operation occlusion area in operation.In addition the different behaviour in operation Make task (clamping, suture, knotting etc.) and both increases the difficulty of operation.It is enough that these situations require that surgical instrument needs Wrist freedom degree guarantees that end effector mechanism smoothly reaches surgical procedure position and execution.

Robot assisted micro-wound surgical operation is increasingly becoming the trend of development, " Leonardo da Vinci " operation in the prior art such as U.S. Robot both can be according to the movement of wrist come controller by the surgical forceps for abdominoscope for turning wrist of multiple Serve Motor Controls The flexible operating of multiple freedom degrees is realized in the movement on tool head, while can lock angle again, but this apparatus structure is complicated, valence Lattice are expensive, can not be detached from huge operating robot and be used alone.Therefore, how to design a structure simply and can ship respectively Operating robot become urgent problem.

Summary of the invention

Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides one kind can flexibly curved operation Robot device.

Technical solution: in order to solve the above technical problems, it is provided by the invention can flexibly curved surgical robotic apparatus, tool There is the hollow hard body of rod, is respectively provided with control unit and wrist part structure at the both ends of the body of rod, front end is installed on the wrist part structure Performer, the control unit have the first cup-and-ball joint and the first driving assembly, and the wrist part structure is closed with the second ball-and-socket Section, second cup-and-ball joint connect with front end performer, connect between first cup-and-ball joint and the second cup-and-ball joint There is transmission drag-line；First cup-and-ball joint includes the first bulb and the first ball seat, and second cup-and-ball joint has the second ball Head and the second ball seat；Pass through transmission drag-line the first cup-and-ball joint interconnected the first driving assembly synchronous with the second cup-and-ball joint Movement is executed in the operation of control unit and wrist part structure；First driving assembly can drive the first ball seat to move, for same Walk operation of the operator on the control device of operating robot.

Specifically, the surface of first bulb and the first driving assembly are in close contact.It is preferred that the surface of the first bulb and There is rubber on actuator surface, forms frictional drive.

Specifically, the direction of at least two groups of first driving assembly, the first ball motion of driving is mutually perpendicular to.

Specifically, connection executes drag-line between the control unit and front end performer, and the control unit has driving to execute Second driving assembly of drag-line.

Specifically, there is resilient supporting unit in the front end of the control unit, the resilient supporting unit supports ball-type part, The bottom end of first bulb has socket joint, and the ball-type part is slidably matched with socket joint.

Specifically, the bottom end universal-joint of the first ball seat, the universal joint are connected with support rod.

Specifically, the driving component includes actuator and driving motor, and actuator and driving motor are directly connected to or lead to Cross transmission device connection.

Specifically, second ball-and-socket is equipped with the coiled pipe that multiple bending cup-and-ball joints are connected into, the bending ball-and-socket There is through-hole in joint.

It specifically, further include inductor in the driving component, actuator and inductor are directly connected to or by transmission dresses Set connection, the rotary motion of the inductor induction actuator.

It specifically, further include that receiving device occurs for battery and signal.

The present invention also provide simultaneously it is a kind of can flexibly be bent and the control device of the surgical robotic apparatus of tactile feedback, It is characterized by: having the hollow hard body of rod, control unit and wrist part structure are respectively provided at the both ends of the body of rod, on wrist part structure Front end performer is installed, control unit has the first cup-and-ball joint and the first driving assembly, and wrist part structure is closed with the second ball-and-socket Section, the second cup-and-ball joint are connect with front end performer, and transmission is connected between the first cup-and-ball joint and the second cup-and-ball joint and is drawn Rope；First cup-and-ball joint includes the first bulb and the first ball seat, and the second cup-and-ball joint has the second bulb and the second ball seat；Driving It further include inductor in component, actuator and inductor are directly connected to or are coupled by transmission device, and inductor incudes actuator Rotary motion.Control unit further includes the hand-control device of handle, trigger and direction control unit composition, direction control unit and the first ball Nest is fixedly connected, and trigger is connect with drag-line is executed.Have between first bulb and the first ball seat and is enough to lock the opposite sliding of the two Frictional force, when operator press direction control unit when, the first bulb and the first ball seat disengaging；Frictional force by the first bulb and/ Or first the surface of ball seat provide, the first ball seat is to contact the first bulb to expand end housing inner wall at end.

Since surgical robotic apparatus and its control device have identical driving assembly and inductor, control device can be incited somebody to action The movement of operator is converted to inductive signal, for controlling the movement of operating robot.Operating robot can will contact patient Resistance when tissue is converted to inductive signal, for the movement of driving assembly in drive dynamic control device, generates corresponding resistance.By It is held in the hand in executing instrument arm control-rod at this time by operator, therefore true touching group can be generated to operator with force feedback The tactile knitted and the size for experiencing reaction force.

Present invention simultaneously provides it is a kind of can flexible curved surgical robotic apparatus control device, it is characterised in that: tool There is the hollow hard body of rod, is respectively provided with control unit and wrist part structure at the both ends of the body of rod, installation front end executes on wrist part structure Device, control unit have the first cup-and-ball joint and inductive component, wrist part structure have the second cup-and-ball joint, the second cup-and-ball joint with The connection of front end performer, is connected with transmission drag-line between the first cup-and-ball joint and the second cup-and-ball joint；First cup-and-ball joint packet The first bulb and the first ball seat are included, the second cup-and-ball joint has the second bulb and the second ball seat；It is connected with each other by transmission drag-line The first cup-and-ball joint inductive component synchronous with the second cup-and-ball joint incude the operation in control unit；Inductive component generates remote control Or the signal of line traffic control, for controlling the movement of operating robot.Control unit further includes what handle, trigger and direction control unit formed Hand-control device, direction control unit are fixedly connected with the first ball-and-socket, and trigger is connect with drag-line is executed.First bulb and the first ball seat it Between there is the frictional force for both being enough to lock opposite sliding, when operator presses direction control unit, the first bulb and the first ball Seat is detached from；Frictional force is provided by the surface of the first bulb and/or the first ball seat, and the first ball seat is to contact expanding for the first bulb End housing inner wall at end.

The utility model has the advantages that

1, it can be bent with flexible rotating, possess the freedom degree for the human wrist that can match in excellence or beauty.The rotation for controlling the first ball-and-socket, passes through drag-line To control the rotation of the second ball-and-socket, the activity at driving effect end.

2, easy to operate.Operator can control remote control device, then control direction of rotation by driving assembly.

3, the rotoflector angle that can arbitrarily lock binding clip can also lock the clamping force and opening and closing angle of binding clip.

4, according to the needs of operation precision, the model of the first ball-and-socket and the second ball-and-socket different size ratio may be selected.

5, 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.

Except it is above-described present invention solves the technical problem that, constitute technical solution technical characteristic and by these technologies Outside advantage brought by the technical characteristic of scheme.To keep the object of the invention, technical scheme and beneficial effects clearer, below will In conjunction with the attached drawing in the embodiment of the present invention, to other for including in the other technologies problem of the invention that can solve, technical solution The advantages of technical characteristic and these technical characteristics are brought does apparent, complete description, it is clear that described embodiment is A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented The component of example can be arranged and be designed with a variety of different configurations.Therefore, below to the reality of the invention provided in the accompanying drawings The detailed description for applying example is not intended to limit the range of claimed invention, but is merely representative of selected implementation of the invention Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts Every other embodiment, shall fall within the protection scope of the present invention.

Detailed description of the invention

Fig. 1 is operating robot structural schematic diagram in the embodiment of the present invention one；

Fig. 2 be in embodiment one operating robot control unit shell removal after schematic diagram；

Fig. 3 is the schematic diagram of the section structure of operating robot control unit in embodiment one；

Fig. 4 is the structural schematic diagram of driving assembly in embodiment one；

Fig. 5 be in embodiment one operating robot front-end case removal after schematic diagram；

Fig. 6 is the schematic diagram of front end executive device multi-direction rotation and multi-direction clamping in embodiment one；

Fig. 7 is the internal anatomy of the body of rod and internal drag-line in embodiment one；

Fig. 8 is the controling device structure diagram of operating robot in embodiment one；

Fig. 9 is the control device the schematic diagram of the section structure of operating robot in embodiment one；

Figure 10 is the structural schematic diagram of inductive component in embodiment one；

Figure 11 is the decomposition diagram of universal joint support construction form in embodiment two；

Figure 12 is the wrist part structure schematic diagram for having bending cup-and-ball joint in embodiment three；

Figure 13 is decomposition diagram when having the wrist flexion of bending cup-and-ball joint in embodiment three；

Wherein: 1- shell, 2- control unit, 3- support device, the front end 4- executive device, 5- driving assembly, 6- inductive component, 7- control Circuit processed, 8- battery；

11- control unit shell, 12- execute drag-line driving portion shell, 13- bar portion shell, and 14- wrist seals soft set；

The first ball-and-socket of 21-, the second ball-and-socket of 22-, the first ball-and-socket bottom surface 23- recess, 25- execute drag-line, and 26- is driven drag-line, 27- Drag-line fixing piece；

The first bulb of 31-, the first support spring of 32-, 33- first support bar, the first support frame of 34-, 35- candan universal joint, 36- Second support ball, 37 second support bars, the second support frame of 38-, 39- funnel-shaped holes；

41- mounting base, 42- reset spring, 43- drive rod, 44- binding clip rotary shaft, 45- binding clip, 46- curved ball, 47- curved ball Nest, 48- are driven drag-line hole, and 49- executes drag-line hole；

51- actuator, 52- servo motor, 53- transmission device, 54- actuator fixed frame, the first driving assembly of 55-, 56- second Driving assembly；

61- induction pieces, 62- inductor, 63- incude roller bearing, 64- reaction magnetic ring, 65- Hall sensor and circuit board, outside 66- Shell；

71- handle, 72- loop-drive, 73- trigger, 74- trigger lock fixed tooth, 75- trigger rotation axis, 76- inductive component fixed frame, 77- Induction pieces through-hole, 78- shell notch, 79- direction control unit.

Specific embodiment

Embodiment one

The present embodiment can flexibly curved surgical robotic apparatus it is as shown in Figure 1, Figure 2 and Figure 3, using remote control or line traffic control side Formula, with the driving of servo motor 52, control section is in cylindrical type, and inner wall is equipped with driving device.

Driving device includes: the first ball-and-socket 21, support device 3, transmission drag-line 26, the second ball-and-socket 22.

There are at least two transmission drag-lines 26 to be connected between first ball-and-socket 21 and the second ball-and-socket 22, it can be by the first ball-and-socket 21 Direction of rotation is transmitted to the second ball-and-socket 22 by being driven drag-line 26.Transmission 26 one end of drag-line is connected on the first ball-and-socket 21, another End is connected on the second ball-and-socket 22.Transmission 26 length of drag-line is all identical, and the long axis direction of the traveling and the body of rod that are driven drag-line 26 is flat Row.Drag-line quantity is more, and the activity of the first ball-and-socket 21 and the second ball-and-socket 22 is more accurate, also more stable after locking.

The both ends of equipment are equipped with support device 3, there is bottom surface of the spherical type head respectively with the first ball-and-socket 21 at the top of support device 3 Recess and the second ball-and-socket 22 form cup-and-ball joint.

In order to keep the tensity of transmission drag-line 26,21 support device 3 of the first ball-and-socket and 22 support device 3 of the second ball-and-socket to There is spring on strut at rare one, the present embodiment is mounted in the first support bar 33 of 21 support device 3 of the first ball-and-socket One support spring 32, the first support spring 32 are mounted between the first support frame 34 and the first bulb 31, on the first support frame 34 There is hole for 33 activity of first support bar.First bulb 31 continues to support in the opposite direction under the elastic force of the first support spring 32 First ball-and-socket 21.Tight transmission drag-line 26 can be acted accurately in transmitting.

There is the first support frame 34 in first ball-and-socket, 21 support device 3, transmission drag-line 26 passes through the first support frame 34, and first Support 34 has at least 2 struts to be connected with shell.There are the position-limiting tube to match with transmission drag-line 26 or limit on first support frame 34 Position hole can only prevent transmission drag-line 26 mutual with limitation transmission drag-line 26 along position-limiting tube or the motion along the long axis of limit hole It tangles or rotates.

First ball-and-socket, 21 to the second ball-and-socket, 22 sizes are big, and the inclination of the first ball-and-socket 21 causes the stretching for being driven drag-line 26 can band Dynamic second ball-and-socket 22 is with the bigger proportional inclination of angle, to the subtle control angle of the first ball-and-socket 21 in front end with bigger angle Degree output.In one embodiment, 21 to the second ball-and-socket of the first ball-and-socket, 22 sizes are small, to allow the control angle of the first ball-and-socket 21 It is exported in front end with smaller angle, the fineness of raising movement.

Driving device passes through the gear teeth in transmission device 53 as shown in figure 4, driving assembly 5 is driven by servo motor 52 Power is reached actuator 51 by roller box.Actuator 51 is roller bearing in the present embodiment, is fixed on shell by actuator fixed frame 54 On.

As shown in Figure 3 and Figure 5, pressure of the first ball-and-socket 21 of dome-type by the first support spring 32, is pressed on four On a roller bearing sample actuator 51.Four actuators 51 are made of the high rubber of coefficient of friction, interior to pass through thin steel bar, and steel bar is fixed on It, can be using the form for being mutually perpendicular into " mouth " font on shell.It executes drag-line 25 to be wrapped on the second driving assembly 56, servo The driving of motor 52, which tenses execution drag-line 25, opens the binding clip 45 of front end executive device 4, and the reverse rotation of servo motor 52, which is loosened, holds After row drag-line 25, binding clip 45 is closed under the elastic force of reset spring 42.

When servo motor 52 receives electric signal rotation, by driving actuator 51 to rotate, and then drive the first ball-and-socket 21 rotation Turn.It is remain stationary when servo motor 52 is without electric signal, actuator 51 is also remain stationary, and the first ball-and-socket 21 is locked.

Surgical robotic apparatus is controlled by control circuit 7 in the present embodiment, can also external cord power supply from charged pool 8.Control Circuit received signal processed is wireless control, can also there is line traffic control.

The structure of wrist part structure is as shown in Figure 5 and Figure 6:

Lever front end has support construction, and top is that spherical or hemispherical, centre have funnel-shaped holes 39.There is the second ball-and-socket 22 above, There is the ball-and-socket of recess in bottom surface, forms the second cup-and-ball joint with the second support ball 36.It can be around second under the drive of transmission drag-line 26 36 activity of ball is supported, 41 flexible rotating direction of front end executive device mounting base is driven.Loophole type hole 39 can be to avoid execution drag-line 25 overflexings and abrasion can still keep good power to conduct.It is top that the scope of activities of mounting base 41, which is with the second support ball 36, Point flexibly can be bent and rotate as human wrist.

Operator can hold most comfortable angle in oneself hand, without inverting oneself wrist, only lean on the work of thumb The dynamic object that can be controlled in the clamping Different Plane of binding clip 45, or rotate, push object aside.Lean on binding clip 45 in the sky of limitation in this way Interior multi-direction activity can allow the body of rod of device to reduce in human body narrow space significantly movable, reduce the pair of operation Damage.The activity of finger is then only needed for operator, is reduced the activity of large arm, forearm and wrist, is allowed both arms more times Comfort conditions are maintained at, the feeling of fatigue of operator is greatly reduced.

The structure of rod body part is as shown in Figure 7:

Including control unit 2, middle section, front end flexible portion, such as the first ball-and-socket 21 is larger, can be accommodated with the shell expanded.First ball The dimension scale of nest 21 and the second ball-and-socket 22 is operation precision.The former is greater than the latter, then the rotational angle of control terminal is in output end It can be more labor-saving for operator by proportional amplification.If the former is less than the latter, the rotational angle of control terminal is being exported End can allow the movement of operator person finer by proportional diminution.The operation of different demands can be made around this principle Device.

Body of rod middle section is hollow, is made by hard material, has good direction directive property and power conducting effect.

Front end flexible portion is made wrist with flexible material and seals soft set 14, and one end and the body of rod are tightly connected, one end and second Ball-and-socket 22 is tightly connected, and can be deformed therewith moving, be prevented body fluid or gas from entering the body of rod.Convenient for being cleaned after operation, also avoid Sundries enters influence devices work.

Internal drag-line can have the multiple materials such as wirerope, nylon rope, preferably wirerope.

Drag-line inside the body of rod, execution drag-line 25 and control the second ball-and-socket 22 rotation including control front end executive device movement The drag-line turned.

Front end executive device 4 is as shown in Figure 5:

The supporting mechanism of lever front end and the second ball-and-socket 22 be all it is hollow, inside has drag-line/conducting wire/pipeline to pass through, with control before Hold executive device 4.It by taking binding clip 45 of performing the operation as an example, is mounted in mounting base 41, mounting base 41 is fixedly connected on the second ball-and-socket 22. 42 one end of reset spring is withstood on the second ball-and-socket 22, and one end is withstood in 43 rotary shaft of drive rod.

The folding of binding clip 45 is to be controlled in control unit by driving assembly 5, executes drag-line 25 and shrinks pulling drive rod backward.It passes Lever 43 is connected with 45 rotary shaft of binding clip, and 45 rotary shaft of binding clip can be driven to rotate when drive rod 43 is pulled back, drive two binding clips 45 It opens, the dynamics opened can be controlled by operator.After execution drag-line 25 loosens, the reset spring 42 in mounting base, which pushes, to be passed Forward, two binding clips 45 can be closed lever.After the second driving assembly 56 is locked, 45 opening and closing of binding clip are fixed.In a reality It applies in example, the connection type of 45 drive rod of binding clip can drive two binding clips 45 to close with the present embodiment when on the contrary, drive rod 43 being pulled back It closes, the dynamics of clamping can be controlled by operator.After execution drag-line 25 loosens, two binding clips 45 can open.

In another embodiment, without reset spring 42, each binding clip 45 has two execution drag-line 25 controls, can be single Solely rotation.Two execution drag-lines 25 are symmetrically installed, and drive driving as the second driving assembly 56 as two respectively.

Binding clip 45 can there are many states, preferably bionics, i.e., slightly to curving, angle and human wrist's relaxation state Under, the angle of index finger and the back of the hand when thumb and index finger are closed.

Front end executive device 4 may be selected but be not limited to following device: clasper, claw, cutter, knife, ablation device, calcination Device, medicine delivery device, radiation source, EKG electrode, pressure sensor, blood sensor, camera, magnet, heating element and Low-temperature device etc..Drag-line can also change tension conducting wire or tension pipeline into, can connect camera, LED lamp, cutting Electrocoagulation equipment Deng.Pipeline can connect syringe, or do laser fiber channel.

The control device of operating robot is as shown in Figure 8 and Figure 9 in the present embodiment:

Substantially similar to the structure of above-mentioned surgical instrument and principle, difference is to operate by the way of manual, and control section is in Gun-shaped has the handle 71 held, and is bonded the bending direction of operator's hand, and crooked radian meets ergonomics.It can copy Existing various gun grip parts like replacing handle according to the individual of operator.

After trigger 73 pulls back, it can drive and execute drag-line 25, execute drag-line 25 and be pierced by and pull from shell drag-line hole Machine 73 be connected, the other end draw front end executive device 4, such as pliers opening and closing and scissors opening and closing, as front end executive device 4 is Coagulation or cutting etc., electric wire can be used instead and connect with front-end circuit by executing drag-line 25, the switch of the then control circuit of trigger 73.As before End executive device 4 is to stir stick or aspirator etc., and 73 drag-line of trigger is connected to the joint motion point for stirring stick or aspirator end, It can control and stir stick or aspirator is further bent.

The loop-drive 72 of trigger 73, can block trigger 73, prevent maloperation.It covers additionally, due to thumb needs in control direction In ring, gripping handle cannot be participated in.Biggish loop-drive 72 is designed, middle finger can be inserted in, loop-drive 72 is clipped in middle finger and unknown Between finger, make to hold more stable strong.

There is 73 locking teeth 74 of trigger on loop-drive 72, trigger 73 is inwardly hooked tooth socket and can locked trigger 73 by finger, dimension It holds front end executive device 4 and is fixed on a certain angle.Finger continues to draw trigger 73, and trigger 73 can slide into next along the inclined-plane of tooth socket A tooth socket.Gently side, which pushes away, can skid off locking teeth 74, and trigger 73 is allowed to move freely.Trigger 73 is unclamped, the meeting of front end executive device 4 exists Initially restore state under the elastic force of reset spring 42.

Direction control unit 79 can select spherical, ring-like, cylindricality and bowl-type etc., preferably bowl-type, below all by taking bowl-type as an example, It is connected on the first ball-and-socket 21, can control its multi-direction rotation.Flexible cylinder type thumbstall can also be connected, facilitates thumb shorter Operator use.

As shown in figure 9, control device includes similar cup-and-ball joint and joint support device.Difference is, control device In be mounted with inductive component 6, the corresponding position of the inductive component 6 of each of control device in above-mentioned surgical robotic apparatus It is driving assembly 5.

In operator's operating control device the movement of the first ball-and-socket 21 be broken down into upper and lower, left and right movement, and respectively by Inductive component 6 acquires, and is transmitted to above-mentioned surgical robotic apparatus through signal processing, and the driving assembly 5 for controlling corresponding position moves, Allow the movement of above-mentioned surgical robotic apparatus simultaneously operating person hand.

6 structure of inductive component is as shown in Figure 10:

Inductive component 6 is general track-ball structure in the present embodiment, the rotations of induction pieces 61 can dynamic answer roller bearing 63 to rotate, The reaction magnetic ring 64 being mounted on induction roller bearing 63 can rotate with it.The Hall sensor 65 of installation on circuit boards senses The variation of 63 upper magnetic pole of magnet ring is answered, pulse signal is generated, is sent in above-mentioned surgical robotic apparatus by signal transmission system.

In a non-limiting embodiments, inductive component 6 is identical as 5 structure of driving assembly, and difference is that driving motor changes At rotary encoder.When driving motor rotates in driving assembly 5, in inductive component 6 rotary encoder of corresponding position also at Rotate to ratio.

Embodiment two

The present embodiment is as shown in figure 11, is a kind of improvement to 21 support device 3 of the first ball-and-socket in embodiment one, and improvements exist In the first bulb 31 is changed to candan universal joint 35.The center of first ball-and-socket, 21 section does not have a smooth recess, but and cross Universal joint 35 connects.

Pass through cross axis connection in candan universal joint 35 two orthogonal rotation forks, while again can be in cross axle The heart is swung in any direction.In one embodiment, candan universal joint 35 is substituted by weiss universal joint.In another embodiment In, candan universal joint 35 is substituted by rzeppa joint.

Embodiment three

As shown in Figure 12 and Figure 13, stackable bending angle with holes is added between support device 3 and front end executive device 4 Part, such as curved ball 46, bowl-type part, coiled pipe etc., preferably curved ball 46 can increase the bending angle of wrist part structure.It is multiple curved Curve 46 and adjacent bending ball-and-socket 47 composition bending cup-and-ball joint, curved ball 46 and bending ball-and-socket 47 have taken for being driven drag-line 26 through-holes passed through with execution drag-line 25.Bending cup-and-ball joint can be overlapped mutually, and superposition is more anfractuose, and angle is bigger, wrist The elasticity and flexibility of structure are also better, to the damage of tissue with regard to smaller.There is the front end of the body of rod soft outside wrist part structure Portion's closing package, keeps cleaning inside, convenient for cleaning.

Example IV

The present embodiment is improved one of embodiment one, thes improvement is that all driving assembly 5 and inductive component 6 close And while having the function of driving and induction.

The movement of the first ball-and-socket of surgical instrument 21 is also acquired by inductive component 6 while driving by driving assembly 5, through signal Processing is transmitted to control device, and corresponding driving assembly 5 moves inside drive dynamic control device.Since control device is operated at this time Person is held in the hand, therefore can generate the tactile of true touching tissue to operator with force feedback and experience the size of reaction force.

Embodiment five

The control device of above-mentioned surgical robotic apparatus is mounted and attached on station.In use, surgical robotic apparatus by Station control, the action command of staff are assigned by station control device, are reached by RTC instant messaging from terminal device People's control device would be communicated to surgical robotic apparatus after robot controller reception instruction and be acted accordingly.Operation The status summary of robot device is communicated by RTC by robot controller to robot controller and reaches station control Device processed, while the status information of station control device and the status information aggregation process of surgical robotic apparatus are reached and are operated Platform, and feed 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 operating robot when 3D body-sensing video camera monitors staff in place The partial function of device operates, and when staff steps on floor push at this time, surgical robotic apparatus just can start operation；? Staff not in place when, and do not step on floor push, surgical robotic apparatus's braking, to avoid caused by improper factor Surgical robotic apparatus is mobile caused by operation interface running.

The inductive component 6 for recording execution movement is provided on robot controller, inductive component 6 is able to record control The movement of device processed.Whether the information recorded by inductive component 6 can judge automatically surgical robotic apparatus's motion path full Foot operation demand can monitor the motion path of each surgical robotic apparatus when with multiple surgical robotic apparatus Whether can interfere, to plan new motion path again, guarantee the safety of the movement of surgical robotic apparatus.

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 recording surgical robotic apparatus's parameter information and/or station parameter information Data recordin module, in order to search fault message.Specifically, the data recordin module includes running log and control hand number According to, for example in control hand data, staff's operation handle is passed to surgical robotic apparatus by station controller End, acts surgical robotic apparatus, and information when surgical robotic apparatus acts is fed back by encoder, motor driver To station controller, feedback mechanism is formed, if operation data and encoder or motor data appearance are inconsistent, system is automatic Adjustment, if not adjusting, breaks down, and needs to check data and tracing for troubles place in control 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 surgical robotic apparatus 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 surgical robotic apparatus's work shape is also respectively provided on robot controller and station control device The first state indicator light of state and the second status indicator lamp of display operation platform working condition.Above-mentioned indicator light can be by robot The working condition of end and station is most intuitively presented to staff, and staff passes through according to the display situation of indicator light It checks error code, can quickly find out guilty culprit.Specifically, above-mentioned indicator light can specifically be provided with it is normal, await orders, Warning, danger etc. indicate situation, so as to the use state of personnel monitoring robot.

Control device provided in an embodiment of the present invention specifically includes station control device and robot controller, with The state of station and surgical robotic apparatus are controlled respectively, and station control device and robot controller connect It connects, to realize information connection and feedback between the two, enables staff in operation end opponent art robot device It is operated to implement to perform the operation.In surgical procedure, monitoring device can real-time monitoring staff whether in place, thus judgement be It is no to be braked, effectively avoid the running of part maloperation menisectomy robot device；Display can by station and All status informations of robot, which are shown, is presented directly to staff, and staff is enable fast and accurately to find that system is deposited The problem of, and then quickly solve the problems, such as, guarantee the safety of operation；In addition, the encoder on robot controller can be remembered The turnning circle of motor is recorded, so that the motion profile of mechanical arm is recorded, it can be automatic by the information system of encoder feedback Judge that motion path whether there is problem, and judge whether interfere when the movement of multiple robot arms, according to its feedback letter Breath can ensure the more accurate trouble free service of each robot arm, and then improve the safety of operation.

The control device provided based on the above embodiment, the embodiment of the present invention also provide a kind of operating robot, including behaviour Make platform, robot arm, and the control device connecting respectively with station and robot arm；And control device is any of the above-described The control device of item.For the structure of the rest part of above-mentioned operating robot, the prior art is referred to, repeats no more herein.

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 is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ", " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition State the concrete meaning of 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.

In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical", The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage Solution is indication or suggestion relative importance.

The foregoing is merely the preferred embodiment of the present invention, are not intended to restrict the invention, for this field For technical staff, the invention may be variously modified and varied, in the range of the principle of the present invention and technical idea, to this A little embodiments carry out a variety of variations, modifications, equivalent substitutions and improvements etc., should all be included in the protection scope of the present invention.

Claims (10)

1. one kind can flexibly curved surgical robotic apparatus be respectively provided with the hollow hard body of rod at the both ends of the body of rod Control unit and wrist part structure install front end performer on the wrist part structure, it is characterised in that:

The control unit has the first cup-and-ball joint and the first driving assembly, and the wrist part structure has the second cup-and-ball joint, institute It states the second cup-and-ball joint to connect with front end performer, is connected with transmission between first cup-and-ball joint and the second cup-and-ball joint Drag-line；

First cup-and-ball joint includes the first bulb and the first ball seat, and second cup-and-ball joint has the second bulb and second Ball seat；

By transmission drag-line the first cup-and-ball joint interconnected the first driving assembly synchronous with the second cup-and-ball joint in control unit Operation and wrist part structure execute movement；First driving assembly can drive the first ball seat to move, for synchronizing operator Operation on the control device of operating robot.

2. it is according to claim 1 can flexibly curved surgical robotic apparatus, it is characterised in that: first bulb Surface and the first driving assembly are in close contact.

3. it is according to claim 2 can flexibly curved surgical robotic apparatus, it is characterised in that: first driving group At least two groups of part, the direction of the first ball motion of driving is mutually perpendicular to.

4. it is according to claim 1 can flexibly curved surgical robotic apparatus, it is characterised in that: the control unit with before Connection between performer is held to execute drag-line, the execution drag-line is driven by the second driving assembly and moved.

5. it is according to claim 1 can flexibly curved surgical robotic apparatus, it is characterised in that: in the control unit Front end has resilient supporting unit, and the resilient supporting unit supports ball-type part, and the bottom end of first bulb has socket joint, The ball-type part is slidably matched with socket joint.

6. it is according to claim 1 can flexibly curved surgical robotic apparatus, it is characterised in that: the bottom end of the first ball seat Universal-joint, the universal joint are connected with support device.

7. it is according to claim 1 can flexibly curved surgical robotic apparatus, it is characterised in that: the driving component packet Actuator and driving motor are included, actuator and driving motor are directly connected to or couple by transmission device.

8. it is according to claim 1 can flexibly curved surgical robotic apparatus, it is characterised in that: on second ball-and-socket Equipped with the coiled pipe that multiple bending cup-and-ball joints are connected into, the bending cup-and-ball joint has through-hole.

9. according to claim 1-8 it is any it is described can flexible curved surgical robotic apparatus, it is characterised in that: the drive It further include inductor in dynamic component, actuator and inductor are directly connected to or are coupled by transmission device, the inductor induction The rotary motion of actuator.

10. one kind can be flexibly bent and the control device of the surgical robotic apparatus of tactile feedback, it is characterised in that: be to weigh Benefit require 9 described in can flexibly curved surgical robotic apparatus structure basis on, the control unit further includes handle, trigger With the hand-control device of direction control unit composition.