CN109171972A - A kind of multiple degrees of freedom operating robot control device - Google Patents

Abstract

The present invention provides a kind of multiple degrees of freedom operating robot control device, with the hollow hard body of rod, control unit and wrist part structure are respectively provided at the both ends of the body of rod, control unit has the first cup-and-ball joint and driving device, wrist part structure has the second cup-and-ball joint, second cup-and-ball joint is connect with front end performer, and transmission drag-line is connected between the first bulb and the second ball-and-socket；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；Movement is executed in the operation of control unit and wrist part structure by transmission drag-line the first cup-and-ball joint interconnected and the second cup-and-ball joint simultaneously operating person.Structure of the invention design rationally, is easy to use, is provided simultaneously with good portability and economy.

Description

A kind of multiple degrees of freedom operating robot control device

Technical field

The present invention relates to a kind of operation devices, and in particular to a kind of multiple degrees of freedom operating robot control device.

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.But lacking one kind at present can The special equipment of complicated operation operation is carried out in more complex surgical environments.Mainly prebuckling and can turn in existing product Wrist realizes the bending and rotation of surgical forceps for abdominoscope.It is mutually dry due to existing between the instrument of prebuckling single-hole laparoscopic surgery pincers Disturb, handle lacks directive property, handle rotation the deficiencies of being difficult to control instrument positions, and single shape surgical clamp is unable to satisfy respectively The demand of kind surgery location, involves great expense, and is unfavorable for being used for a long time and safeguard.Some surgical instruments such as Chinese patent literature CN A kind of flexible operation device disclosed in 106264665 A, although can complete actively be bent, bending freedom degree compared with It is few.Also there is the surgical forceps for abdominoscope for turning wrist by multiple Serve Motor Controls in the prior art, it both can be according to the fortune of wrist The movement for coming control device head is moved, realizes the flexible operating of multiple freedom degrees, while angle can be locked again, such as " reaching for the U.S. Fragrant surprise " operating robot, the appearance of operating robot change routine operation mode, and operating doctor can be detached from operating table, Operating robotic arm is patients surgery on the controller on side.

But structure is complicated for this " Leonardo da Vinci " operating robot, expensive, mechanical arm huge, heavy, and control device is also huge It is big heavy.Therefore research and develop a kind of succinct light and handy robot and its control device have to whole world robot field development it is important Meaning.

Summary of the invention

Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of multiple degrees of freedom surgical machine People's control device.

Technical solution: in order to solve the above technical problems, multiple degrees of freedom operating robot control device provided by the invention, packet Include gimbal suspension, support device, inductive component and driving device；The gimbal suspension is separately connected support device and driving dress It sets；The inductive component is used to incude the activity of gimbal suspension.

Specifically, the inductive component includes induction pieces and inductor, and induction pieces and inductor are directly connected to or pass through biography Dynamic device connection.

Specifically, the surface of the driving device and inductive component are in close contact.

Specifically, the gimbal suspension includes Hooks coupling universal coupling.It is preferred that the active axis connection in Hooks coupling universal coupling drives dress It sets, driven axis connection support device

It is preferred that Hooks coupling universal coupling is universal coupling with spider or ball cage type Hooks coupling universal coupling.It is preferred that the cross axle of simple joint Formula Hooks coupling universal coupling.

Specifically, the driving device has the surface for being suitble to gripping, and the surface of the driving device and inductive component are close Contact.It is preferred that the driving device driving device is hollow sphere, internal cavities are ball-type, the surface that outside has suitable hand to hold, Gimbal suspension is located at the center of hollow sphere.The inner surface and inductive component of the hollow sphere are in close contact.Inductive component passes through Curved bar is fixedly connected with driven shaft.

It is preferred that gimbal suspension is wrapped in center by hollow sphere, it is connect by driving shaft with gimbal suspension.User holds When holding hollow sphere multi-direction rotation can be carried out by dot of gimbal suspension.

Specifically, the gimbal suspension includes cup-and-ball joint, the cup-and-ball joint includes ball seat and bulb, and the ball seat has Ball-type outer surface, the ball seat outer surface and inductive component are in close contact；The inductive component is solid by curved bar and support device Fixed connection.

Specifically, be separately installed on the inductive component and gimbal suspension induction Magnetic Sensor or and magnetic pole, the magnetic Sensor can sense the changes of magnetic field generated after induction magnetic pole movement, generate pulse signal.

It specifically further include finger control device, the finger control device is installed on the drive means, for controlling surgical instrument.It is excellent Trigger configuration is selected, pulling for trigger can cause spring deformation, and drag-line is driven to generate electric signal.Or fingerstall has the knot of similar scissors Structure, switch and closure cause the rotation of fixing axle, and rotary encoder is driven to generate electric signal.

Specifically, further include hard shell, there is through-hole on the shell, the sensing device is fixed on the shell；It is described Sensing device passes through the through-hole.

It is preferred that there is friction member between the shell and gimbal suspension, there is support spring in support device；When operator presses Gimbal suspension and friction member are detached from when driving device, and when operator unclamps driving device, support spring enables gimbal suspension and friction Part contact, and gimbal suspension and shell relative position are locked.

It specifically, further include driving assembly, the driving component is for driving gimbal suspension to move.It is preferred that driving device Hollow sphere, driving assembly is servo motor, by the inner surface of roller bearing and hollow sphere be in close contact, can drive hollow sphere with It is rotated centered on gimbal suspension, user is allowed to have resistance feel.

The present invention also provides a kind of operating robots, it is characterised in that: is in any of the above-described kind of multiple degrees of freedom surgical machine In the structure basis of people's control device, using the inductive component in driving assembly replacement robot controller.

The utility model has the advantages that the present invention has following significant progress:

1, it can be bent with flexible rotating, possess the freedom degree for the human wrist that can match in excellence or beauty.

2, easy to operate.Manual embodiment: operator singlehanded can control simultaneously rotation and clamping.Palm when held driving dress Set the front and rear, left and right rotation that two freedom degrees may be implemented.After finger is inserted in fingerstall, holding for operating robot end can control Luggage sets open and close movement.

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 controling device structure diagram in the embodiment of the present invention one；

Fig. 2 is the diagrammatic cross-section of embodiment one；

Fig. 3 is the schematic diagram of internal structure of inductive component；

Fig. 4 is the inductive component schematic diagram connecting with rotary encoder；

Fig. 5 is the driving assembly schematic diagram connecting with servo motor；

Fig. 6 is the control device schematic diagram that universal coupling with spider is used in embodiment two；

Fig. 7 is the control device schematic diagram for doing driving device in embodiment three using hollow sphere；

Fig. 8 is control device diagrammatic cross-section in embodiment three；

Fig. 9 is the schematic diagram that hollow sphere rotates to the left in embodiment three；

Figure 10 is the schematic diagram that hollow sphere rotates forward in embodiment three；

Wherein:

1- gimbal suspension, 2- support device, 3- inductive component, 4- driving device, 5- fingerstall, 6- control-rod, 7- cup-and-ball joint；

11- universal coupling with spider, 12- are actively pitched, and 13- is from moving fork, 14- cross axle, 15- curved bar, 16- ball seat, 17- ball Head, 18- direction control unit；

20- trigger, 21- support spring, 22- support rod, 23- support frame, 24- handle, 25- loop-drive, 26- execute drag-line, and 27- is pulled Machine locking teeth, 28- execute drag-line hole, 29- shell；

31- induction pieces, 32- rotary encoder, 33- incude roller bearing, 34- reaction magnetic ring, 35- Hall sensor and circuit board, 37- Transmission device, 38- swingle；

41- hollow sphere, 42- notch, 43- connecting rod, 44- hemispherical head.

Specific embodiment

Embodiment one

The robotic surgery control device of the present embodiment is as shown in Figure 1 and Figure 2, and convenient for being operated by the way of manual, whole is in rifle Shape has the handle 24 held, and is bonded the bending direction of operator's hand, and crooked radian meets ergonomics.

Operator controls the cup-and-ball joint movement of multi-directionally movement, and driving inductive component 3 generates electric signal to control hand Art robot motion.Cup-and-ball joint is made of the ball seat 16 and bulb 17 of dome-type.There are dome-type recess, size in 16 bottom surface of ball seat It is matched with bulb 17, cup-and-ball joint is collectively formed.

Bulb 17 is connected on support rod 22, is mounted with that support spring 21, support spring 21 are mounted on branch on support rod 22 Between support 23 and bulb 17.Support frame 23 is fixedly connected with control device shell 29, the part that shell 29 is contacted with ball seat 16 For dome-type spherical shell, there is circular through hole at rear portion, and through-hole diameter is less than the ball-type diameter of ball seat 16, so that limiting ball seat 16 can only be 29 internal motion of shell of hollow hemisphere type.

It is fixedly connected at least one inductive component 3 on shell 29,2 driving assemblies 8 are also mounted in the present embodiment, Driving direction is mutually perpendicular to.Inductive component 3 and driving assembly 8 are all fixedly connected on shell 29 by curved bar 15.

3 structure of inductive component is as shown in figure 3, the induction pieces 31 of its ball-type are tight by small through hole on shell 29 and ball seat 16 Contiguity touching can be driven by ball seat 16 and rotate.The rotation of induction pieces 31 can dynamic answer roller bearing 33 rotate, be mounted on induction roller bearing Reaction magnetic ring 34 on 33 can rotate with it.The Hall sensor 35 of installation on circuit boards senses 34 upper magnetic pole of reaction magnetic ring Variation, generate pulse signal, operating robot is sent to by signal transmission system.

As shown in figure 4, inductive component 3 has the induction pieces 31 of ball-type in a non-limiting embodiments, pass through shell 29 On small through hole and ball seat 16 be in close contact.The rotation of induction pieces 31 can drive swingle 38 to rotate, and be passed by transmission device 37 Rotary encoder 32 is passed, pulse signal is generated, operating robot is sent to by signal transmission system.

In a non-limiting embodiments, inductive component 3 is equipped with Magnetic Sensor, and induction magnetic pole is equipped on ball seat 16. When 16 rotary motion of ball seat, incude the distance between magnetic pole and Magnetic Sensor and magnetism changes, to generate signal, passes through The signal of effective control robot motion is formed after computer disposal.

As shown in figure 5, driving assembly 8 has the actuator 30 of ball-type, it is tight by small through hole on shell 29 and ball seat 16 Contiguity touching, can drive ball seat 16 to rotate.The rotation of servo motor 39 passes to swingle 38 by transmission device 37, can drive Actuator 30 rotates, so that the movement to ball seat 16 brings certain resistance, certain force feedback is generated to user.

Direction control unit 18 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 ball seat 16, operator just can control the multi-direction rotation of ball seat 16 with thumb.Flexible cylinder type thumb can also be connected Set, the operator for facilitating thumb shorter use.

There is friction lock between 29 inner surface of outer surface and shell of ball seat 16, friction lock is to be mounted with great friction coefficient Friction material.Friction material can be fixed on the inner surface of shell 29 or the outer surface of ball seat 16, can also both have.Ball There is smooth recess at 16 section centers of seat, form friction free cup-and-ball joint with smooth bulb 17.Ball seat 16 is pushed up by bulb 17 When pressure, it can be close to the friction material in shell 29, be locked in current location.When operator presses pressure ball by direction control unit 18 When seat 16, ball seat 16 and friction material are detached from, can on smooth cup-and-ball joint flexible rotating direction.It is satisfied when going to operator Direction when, reduce pressing dynamics, ball seat 16 contacts with friction material again, and contact more friction-tight power is bigger.Operator stops When pressing, ball seat 16 can be locked in current location by frictional force.Curved bar 15 has elasticity, can be always to inductive component 3 and driving Component 8 keeps induction pieces 31 and actuator 30 to be in close contact always with ball seat 16 with pressure.

Grip part includes handle 24, loop-drive 20, trigger 25, executes drag-line hole 28, trigger lock fixed tooth 27.In use, trigger After 25 pull back, it can drive and execute drag-line 26, execution drag-line 26 is pierced by from executing drag-line hole 28 to be connected with trigger 25, separately One end stiff spring.It executes and is equipped with inductive component 3 in drag-line hole 28, it, can be by sense group when execution drag-line 26 moves back and forth Part 3 records moving displacement.

The loop-drive 20 of trigger 25 prevents maloperation for blocking trigger 25.It covers additionally, due to thumb needs in control direction, It cannot participate in gripping handle 25.Biggish loop-drive 20 is designed, middle finger can be inserted in, loop-drive 20 is clipped in middle finger and the third finger Between, make to hold more stable strong.

There is trigger lock fixed tooth 27 on loop-drive 20, trigger 25 is inwardly hooked tooth socket and can locked trigger 25 by finger, is maintained It executes drag-line 26 and is fixed on a certain position.Finger continues to draw trigger 25, and trigger can slide into next tooth socket along the inclined-plane of tooth socket. Gently side, which pushes away, can skid off trigger lock fixed tooth 27, and trigger 25 is allowed to move freely.Trigger 25 is unclamped, executes drag-line 26 in the bullet of spring Initially restore state under power.

Embodiment two

The present embodiment is as shown in fig. 6, be to the improvement is that a kind of improvement of cup-and-ball joint in embodiment one by cup-and-ball joint It is changed to universal coupling with spider 11.

Actively pitching for universal coupling with spider 11 12 is connected in hemispherical head 44, is connected to support rod 22 from moving fork 13 On, the two is connected by cross axle 14, while can be swung in any direction around spider center again.Universal-joint-pin type universal shaft coupling Device 11 can provide flexible support for hemispherical head 44, and also will limit hemispherical head 44 can not 22 using support rod be axle center rotation.

In one embodiment, universal coupling with spider 11 is substituted by curved grooved type Hooks coupling universal coupling.In another reality It applies in example, ball cage type Hooks coupling universal coupling 11 is substituted by ball cage type Hooks coupling universal coupling.

Embodiment three

As shown in Fig. 7-Figure 10, the operation device of the present embodiment uses hollow driving device 4, and internal cavities are ball-type, external The surface for having suitable hand to hold, the present embodiment select hollow sphere 41 to be used as driving device 4.Gimbal suspension 1 wraps in hollow sphere 41 The heart, the center of cross axle 14 are also the centre of sphere of hollow sphere 41, can be in gimbal suspension 1 when user holds hollow sphere 41 Heart rotation.

Gimbal suspension 1 selects universal coupling with spider 11, and it is fixed by connecting rod 43 and hollow sphere 41 actively to pitch 12 Connection, connect from moving fork 13 with control-rod 6.Control-rod 6 is connect with cup-and-ball joint control device 7, can control internal ball-and-socket Joint motions drive inductor to generate control signal.

Inductive component 3 is fixedly connected on above moving fork 13 or control-rod 6 by curved bar 15.Curved bar 15 has elasticity, can Keep induction pieces 31 to be in close contact always with the inner wall of hollow sphere 41 with pressure to inductive component 3 always.When hollow sphere 41 rotates When, it will drive inductive component 3 and generate control signal.

In a non-limiting embodiments, driving assembly 8 is fixedly connected on also by curved bar 15 from moving fork 13 or control-rod 6 Above.Curved bar 15 has elasticity, can keep the inner wall with hollow sphere 41 always of actuator 30 always to driving assembly 8 with pressure It is in close contact.When servo motor 39 drives actuator 30 to rotate, it will drive the movement of hollow sphere 41, user generated centainly Force feedback.

Example IV

The present embodiment is similar to three structure of embodiment, and difference is that similar scissor construction is also equipped on hollow sphere 41 accuses dress It sets, the fingerstall equipped with index finger and thumb is connected in the same rotary shaft by rotating handle, and the folding of fingerstall causes rotary shaft Rotation drives and generates control electric signal with the rotary encoder of rotation axis connection.

Structure of the invention design rationally, is easy to use, is provided simultaneously with good portability and economy.

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. a kind of multiple degrees of freedom operating robot control device, it is characterised in that: including gimbal suspension, support device, sense group Part and driving device；The gimbal suspension is separately connected support device and driving device；The inductive component is for incuding driving The activity of device.

2. multiple degrees of freedom operating robot control device according to claim 1, it is characterised in that: the inductive component packet Induction pieces and inductor are included, induction pieces and inductor are directly connected to or couple by transmission device.

3. multiple degrees of freedom operating robot control device according to claim 1, it is characterised in that: the driving device Surface and inductive component are in close contact.

4. multiple degrees of freedom operating robot control device according to claim 1, it is characterised in that: the gimbal suspension packet Include Hooks coupling universal coupling.

5. multiple degrees of freedom operating robot control device according to claim 4, it is characterised in that: the Hooks coupling universal coupling It is universal coupling with spider or ball cage type Hooks coupling universal coupling.

6. multiple degrees of freedom operating robot control device according to claim 1, it is characterised in that: the gimbal suspension packet Include cup-and-ball joint.

7. multiple degrees of freedom operating robot control device according to claim 1, it is characterised in that: the inductive component and It is separately installed with induction Magnetic Sensor on gimbal suspension or is produced after can sensing induction magnetic pole movement with magnetic pole, the Magnetic Sensor Raw changes of magnetic field generates pulse signal.

8. multiple degrees of freedom operating robot control device according to claim 1, it is characterised in that: further include accusing dress It sets, the finger control device installation on the drive means, controls surgical instrument by finger.

9. multiple degrees of freedom operating robot control device according to claim 1, it is characterised in that: further include driving group Part, the driving component is for driving the driving device to move.

10. a kind of operating robot, it is characterised in that: be any multiple degrees of freedom operating robot in claim 1-8 In the structure basis of control device, using the inductive component in driving assembly replacement robot controller.