CN109171979A - A kind of bicyclic universal joint control device of operating robot - Google Patents
A kind of bicyclic universal joint control device of operating robot Download PDFInfo
- Publication number
- CN109171979A CN109171979A CN201811152835.3A CN201811152835A CN109171979A CN 109171979 A CN109171979 A CN 109171979A CN 201811152835 A CN201811152835 A CN 201811152835A CN 109171979 A CN109171979 A CN 109171979A
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- CN
- China
- Prior art keywords
- bicyclic
- universal joint
- control device
- operating robot
- inner ring
- Prior art date
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive 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
- A61B34/37—Master-slave 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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/73—Manipulators for magnetic surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
Abstract
The present invention provides a kind of bicyclic universal joint control device of operating robot, including socket joint and the bicyclic universal joint being mounted in the socket joint, bicyclic universal joint is made of inner ring, outer ring and socket joint, has inductive component and locating part in socket joint, there is through-hole at the center of ball-type part.The present invention simplifies the structure of operating robot and control device using the three-dimensional rotation ability of bicyclic universal joint, keeps operating robot control device smaller lighter, operates conveniently, and improves surgical procedure efficiency.
Description
Technical field
The present invention relates to a kind of surgical robot systems, and in particular to a kind of bicyclic universal joint control dress of operating robot
It sets.
Background technique
With the development of science and technology more and more micro-wound surgical operations start to popularize.Minimally Invasive Surgery small, patient with wound
It is easier to the advantages that restoring, with the development of medical endoscope technology, Minimally Invasive Surgery is increasingly widely used.But it is minimally invasive
The field of view of operation is narrow, operative region is not flexible, therefore its operating difficulty is more much greater than general general surgery difficulty.
It needs an operator doctor and one is held mirror operation Shi Jinhang and perfectly cooperated, an operation can just be made to reach ideal effect.
And tacit agreement between the two need operator doctor and hold mirror operation teacher's phase cooperate and could be formed, and centre there is also much it is unstable
Factor.
The appearance of operating robot changes routine operation mode, and operating doctor can be detached from operating table, control aside
Operating robotic arm is patients surgery on device processed.
It is actually one in the world for state-of-the-art Leonardo da Vinci's operating robot, to ride at present there is switching function
The switch power controller of energy, is by switching control route come work.When stepping on video camera pedal, main manipulator and machine
The control route of tool arm disconnects, and the position of the adjustable video camera of main manipulator, is directly realized by the shifting up and down in the visual field at this time
Dynamic and rotation.Decontrol that video camera is foot-operated can be made main manipulator regain with mechanical arm to connect.Clutch foot plate may be implemented
The disengaging of main manipulator and control terminal, in the case where mechanical arm system is completely motionless, main manipulator, which can be moved to, meets people
The position of machine engineering science.There are one foot pedals to control electric heating system by Leonardo da Vinci, and in addition there are a spare foot pedals.
Existing operating robot has following deficiency: 1, somewhat expensive, and most hospitals powerlessly undertake.It is 2, bulky,
Inconvenience is man-machine while cooperating on operating table.3, lack touch feedback, operating doctor is remotely controlled under operating table, loses tradition
Feel.4, console is huge, and in there is collarium border, when encountering emergency case, operating doctor is difficult to sterilize rescue of appearing on the stage in time,
Valuable chance can be wasted.Therefore in order to use under operating table gnotobasis, a kind of small-sized control device is researched and developed, to complete
World robot field development is of great significance.
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 operating robot bicyclic ten thousand
To section formula control device.
Technical solution: in order to solve the above technical problems, the bicyclic universal joint control dress of operating robot provided by the invention
It sets, including the bicyclic gimbal suspension formed with inner ring, outer ring and socket joint；The socket joint may be connected on surgical apparatus；
The inner ring is suspended on the outer ring by inner ring rotary shaft, and outer ring is suspended in socket joint by outer ring rotary shaft；It is described
Inner ring rotary shaft and the rotary shaft of the outer ring are mutually perpendicular to, and the angle of axial line is 90 degree；Outer ring rotary shaft and the first induction
Component connection is simultaneously rotated by induction；Control-rod is equipped in the inner ring.
It is preferred that the inductive component includes inductor and transmission device, the rotary shaft and the inductor are directly connected to
Or coupled by the transmission device.
It is preferred that being separately installed with induction magnetic pole and Magnetic Sensor, the Magnetic Sensor sense in the inductor and rotary shaft
The changes of magnetic field generated after induction magnetic pole movement should be arrived, pulse signal is generated.
Specifically, the inner ring rotary shaft connect with the second inductive component and is rotated by induction.
Specifically, the socket joint is to be detachably connected with surgical apparatus.It is preferred that threaded connection or socket joint connection or bundle
It ties up.
It specifically, further include sterile sleeve, the sterile sleeve is connect with socket joint, and the sterile sleeve is bicyclic universal for wrapping up
Section.
Specifically, at least one opening of the sterile sleeve, the opening can be with socket joint pairing.It is preferred that sterile sleeve
It is made of the high molecular material of transparent flexible.Further preferably, there are opening and socket joint pairing in transparent plastic sleeve, one end.
It specifically, further include touch sensor or button.For receiving control action, operator is allowed to control more equipment.
Specifically, the socket joint or inner ring are annular bearings, and the belt bearing includes inner ring and outer ring；The outer ring
It is equipped with third inductive component, the third inductive component is for incuding the inner ring rotation.
Specifically, the inner ring is equipped with tube channel, is equipped with control-rod in the tube channel.Further, the channel
4th inductive component is installed, the 4th inductive component advances or rotates along tube channel axis for incuding control-rod on pipe.
Specifically, the inductive component includes inductor and transmission device, and the rotary shaft and the inductor directly connect
It connects or is coupled by the transmission device.
It specifically, further include driving assembly in the gimbal suspension, the driving component and the rotary shaft or described logical
Control-rod transmission connection in hole.It is preferred that the driving component includes driving motor and transmission device, the rotary shaft and described
Driving motor is directly connected to or is coupled by the transmission device.
Present invention simultaneously provides a kind of operating robot, which can be by the bicyclic universal joint of operating robot
Control device control.It is preferred that the structure of operating robot is the base in the bicyclic universal joint control device structure of operating robot
On plinth, using the inductive component in the bicyclic universal joint control device of driving assembly valve replacement robot.
Bicyclic universal joint is packed in sterile sleeve made of transparent plastic film by operator, and sterile sleeve is fixed by socket joint
Onto surgical apparatus, such as surgical forceps for abdominoscope.Operator, can also be simultaneously with single finger while operating routine instrument
Remote control surgical robotic gripper laparoscope or other equipment execute the movement such as left and right, pitching, rotation or advance.It can be just like lower section
Under operating table operating robot movement is controlled by foot remote control device likes: 1,.2, for operating doctor on operating table, oneself uses hand
Remote control.3, it is mounted on operating doctor mask, is remotely controlled with lip and tongue.
The utility model has the advantages that
1. reducing surgical staff configuration.The system can allow operating doctor in both hands operation, moreover it is possible to freely control other machines
Tool arm has been equivalent to mostly two hands, has reduced a lifting-mirror doctor or assistant doctor, is also avoided that the barrier occurred when two people link up
Hinder.
2. structure is simple, installation, debugging are simple.The component for needing to control is few, and system is simple, breaks down few, maintenance is held
Easily.Good economy performance reduces the financial burden of patient.
The present invention simplifies the structure of operating robot and control device using the three-dimensional rotation ability of bicyclic universal joint, can
The mechanical arm for needing assistant to cooperate originally to allow operating doctor to directly control, avoids the communication error between two people, and with can
To improve surgical procedure efficiency, and operate conveniently.
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 the bicyclic universal joint control device schematic diagram being mounted on surgical forceps for abdominoscope in embodiment one；
Fig. 2 is the bicyclic universal joint control device diagrammatic cross-section of operating robot in embodiment one；
Fig. 3 is bicyclic gimbal structure schematic diagram in embodiment one；
Fig. 4 is bicyclic universal joint schematic diagram of internal structure in embodiment one；
Fig. 5 is inductive component structural schematic diagram in embodiment one；
Fig. 6 is two middle (center) bearing sample socket joint structural schematic diagram of embodiment；
Fig. 7 is the structural schematic diagram for installing sense base in embodiment three in tube channel；
Fig. 8 is the schematic diagram that bicyclic universal joint operating robot work is controlled in embodiment seven；
Wherein: the bicyclic universal joint of 1-, 2- tube channel, 3- socket joint, 4- control piece, 5- inductive component, the bicyclic universal joint operation of 6-
Robot, 7- sterile sleeve, 8- rotary shaft, 9- execute instrument；
11- outer ring, 12- inner ring, 13- socket joint shell, 14- outer ring rotary shaft, 15- inner ring rotary shaft, the joint 16- shell through-hole；
21- socket joint, 22- bearing outer ring, 23- bearing inner race, 24- battery, 25- signal receive generator, 26- steel ball;
The joint 31- attic base, 32- inserted link, 33- pedestal；
40- tube channel notch, 46- sense base；
51- induction pieces, 52- induction machine, 53- transmission device, 54- induction pieces fixed frame, the first inductive component of 55-, 56- second
Inductive component, 57- third inductive component, the 4th inductive component of 58-；
71- finger ring, half ball cover of 72-, 73- control rod set;
91- handle, 92- trigger, 93- binding clip.
Specific embodiment
Embodiment one
As shown in Figures 1 to 5, the bicyclic universal joint control device of operating robot includes socket joint 3 and is mounted in socket joint 3
Bicyclic universal joint 1.Socket joint 3 diameter 3cm, thick 1cm, 11 diameter 2cm of outer ring.Socket joint 3 has metal or rigid plastics to be made,
There are the joint attic base 31 agreed with socket joint 3, embeddable bicyclic universal joint 1 in diameter 4cm, thick 1.5cm, inside.Inserted link 32 is inserted into
And it is fixedly connected via screw to the rear end for executing instrument 9.
Sterile sleeve 72 is made of transparent silica gel, thickness 0.5mm, and there is opening at both ends, and opening one end connection silica gel is made
Control rod set 73, can cover on control-rod 4.The opening other end has the fillet of screw of diameter 3.5cm, can be with joint attic base 31
It is threadedly coupled, so that bicyclic universal joint 1 be sealed.Sterile sleeve 72 and socket joint 3 are disposable sterile materials
Material.
Gimbal suspension 1 is made of inner ring 12, outer ring 11 and joint shell 13, and inner ring 12 is suspended on outer ring 11, outer ring 11
It is suspended on joint shell 13；Inner ring 12 and the rotary shaft of outer ring 11 are mutually perpendicular to, and the angle of axial line is 90 degree；Inner ring rotary shaft
15 connect with the second inductive component 56, and outer ring rotary shaft 14 is connect with the first inductive component 55, and inductive component is for incuding rotation
Axis rotation；Inner ring 12 wears tube channel 2.
Joint shell 13 is two symmetric parts to being combined into, and is positioned in joint shell 13 after pairing by bicyclic, the first sense group
Part 55 is fixed in joint shell 13 by Fixing clamp-seat and induction pieces fixed frame 54, and the second inductive component 56 is fixed on outer ring 11.
There are mark in the type of inductive component and position on institute installation position corresponding joint shell surface.In a non-limiting embodiments,
Joint shell is made of transparent material, can be with the position of visible directly internal different components.
Also there is battery and radio transmitting and receiving device in socket joint 3.In a non-limiting embodiments, battery and
Radio transmitting and receiving device are mounted in socket joint 3, are powered simultaneously by the socket in joint attic base 31 to bicyclic universal joint 1
Signal is transmitted, makes bicyclic universal joint 1 more compact.
Operator is hold by one hand handle 91, and index finger operating trigger 92 controls the movement of binding clip 93, and thumb is inserted in finger ring 71.Control
73 one end of rod set processed is fixedly connected with finger ring 71, and the other end passes through the head that sterile sleeve 72 closely surrounds control-rod 4.By operator's
Thumb movements pass to control-rod 4.The center of inner ring 12 connects control-rod 4, can be driven and rotate by control-rod 4.Rotation
Axis 8 is driven to rotate.Power is reached by rotary encoder 52 by transmission device 53 again, rotation is allowed to and issues electric signal, through controlling
Operating robot is transmitted to after platform processing processed.
In a non-limiting embodiments, inductive component 5 is equipped with Magnetic Sensor, and induction magnetic pole is equipped in inner ring 12.
When 12 rotary motion of inner ring, 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.
In a non-limiting embodiments, bicyclic 1 shell of universal joint is made of transparent material, can be with visible directly inside not
With the position of component.
In another embodiment, outer ring 11 and inner ring 12 are all square-shaped frames.In another embodiment, in order to reduce
Weight, using following three schemes: having the notch less than 25% on outer ring 11, inner ring 12 is merged with tube channel 2, or is not set
Inner ring 12, inner ring rotary shaft 15 are directly connect with tube channel 2.
Embodiment two
The present embodiment thes improvement is that gimbal suspension 1 is mounted on ring as shown in fig. 6, be improvement on the basis of embodiment one
In shape bearing, belt bearing includes inner ring 23 and outer ring 22；Outer ring 22 is equipped with third driving assembly 57, third driving assembly 57
For driving inner ring 23 to rotate.Embodiment adds ones degree of freedom, can carry out rotation driving to laparoscope 4.Third is driven
The structure of dynamic component is similar to first or second driving assembly structure, is fixed on outer ring 22, actuator is engaged with inner ring 23.
Other structures are the same as example 1.
Embodiment three
As shown in fig. 7, the present embodiment is similar to embodiment one, difference is, is equipped with tube channel in inner ring 12 in the present embodiment
2, it tube channel 2 and 12 banding of inner ring or combines together, control-rod 4 is equipped in tube channel 2.Flexible film 17 outside socket joint 3
Package, prevents sundries from entering intra articular, has circular hole to enter and leave on elastic film 17 for control-rod 4.There is strip in tube channel 2
Sense base 46 has the 4th inductive component 58 in sense base 46.4th inductive component 58 passes through the tube channel notch 40 in tube channel 2
It is in close contact with control-rod 4, the moving forward and backward in tube channel 2 of control-rod 4 can be incuded.
Example IV
The present embodiment is similar to embodiment one, and difference is mounted on sterile crossbeam in socket joint 3 in this present embodiment, sterile crossbeam
It is arranged in the aseptic area on hand of operator.
Embodiment five
The present embodiment is similar to embodiment one, and in this present embodiment without sterile sleeve, socket joint 3 is mounted on foot-operated for difference,
The foot-operated foot side that operator is arranged in, operator are controlled with toe.
Embodiment six
The present embodiment is similar to embodiment one, and difference is mounted on mask in socket joint 3 in this present embodiment, and mask setting is being grasped
The face of author, operator are controlled with mouth.
Embodiment seven
It as described in Figure 8, is bicyclic universal joint surgical engine the present invention also provides a kind of operating robot controlled by above-described embodiment
Control device has similar structure in device people 6, with embodiment one.Difference is, the size of bicyclic universal joint operating robot 6
It is 3-10 times of control device.Driving assembly is also mounted other than installing inductive component 5 in inside.Driving assembly is by driving electricity
Machine driving drives inner ring and the execution instrument 9 being connected in inner ring to move by transmission device.The sense of each of control device
Answering component 5 in the corresponding position of bicyclic universal joint operating robot 6 is driving assembly.Control-rod 4 in control device is double
The corresponding position of ring universal joint operating robot 6 is to execute instrument 9.
There are also installed driving assemblies other than installing inductive component 5 in control device in the present embodiment.Execute instrument 9
Movement is acquired by the inductive component of bicyclic universal joint robot 6, is transmitted to through signal processing and is controlled internal drive with control device
Dynamic component movement drives control-rod movement.Since control-rod at this time is controlled by operator with thumb, can to operator with
Force feedback generates the tactile of true touching tissue and experiences the size of reaction force.
Embodiment eight
The bicyclic universal joint control device of operating robot is mounted on station, in use, bicyclic universal joint operating robot 8
It is controlled by station, the instruction of station is assigned by foot control device, is reached by RTC instant messaging from end robot control dress
It sets, would be communicated to bicyclic universal joint operating robot 8 after the robot controller reception instruction of end and acted accordingly.It is double
The status summary of ring universal joint operating robot 8 to from end robot controller, by from end robot controller pass through RTC
Communication reaches station, while the status information aggregation process of the status information of station and bicyclic universal joint operating robot 8
Staff is fed back to by liquid crystal display panel afterwards.
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 bicyclic universal joint when 3D body-sensing video camera monitors staff in place
The partial function of operating robot 8 operates, and when staff turns on the switch at this time, bicyclic universal joint operating robot 8 just can
It starts operation；Staff not in place when, and be not switched on switch, bicyclic universal joint operating robot 8 is braked, to avoid it is non-just
Bicyclic universal joint operating robot 8 is mobile caused by the running of operation interface caused by Chang Yinsu.
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 with encoder, be deposited when abnormal in the motion path of encoders monitor to bicyclic universal joint operating robot 8,
Information can be fed back to motor driver by encoder, 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 bicyclic universal joint operating robot 8, and monitoring information is fed back into work people
Member, in case of a failure, motor communication device can carry out Brake lamp operation according to monitoring information, to guarantee surgical engine
The normal operation of device people, or fault message is fed back into staff, enable the quick handling failure of staff.
In addition, station control device is for recording bicyclic 8 parameter information of universal joint operating robot and/or station ginseng
The data recordin module of number information, in order to search fault message.Specifically, the data recordin module includes running log and control
Hand data processed, for example in control hand data, staff's operation handle is passed to bicyclic universal joint by station controller
Operating robot end moves bicyclic universal joint operating robot 8, and information when bicyclic universal joint operating robot 8 acts is logical
Encoder, motor driver feedback to station controller are crossed, feedback mechanism is formed, if operation data and encoder or motor
Data appearance is inconsistent, then system adjust automatically breaks down if not adjusting, and needs to check number in control hand data
According to simultaneously tracing for troubles place.
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 station control device
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.
The bicyclic universal joint operating robot 8 of display is also respectively provided on robot controller and station control device
The first state indicator light of working condition and the second status indicator lamp of display operation platform working condition.Above-mentioned indicator light can incite somebody to action
Robotic end and the working condition of station are most intuitively presented to staff, and staff is according to the display feelings of indicator light
Condition can quickly find out guilty culprit by checking error code.Specifically, above-mentioned indicator light can be specifically provided with just
Often, it awaits orders, alert, the instruction situation such as danger, so as to the use state of personnel monitoring robot.
The bicyclic universal joint control device of operating robot provided in an embodiment of the present invention specifically includes station control dress
It sets and robot controller, is controlled with the state respectively to station and bicyclic universal joint operating robot, and operate
Platform control device is connect with robot controller, to realize information connection and feedback between the two, enables staff
It is enough that bicyclic universal joint operating robot is operated to implement to perform the operation in operation end.In surgical procedure, monitoring device can
In place whether real-time monitoring staff, to judge whether to brake, effectively avoid bicyclic ten thousand under the maloperation of part
Running to section operating robot；Display, which can show all status informations of station and robot, is presented directly to work
Make personnel, enable staff fast and accurately find system there are the problem of, and then quickly solve the problems, such as, guarantee operation
Safety；In addition, the encoder on robot controller is able to record the turnning circle of motor, to record the fortune of mechanical arm
Dynamic rail mark can judge automatically motion path with the presence or absence of problem by the information system of encoder feedback, and judge multiple double
Whether ring universal joint operating robot interferes when moving, and can ensure each bicyclic universal joint surgical engine according to its feedback information
The more accurate trouble free service of device people, 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, bicyclic universal joint operating robot, and the control device connecting respectively with station and bicyclic universal joint operating robot；
And control device is the control device of any of the above-described.For the structure of the rest part of above-mentioned operating robot, refer to existing
There is technology, 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. a kind of bicyclic universal joint control device of operating robot, it is characterised in that: including with inner ring, outer ring and socket joint
The bicyclic gimbal suspension of composition；The socket joint may be connected on surgical apparatus；The inner ring is suspended on by inner ring rotary shaft
On the outer ring, outer ring is suspended in socket joint by outer ring rotary shaft；The rotary shaft of the inner ring rotary shaft and the outer ring
It is mutually perpendicular to, the angle of axial line is 90 degree；Outer ring rotary shaft connect with the first inductive component and is rotated by induction；The inner ring
On be equipped with control-rod.
2. the bicyclic universal joint control device of operating robot according to claim 1, it is characterised in that: the inner ring rotation
Shaft connect with the second inductive component and is rotated by induction.
3. the bicyclic universal joint control device of operating robot according to claim 1, it is characterised in that: the joint
Seat is to be detachably connected with surgical apparatus.
4. the bicyclic universal joint control device of operating robot according to claim 1, it is characterised in that: the socket joint
Or inner ring is annular bearings, the belt bearing includes inner ring and outer ring；The outer ring is equipped with third inductive component, and described the
Three inductive components are for incuding the inner ring rotation.
5. the bicyclic universal joint control device of operating robot according to claim 1, it is characterised in that: in the inner ring
Equipped with tube channel, control-rod is equipped in the tube channel.
6. the bicyclic universal joint control device of operating robot according to claim 5, it is characterised in that: the tube channel
On the 4th inductive component is installed, the 4th inductive component advances or rotates along tube channel axis for incuding control-rod.
7. the bicyclic universal joint control device of operating robot according to claim 1, it is characterised in that: the joint
There are touch sensor or button in seat and/or socket joint.
8. the bicyclic universal joint control device of operating robot according to claim 1, it is characterised in that: the sense group
Part includes inductor and transmission device, and the rotary shaft and the inductor are directly connected to or are coupled by the transmission device.
9. the bicyclic universal joint control device of operating robot according to claim 1, it is characterised in that: described bicyclic ten thousand
To it is intra-articular further include driving assembly, the driving component includes actuator and driving motor, and rotary shaft and driving motor are direct
Connection is coupled by transmission device.
10. a kind of operating robot, it is characterised in that: can be by any operating robot bicyclic ten thousand of claim 1-9
To section formula control device control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811152835.3A CN109171979A (en) | 2018-09-30 | 2018-09-30 | A kind of bicyclic universal joint control device of operating robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811152835.3A CN109171979A (en) | 2018-09-30 | 2018-09-30 | A kind of bicyclic universal joint control device of operating robot |
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| CN109171979A true CN109171979A (en) | 2019-01-11 |
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| CN201811152835.3A Pending CN109171979A (en) | 2018-09-30 | 2018-09-30 | A kind of bicyclic universal joint control device of operating robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109646124A (en) * | 2019-02-15 | 2019-04-19 | 郑州大学第附属医院 | Magnetic resonance compatible formula cranium brain solid fixes device |
| WO2022253065A1 (en) * | 2021-06-02 | 2022-12-08 | 上海生知医疗科技有限公司 | Portable manual surgical robot |
-
2018
- 2018-09-30 CN CN201811152835.3A patent/CN109171979A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109646124A (en) * | 2019-02-15 | 2019-04-19 | 郑州大学第附属医院 | Magnetic resonance compatible formula cranium brain solid fixes device |
| WO2022253065A1 (en) * | 2021-06-02 | 2022-12-08 | 上海生知医疗科技有限公司 | Portable manual surgical robot |
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