CN109171984A - A kind of operating robot portable control device - Google Patents

Abstract

The present invention provides a kind of operating robot portable control device, and including pedestal and the cup-and-ball joint being mounted on the pedestal, cup-and-ball joint is made of ball-type part 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 cup-and-ball joint.And it provides and is suitable for use in the small-sized control device of operating table aseptic area, operating doctor can be allowed to directly control the mechanical arm for needing assistant to cooperate originally, avoid the communication error between two people, and with surgical procedure efficiency can be improved, and operate conveniently.

Description

A kind of operating robot portable control device

Technical field

The present invention relates to a kind of surgical robot systems, and in particular to a kind of operating robot portable control device.

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 portable control dress is researched and developed It sets, is of great significance to whole world robot field development.

Summary of the invention

Goal of the invention: in order to overcome the deficiencies in the prior art, it is portable that the present invention provides a kind of operating robot Control device.

Technical solution: in order to solve the above technical problems, operating robot portable control device provided by the invention, including Pedestal and the cup-and-ball joint being mounted on the pedestal；The pedestal may be connected on surgical apparatus；The cup-and-ball joint is by ball Type part and socket joint composition, the socket joint is interior to have inductive component, and the inductive component is used to incude the fortune of the ball-type part It is dynamic；Also there is locating part in the socket joint.

It is preferred that the inductive component includes induction pieces and inductor, induction pieces and inductor are directly connected to or pass through transmission Device connection.The induction pieces are closely connect with ball-type part, pass through friction or engaged transmission.

Specifically, induction magnetic pole and Magnetic Sensor, the Magnetic Sensor are separately installed on the induction pieces and ball-type part It senses the changes of magnetic field generated after induction magnetic pole movement, generates pulse signal.

Specifically, the locating part is the through-hole on socket joint shell, and the through-hole diameter is less than ball-type part diameter.With It can only make rotating motion in socket joint in limitation ball-type part.

Specifically, the pedestal is to be detachably connected with surgical apparatus.It is preferred that threaded connection or socket joint connect or tie.

It specifically, further include sterile sleeve, the sterile sleeve is connect with pedestal, and the sterile sleeve is for wrapping up cup-and-ball joint.

Specifically, at least one opening of the sterile sleeve, the opening can be with pedestal pairing.It is preferred that sterile sleeve by The high molecular material of transparent flexible is made.Further preferably, there are opening and pedestal pairing in transparent plastic sleeve, one end.

Specifically, there are touch sensor or button in the pedestal and/or socket joint.For receiving control action, allow Operator controls more equipment.

Specifically, there is through-hole at ball-type part center, has in the through-hole across object, it is described pass through object be tube channel and/ Or control-rod.Described passing through on object has the head for being suitble to single finger manipulation.It is preferred that head has oblate ring.

Specifically, have in the ball-type part through-hole across object, the sense that induction is moved across object is installed in the ball-type part Answer component.The inductive component can incude across object advance and retreat or rotary motion.

Specifically, it is equipped with tube channel in the through-hole at ball-type part center, had in the tube channel across object, it is described logical The inductive component that induction is moved across object is installed on the tube wall of deferent.The inductive component, which can incude, to be retreated or is revolved across object Transhipment is dynamic.

Specifically, the inductive component includes induction pieces and inductor, and the induction pieces and inductor are directly connected to or lead to Cross transmission device connection.

Specifically, in the socket joint and/or further include driving assembly, the driving component and the ball-type in ball-type part The object that passes through in part or the through-hole is sequentially connected.It is preferred that the driving component includes actuator and driving motor, actuator and Driving motor is directly connected to or is coupled by transmission device.

Present invention simultaneously provides a kind of operating robots, it is characterised in that: the structure of the operating robot is in the hand On the basis of art robot portable control device structure, using in driving assembly valve replacement robot portable control device Inductive component.

Cup-and-ball joint is packed in sterile sleeve made of transparent plastic film by operator, and sterile sleeve is in one's hands by pedestal fixation In art equipment, such as surgical forceps for abdominoscope.Operator can also be remotely controlled with single finger simultaneously while operating routine instrument Operating robot clamping laparoscope or other equipment execute the movement such as left and right, pitching, rotation or advance.It can be just like under type: 1, operating robot movement is controlled by foot remote control device under operating table.2, for operating doctor on operating table, oneself is distant with hand 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 obstacle occurred when two people link up.

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 cup-and-ball joint, can be with It allows operating doctor to directly control the mechanical arm for needing assistant to cooperate originally, avoids the communication error between two people, and with can be with Surgical procedure efficiency is improved, and is operated 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 portable control device schematic diagram being mounted on surgical forceps for abdominoscope in embodiment one；

Fig. 2 is operating robot portable control device diagrammatic cross-section in embodiment one；

Fig. 3 is socket joint arrangement schematic diagram in embodiment one；

Fig. 4 is cup-and-ball joint schematic diagram of internal structure in embodiment one；

Fig. 5 is inductive component structural schematic diagram in embodiment one；

Fig. 6 is changes of magnetic field inductive component structural schematic diagram in embodiment one；

Fig. 7 is the schematic diagram for passing through control-rod in embodiment two in ball-type part.

Fig. 8 be in embodiment two in ball-type part in mounting ball inductive component schematic diagram.

Fig. 9 is the control device schematic diagram for having tube channel and sense base in embodiment three.

Figure 10 is the control device schematic diagram for having anti-rotational crossbeam in embodiment three.

Figure 11 is a kind of operating robot schematic diagram controlled by above-described embodiment provided in embodiment seven.

Wherein: 1- ball-type part, 2- cup-and-ball joint, 3- pedestal, 4- control piece, 6- inductive component, 7- sterile sleeve, 8- ball-and-socket close Operating robot is saved, 9- executes instrument；

11- ball-type part shell, 12- ball-type part through-hole, inductive component in 13- ball；

21- socket joint, the anti-rotational crossbeam of 22-, 23- through-hole,

31- pedestal disk, 32- inserted link, 33- pedestal；

40- tube channel notch, 41- tube channel, 46- sense base, 47- control-rod, 48- ball-type head；

61- induction pieces, 62- rotary encoder, 63- incude roller bearing, 64- reaction magnetic ring, 65- Hall sensor and circuit board, 66- Shell；67- transmission device, 68- induction pieces fixed frame；

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, operating robot portable control device includes pedestal 3 and the cup-and-ball joint that is mounted on pedestal 3 2.Socket joint 21 diameter 3cm, thick 1cm, 1 diameter 2cm of ball-type part.Pedestal 3 has metal or rigid plastics to be made, diameter 4cm, thick There are the pedestal disk 31 agreed with socket joint 21, embeddable cup-and-ball joint 2 in 1.5cm, inside.Inserted link 32 is inserted into and is threadably secured It is connected 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 47.The opening other end has the fillet of screw of diameter 3.5cm, can be with pedestal disk 31 It is threadedly coupled, so that cup-and-ball joint 2 be sealed.Sterile sleeve 72 and pedestal 3 are disposable sterilizable materials.

Cup-and-ball joint 2 is made of ball-type part 1 and socket joint 21, has inductive component 6 in socket joint 21, and inductive component 6 is used In the movement of induction ball-type part 1.21 also have battery and radio transmitting and receiving device in socket joint.In a unrestricted reality It applies in example, battery and radio transmitting and receiving device are mounted on pedestal 3, by the socket in pedestal disk 31 to cup-and-ball joint 2 power and transmit signal, make cup-and-ball joint 2 more compact.

There is hole at 21 center of socket joint, and diameter is less than 1 maximum gauge of ball-type part, can be used as locating part limitation ball-type part 1 It can only be rotated in socket joint 21.Socket joint 21 is two symmetric parts to being combined into, and ball-type part 1 is positioned in joint shell after pairing It is interior, it is clamped jointly by the fixed mutually perpendicular inductive component 6 in inside.Driving assembly 6 has Fixing clamp-seat to fix, with ball-type part 1 Contact point be symmetric around 1 central point of ball-type part, and all in the same plane.Pacified the position of inductive component 6 The corresponding case surface in dress position has mark.

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 47.By operator Thumb movements pass to control-rod 47.The center of ball-type part 1 connects control-rod 47, can be driven and revolve by control-rod 47 Turn.Induction pieces 61 and ball-type part 1 are in close contact, and are also driven to rotate by frictional drive.Pass through transmission device 67 again for power Rotary encoder 62 is reached, rotation is allowed to and issues electric signal, be transmitted to operating robot after console is handled.

In a non-limiting embodiments, inductive component 6 has structure shown in Fig. 6, and induction pieces 61 are ball-types, with ball-type part 1 Contact.The rotation 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 therewith Rotation.The Hall sensor 65 of installation on circuit boards senses the variation of 64 upper magnetic pole of reaction magnetic ring, generates pulse signal, leads to It crosses signal transmission system and is sent to operating robot.

In a non-limiting embodiments, inductive component 6 is equipped with Magnetic Sensor, and induction magnetic pole is equipped on ball-type part 1. When ball-type 1 rotary motion of part, incudes the distance between magnetic pole and Magnetic Sensor and magnetism changes, so that signal is generated, The signal of effective control robot motion is formed after computer is handled.

In a non-limiting embodiments, 2 shell of cup-and-ball joint is made of transparent material, can be with visible directly internal different The position of component.

Embodiment two

As shown in Figure 7 and Figure 8, the present embodiment is similar to embodiment one, and difference has through-hole at 1 center of ball-type part in this present embodiment 23, internal there are also inductive components 13 in ball, have identical structure with above-mentioned inductive component 6, induction pieces and control-rod 47 are close Contact, is also driven to rotate by frictional drive.When control-rod 47 moves forward and backward in the through-hole of ball-type part 1, will drive Inductive component 13 moves in ball, is allowed to issue electric signal.

In a non-limiting embodiments, there is gear in ball on inductive component 13, there is the tooth agreed with therewith on control-rod 47 Item, the two pass through gear engaged transmission.

In another non-limiting embodiments, it is separately installed with Magnetic Sensor in ball on inductive component 13, on control-rod 47 Induction magnetic pole is installed.When about 47 control-rod or rotary motion, the distance between magnetic pole and Magnetic Sensor and magnetism are incuded It changes, to generate signal, forms the signal of effective control robot motion after computer is handled.

Operator such as Fig. 1 grasps handle 91, index finger operating trigger 92.It, can be by thumb when needing to operate robot It is inserted in finger ring 71, to operate control-rod 47.The movement of thumb is broken down into upper and lower, forward and backward, the these types of movement in left and right, fortune Dynamic displacement and direction is all acquired by inductive component 13 in inductive component 6 and ball respectively, is transmitted to surgical machine through signal processing People.

Embodiment three

As shown in Figure 9 and Figure 10, the present embodiment is similar to embodiment two, and difference is, the through-hole 23 of ball-type part 1 in the present embodiment It is inside equipped with tube channel 41, control-rod 47 is equipped in tube channel 41.There are the sense base 46 of strip, sense base in tube channel 41 There is inductive component 6 in 46.Inductive component 6 is in close contact by tube channel notch 40 in tube channel 41 and control-rod 47, can be with Incude the moving forward and backward in tube channel 41 of control-rod 47.

61 long axis of induction pieces of inductive component 13 is parallel with the long axis of tube channel 41 in ball in the present embodiment.User is with together The index finger or another hand of one hand stir sense base 46, and tube channel 41 can be driven to rotate in ball-type part 1, drive ball inner sense It answers the induction pieces 61 of component 13 to rotate, generates electric signal.

Tube channel 41 is located at the opening difference finite place piece at 1 through-hole of ball-type part, 23 both ends, and locating part is wider than through-hole 23 Diameter, limiting channel pipe 41 can only rotate in ball-type part 1, cannot move forward and backward.

There is symmetrical swing bolster 14 on ball-type part 1, is stuck in the groove in anti-rotational fixed frame 15.It is anti-rotational solid The plane perpendicular for determining the groove and socket joint 21 in frame 15, can prevent long axis direction of the ball-type part 1 during exercise along tube channel 41 It rotates.

Only two groups of orthogonal inductive components 6, can mitigate weight in socket joint.In a non-limiting embodiments In, spare space installs battery and radio transmitting device, for power supply and radio contact.

Operator such as Fig. 1 grasps handle 91, index finger operating trigger 92.It, can be by thumb when needing to operate robot It is inserted in finger ring 71, to operate control-rod 47.The movement of thumb pass to be broken down into after control-rod 47 it is upper and lower, forward and backward, left With right these types movement.The index finger or another hand of the same hand stir sense base 46 and generate rotary motion in ball-type part 1.Control The displacement and direction that bar 47 processed moves all are incuded by inductive component everywhere respectively.The wherein induction of inductive component 6 front and back in socket joint Side-to-side movement, inductive component 13 incudes rotary motion in ball, and inductive component induction moves up and down in sense base 46.

Example IV

The present embodiment is similar to embodiment one, and difference is mounted on sterile crossbeam in pedestal 3 in this present embodiment, and sterile crossbeam is set It sets in the aseptic area on hand of operator.

Embodiment five

The present embodiment is similar to embodiment one, and difference is in this present embodiment without sterile sleeve, and pedestal 3 is mounted on foot-operated, foot Step on the foot side that operator is set.

Embodiment six

The present embodiment is similar to embodiment one, and difference is mounted on mask in pedestal 3 in this present embodiment, and mask setting is operating The face of person.

Embodiment seven

It as described in Figure 11, is cup-and-ball joint robot the present invention also provides a kind of operating robot controlled by above-described embodiment Portable control device has similar structure in 8, with embodiment one.Difference is that the size of cup-and-ball joint robot 8 is control 3-10 times of device processed.Driving assembly is also mounted other than installing inductive component 6 in inside.Driving assembly is driven by driving motor It is dynamic, drive ball-type part and the execution instrument 9 being connected on ball-type part to move by transmission device.The sense of each of control device Answering component 6 in the corresponding position of cup-and-ball joint robot 8 is driving assembly.Control-rod 47 in control device is in cup-and-ball joint The corresponding position of robot 8 is to execute instrument 9.

There are also installed driving assemblies other than installing inductive component 6 in portable control device in the present embodiment.It executes The movement of instrument 9 is acquired by the inductive component of cup-and-ball joint robot 8, is transmitted to through signal processing with portable control device, Driving assembly movement inside control, drives control-rod movement.Since control-rod at this time is controlled by operator with thumb, It can generate the tactile of true touching tissue to operator with force feedback and experience the size of reaction force.

Embodiment eight

Operating robot portable control device is mounted on station, in use, cup-and-ball joint operating robot 8 is by station Control, the instruction of station are assigned by foot control device, are reached by RTC instant messaging from end robot controller, from end It would be communicated to cup-and-ball joint operating robot 8 after robot controller reception instruction to be acted accordingly.Cup-and-ball joint hand The status summary of art robot 8 reaches behaviour by communicating from end robot controller by RTC to from end robot controller Make platform, while passing through liquid crystal surface after the status information of station and the status information aggregation process of cup-and-ball joint operating robot 8 Plate feeds 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 cup-and-ball joint hand when 3D body-sensing video camera monitors staff in place The partial function of art robot 8 operates, and when staff turns on the switch at this time, cup-and-ball joint operating robot 8 just can start Running；Staff not in place when, and be not switched on switch, cup-and-ball joint operating robot 8 is braked, to avoid improper factor Cup-and-ball joint operating robot 8 is mobile caused by caused operation interface running.

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, deposit when abnormal, compile in the motion path of encoders monitor to cup-and-ball joint operating robot 8 Information can be fed back to motor driver by code device, 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 cup-and-ball 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 8 parameter information of cup-and-ball joint operating robot and/or station parameter The data recordin module of information, in order to search fault message.Specifically, the data recordin module includes running log and control Hand data, for example in control hand data, staff's operation handle is passed to cup-and-ball joint operation by station controller Robotic end, make cup-and-ball joint operating robot 8 move, cup-and-ball joint operating robot 8 act when information by encoder, Motor driver feedback forms feedback mechanism to station controller, if operation data and encoder or motor data occur Inconsistent, then system adjust automatically breaks down if not adjusting, and needs to check data in control hand data and look for The position of fault.

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.

Display 8 work of cup-and-ball joint operating robot is also respectively provided on robot controller and station control device Make 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 machine The working condition of device people end and station is most intuitively presented to staff, staff according to the display situation of indicator light, By checking error code, guilty culprit can be quickly found out.Specifically, above-mentioned indicator light can specifically be provided with it is normal, It awaits orders, alert, the instruction situation such as danger, so as to the use state of personnel monitoring robot.

Operating robot portable control device provided in an embodiment of the present invention, specifically includes station control device and machine Device people's control device, is controlled with the state respectively to station and cup-and-ball joint operating robot, and station control dress It sets and is connect with robot controller, to realize information connection and feedback between the two, staff is enable to operate End operates cup-and-ball joint operating robot to implement to perform the operation.In surgical procedure, monitoring device being capable of real-time monitoring work Whether in place to make personnel, to judge whether to brake, effectively avoids cup-and-ball joint surgical machine under the maloperation of part The running of people；Display, which can show all status informations of station and robot, is presented directly to staff, makes work Make personnel can fast and accurately find system there are the problem of, and then quickly solve the problems, such as, guarantee the safety of operation；In addition, Encoder on robot controller is able to record the turnning circle of motor, to record the motion profile of mechanical arm, leads to The information system for crossing encoder feedback can judge automatically motion path with the presence or absence of problem, and judge multiple cup-and-ball joint operations Whether interfered when robot motion, can ensure that each cup-and-ball joint operating robot is more accurate according to its feedback information Trouble free service, 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, cup-and-ball joint operating robot, and the control device connecting respectively with station and cup-and-ball joint operating robot；And it controls Device processed is the control device of any of the above-described.For the structure of the rest part of above-mentioned operating robot, existing skill is referred to Art, 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 operating robot portable control device, it is characterised in that: including pedestal and the ball being mounted on the pedestal Nest joint；The pedestal may be connected on surgical apparatus；The cup-and-ball joint is made of ball-type part and socket joint, the socket joint Interior to have inductive component, the inductive component is used to incude the movement of the ball-type part；Also there is locating part in the socket joint.

2. operating robot portable control device according to claim 1, it is characterised in that: the locating part is to close The through-hole on seat shell is saved, the through-hole diameter is less than the ball-type part diameter.

3. operating robot portable control device according to claim 1, it is characterised in that: the pedestal and operation Equipment is to be detachably connected.

4. operating robot portable control device according to claim 1, it is characterised in that: it further include sterile sleeve, institute It states sterile sleeve to connect with pedestal, the sterile sleeve is for wrapping up cup-and-ball joint.

5. operating robot portable control device according to claim 4, it is characterised in that: the sterile sleeve is by high score Sub- film is made, and the sterile opening that is cased with can wrap up cup-and-ball joint with pedestal pairing.

6. operating robot portable control device according to claim 1, it is characterised in that: the pedestal and/or There are touch sensor or button in socket joint.

7. operating robot portable control device according to claim 1, it is characterised in that: ball-type part center has Through-hole has across object in the through-hole, and the inductive component that induction is moved across object is equipped in the ball-type part.

8. operating robot portable control device according to claim 7, it is characterised in that: worn in the through-hole There is tube channel, there is control-rod in the tube channel, the sense group of induction control-rod movement is installed on the tube wall of the tube channel Part.

9. operating robot portable control device according to claim 1, it is characterised in that: in the socket joint and/ Or further include driving assembly in ball-type part, the driving component includes actuator and driving motor, and actuator and driving motor are straight It connects or is coupled by transmission device in succession.

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