CN109171986B

CN109171986B - Surgical robot based on ball-and-socket joint and tactile feedback and control device thereof

Info

Publication number: CN109171986B
Application number: CN201811152893.6A
Authority: CN
Inventors: 郑杨; 郑兴
Original assignee: Sihong Zhengxin Medical Technology Co ltd
Current assignee: Nanjing Maikeshi Medical Technology Co., Ltd.
Priority date: 2018-09-30
Filing date: 2018-09-30
Publication date: 2021-07-16
Anticipated expiration: 2038-09-30
Also published as: CN113397712B; CN113397712A; CN109171986A

Abstract

The invention provides a surgical robot based on a ball-and-socket joint and tactile feedback, which is provided with the ball-and-socket joint consisting of a spherical piece and a joint seat, wherein the joint seat is internally provided with a first roller and a second roller for driving the spherical piece to rotate in three dimensions, and is also provided with a sensor for acquiring the three-dimensional rotation of the spherical piece relative to the spherical piece. The center of the spherical piece is sequentially provided with a rotating channel tube, a forward and backward channel tube and a surgical instrument. The invention also provides a control device based on the same structural principle. The invention simplifies the structures of the surgical robot and the control device by utilizing the three-dimensional rotation capability of the ball-and-socket joint, and the control device and the execution device have the same structure and are fed back to an operator by touch, thereby improving the portability and the operability of the surgical robot.

Description

Surgical robot based on ball-and-socket joint and tactile feedback and control device thereof

Technical Field

The invention relates to a surgical robot system, in particular to a surgical robot based on a ball-and-socket joint and tactile feedback and a control device thereof.

Background

With advances in technology, more and more minimally invasive surgical procedures are beginning to use surgical robots. In the minimally invasive surgery, surgical instruments enter a body through small incisions fixed on the body surface to complete the surgery, and the surgical instruments are required to do fixed-point motion at the incisions in view of the restriction of the body surface incisions and the surgery safety of patients. At present, the following three schemes are adopted to realize the fixed point movement of the surgical instrument.

Firstly, a passive joint: the surgical instrument moves around the incision indirectly through the joint movement at the front end of the kinematic chain, and the fixed-point movement is ensured by the reaction force of the body surface to the surgical instrument in the movement process. The method can ensure the safety of the patient and cannot easily adjust the posture of the surgical instrument.

II, mechanical structure: the motion characteristics through mechanical structure realize the fixed point motion, can guarantee that the mechanism of fixed point motion has: 1. the arc track mechanism can ensure the fixed-point motion of the surgical instrument as long as the body surface incision of the patient is positioned at the circle center of the arc track, but the driving problem of the mechanism is not easy to solve.

2. The direct shaft driving mechanism can realize fixed-point motion only by enabling the body surface incision to be positioned on the driving axis, but can only realize fixed-point motion in one swinging direction.

3. The composite parallel four-bar mechanism realizes fixed-point motion by utilizing the superposition motion of two parallel four bars, has higher requirement on processing precision, is difficult to realize, has larger volume and is not beneficial to surgical operation.

Thirdly, active control: the medical robot is realized by software control of the robot joints, fixed-point motion can be realized only when the number of the robot joints is more than 4, the control mode requires that the motion chain of the medical robot is longer, the number of the required driving joints is more, and the joint motion is controlled by an algorithm to realize fixed-point motion at the incision.

The existing DaVinci robot is the minimally invasive robot which is most successful in commercialization and clinical practice in the world, an open-loop parallelogram telecentric positioning mechanism adopted by the robot is used for realizing a parallelogram mechanism by means of steel belt synchronous constraint, and the mechanism has the defect that a telecentric positioning point needs to be searched by means of a device during assembly. The passive arm is integrated by a mechanical arm based on a mobile platform, and the mode has the defects that the whole mechanical system is large in size, the passive arm is required to have four degrees of freedom for preoperative adjustment, so that the cantilever beam is long, and the overall rigidity of the robot is reduced. Meanwhile, due to the patent barriers in the aspect of the da vinci minimally invasive robot, most of the existing surgical instrument devices are directly driven by motors, so that the driving motors are often arranged on the upper portion of the platform, the heads and feet are light, the driving torque of joints is increased, and the mechanical arm system is easy to vibrate.

Endoscope drive arrangement adopts nut lead screw transmission mode, but this kind of mode is not convenient for manual realization preoperative adjustment, and vertical mobile device adopts the motor to drive the nut lead screw mode and realizes the up-and-down motion, and whole volume ratio is bigger. When the lens direction needs to be adjusted, the doctor needs to stop all the operation of the mechanical arm, switch to the control system of the mechanical arm, adjust the position of the mechanical arm with two hands together, and switch to the control system of the mechanical arm after the adjustment is finished, and restart the interrupted operation. The repeated switching is time consuming and also does not allow for flexible control of the lens orientation and angle by an assistant as in conventional laparoscopic surgery.

The da vinci minimally invasive robot also lacks tactile feedback that would allow the surgeon to discern tissue, "touch" the vulnerable tissue that is infected or affected by inflammation and take more care to make diagnostic analyses. With the tactile feedback, the doctor can suture the wound more perfectly and accurately in the minimally invasive surgery.

Therefore, the research and development of a novel minimally invasive robot mechanical arm system has important significance for the development of the field of minimally invasive robots in China.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a surgical robot based on a ball-and-socket joint and tactile feedback and a control device thereof.

The technical scheme is as follows: in order to solve the technical problem, the invention provides a ball-and-socket joint-based surgical robot, which comprises a ball-and-socket joint consisting of a spherical part and a joint seat, wherein a first ball-and-socket roller and a second ball-and-socket roller are arranged in the joint seat and used for driving the spherical part to rotate three-dimensionally, the rollers are driven by a motor, and a channel pipe is arranged in the center of the spherical part in a penetrating manner.

Specifically, a motor and a roller are mounted on the tube wall of the channel tube, and the roller is engaged with a surgical instrument or a through tube penetrating through the channel tube.

Specifically, a rotating motor is installed in the spherical part and used for driving the channel pipe to rotate, a motor and an inner rolling shaft of the spherical part are installed on the channel pipe, and the inner rolling shaft of the spherical part drives a pipeline penetrating through the channel pipe to move forwards and backwards along the inner wall of the channel pipe through a notch in the channel pipe.

Specifically, the passage tube includes a rotation passage tube and a forward and backward passage tube:

the rotary channel pipe is directly or indirectly fixedly connected with the spherical piece, the rotary channel pipe drives the penetrating object to rotate along the inner wall of the channel pipe, and the sensing assembly mounted on the rotary channel pipe senses the rotary displacement of the penetrating object along the inner wall of the channel pipe.

The advancing and retreating channel pipe penetrates into the rotating channel pipe or the spherical piece, the driving assembly arranged on the advancing and retreating channel pipe respectively drives the penetrated object to advance and retreat along the inner wall of the channel pipe, and the sensing assembly arranged on the advancing and retreating channel pipe senses the advancing and retreating displacement of the penetrated object along the inner wall of the channel pipe.

Specifically, the joint seat is installed in a joint movable frame through a spring, and the joint movable frame is connected with a surgical robot fixing support.

The invention also provides a surgical robot control device based on the ball-and-socket joint, which is provided with a first ball-and-socket joint and a second ball-and-socket joint, wherein the first ball-and-socket joint comprises a first spherical part and a first joint seat, and the second ball-and-socket joint comprises a second spherical part and a second joint seat; a pull rod and a channel pipe are connected between the first spherical piece and the second spherical piece, and a forward sensor and a rotary sensor for collecting the relative displacement of the first spherical piece and the second spherical piece are mounted on the pull rod and the channel pipe; the track ball is used for collecting three-dimensional rotation of the second joint seat relative to the second spherical piece, the induction base of the track ball is located in the first spherical piece, and the first joint seat is internally provided with a roller and a rotary encoder which are used for collecting three-dimensional rotation of the first spherical piece relative to the first spherical piece.

The operator remotely controls the mechanical arm to perform actions such as rotation, forward movement, pitching and the like through the control device. The second ball-and-socket joint at the top end of the control rod is held by hand to control the rotation of the working end wrist of the surgical instrument mounted on the robotic arm. The second ball-and-socket joint is provided with a finger stall and a baroreceptor. The closing of the finger stall causes the spring to deform, drives the inhaul cable to generate an electric signal and controls the closing of the end part of the surgical instrument.

The invention also provides a mask controller or a foot controller based on the ball-and-socket joint, wherein the ball-and-socket joint is combined with a mask or a pedal, a rolling shaft and a rotation sensor for acquiring the three-dimensional rotation of a spherical part relative to the spherical part are arranged in a joint seat, a sensor for acquiring the rotation of a channel pipe is arranged in the spherical part, a push-pull rod is arranged in the channel pipe in a penetrating way, an advancing sensor for acquiring the relative displacement of the push-pull rod and the channel pipe is arranged on the channel pipe, a limiting part is also arranged on the channel pipe to ensure that the channel pipe can only rotate but cannot advance and retreat in the spherical part, a limiting part is arranged between the push-pull rod and the channel pipe to ensure that the push-pull rod can only advance and retreat in the channel pipe and cannot rotate, and the control is realized by the tongue and/or feet of an.

Has the advantages that:

1. is simple and portable. A single ball and socket joint replaces a complex robotic arm. Each ball joint can be packaged and transported independently, and the ball joint is small in size, light in weight, convenient to carry and assemble. Can also be applied to field rescue and aerospace.

2. Is convenient for batch production. The control device and the execution device have the same structure, so that the control device and the execution device can be mutually replaced when in use. The production can share the same production line, the same package and the same storage. After being damaged, the novel component can be replaced at any time, and the disposable consumable can be used.

3. The hand, the mouth and the foot can be controlled conveniently. The system can enable a doctor to freely control other mechanical arms by lips, tongues and feet when the doctor operates with two hands, which is equivalent to more hands, reduces one doctor holding the endoscope or an assistant doctor, and can also avoid obstacles generated when the two people communicate.

4. Simple structure, installation, debugging are simple. The control method has the advantages of few components needing to be controlled, simple system, few faults and easy maintenance. Good economical efficiency and reduces the economic burden of patients.

5. The layout is flexible. The traditional surgical robot only has less than 4 mechanical arms, more ball-and-socket joint surgical robots can be arranged according to the requirements, and a plurality of doctors can complete the operations of a plurality of positions at the same time.

6. Having a haptic feedback system.

In addition to the technical problems addressed by the present invention, the technical features constituting the technical solutions, and the advantages brought by the technical features of the technical solutions described above. To make the objects, technical solutions and advantages of the present invention clearer, other technical problems that the present invention can solve, other technical features included in the technical solutions and advantages brought by the technical features will be more clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Drawings

Fig. 1 is a schematic view of a ball joint robot according to a first embodiment of the present invention in use;

FIG. 2 is a schematic structural view of a ball and socket joint;

FIG. 3 is a schematic view of the driving member

FIG. 4 is a schematic structural view of the sensing member;

FIG. 5 is a schematic view of the channel tube configuration driving the advancement and retraction of the penetrator;

FIG. 6 is a schematic view of a channel tube configuration driving rotation of a pass through;

FIG. 7 is a schematic view of the combined structure of two different types of channel tubes;

FIG. 8 is a schematic view of the combined configuration of the passage tube and ball and socket joint for two different applications;

FIG. 9 is a schematic view of the construction of the joint support device;

figure 10 is a schematic view of the deflection of a ball and socket joint in a joint support device.

Fig. 11 is a schematic view of the overall structure of the console.

FIG. 12 is a schematic structural view of a ball element with a driving assembly therein according to a second embodiment.

FIG. 13 is a schematic view of the overall structure of the spherical element with the driving assembly according to the second embodiment.

FIG. 14 is a schematic view of the structure of the fourth embodiment in which the control device is miniaturized and mounted on the mask.

Fig. 15 is a structural view showing that the control device in the fifth embodiment is installed on the foot.

Fig. 16 is a schematic structural diagram of the fifth embodiment in which the control device is mounted on the pedals.

Wherein: 1-a ball-and-socket joint, 2-a channel tube, 3-a joint supporting device, 4-an actuator mechanical arm, 5-a driving assembly, 6-a sensing assembly, 7-a control device and 8-an executing device;

11-a spherical part, 12-a spherical part through hole, 13-a joint seat shell, 14-an anti-rotation cross beam and 15-an anti-rotation fixing frame;

21-a threaded passage pipe, 22-a passage pipe notch, 23-a passage pipe socket, 24-a passage pipe socket, 25-a tapered pipeline neck, 26-a transition pipe, 27-a driving seat and 28-a pipeline fixing nut;

31-a joint movable frame, 32-a suspension spring, 33-a support rod, 34-a support frame, 35-a fixed frame and 36-a driving seat fixing piece;

51-driving piece, 52-driving motor, 53-transmission device and circuit board, 54-driving piece fixing frame,

61-induction piece, 62-inductor, 63-induction roller, 64-induction magnetic ring, 65-Hall sensor and circuit board, 66-shell;

71-hand controller, 72-3d display, 73-controller support frame, 74-elbow support, 75-chair;

81-mouth controller, 82-mask, 83-pressure-proof rubber ring, 84-headband, 85-micro ball joint controller, 86-micro driving seat, 87-micro actuator mechanical arm control rod, 88-hemispherical rod head, 89-waterproof elastic membrane;

91-foot controller, 92-foot support, 93-actuator arm lever, 94-toe, 95-elastic suspension band, 96-pedal, 97-vamp, 98-button.

Detailed Description

Example one

The structure of the ball-and-socket joint robot of the invention is shown in figure 1, a joint moving frame 31 is fixed above a patient, a channel tube 2 for penetrating a surgical instrument passes through a ball-shaped part 11 at the center of a ball-and-socket joint 1 and enters into an abdominal cavity, and an actuator mechanical arm 4 of the robot passes through the channel tube 2 and enters into the abdominal cavity. The ball joint 1 is fixed in a joint moving frame 31 by a support spring 32, and the joint moving frame 31 is fixed to a fixed frame 35 near an operation bed by a support rod 33 and a support frame 34. The mount 35 is mounted on the floor of the operating room. Other mounting arrangements are possible, including those in the form of crossbars, uprights and tables along fixed slides, on tables, and suspended ceilings above the patient. The abdominal wall inflated by air is flat and lacks elasticity, and the ball-and-socket joint robot can be also pasted on the hard abdominal wall at the moment. The present invention is not limited to this coupling mode.

In the ball joint robot, the ball joints 1 and the joint support devices 3 may be sequentially coupled with the support bar 33, and a plurality of ball joints 1 may be coupled with the support bar 33 after being connected with each other, so that the robot as a whole may be constructed to be compact and slim.

As shown in fig. 2, the ball joint 1 is composed of a ball part 11 and a joint shell 13, and the joint shell 13 is provided with a circular opening, and the diameter of the opening circle is smaller than that of the ball part 11. The joint shell 13 is formed by involution of two symmetrical parts, after involution, the spherical piece 11 is clamped in the joint shell and is clamped by two mutually vertical driving components 5 and mutually vertical sensing components 6 which are fixed in the joint shell. The driving component 5 and the sensing component 6 are fixed in the joint shell 13 by fixing clamping seats, contact points with the spherical part 11 are distributed around the central point of the spherical part 11 symmetrically, and the contact points are on a plane parallel to the bottom surface of the joint shell 13. The types and positions of the driving component 5 and the sensing component 6 are marked on the corresponding joint shell surface of the installed part. In one non-limiting embodiment, the joint shell is made of a transparent material, allowing direct visualization of the location of the various components inside.

The spherical part 11 has symmetrically distributed rotating beams 14 which are clamped in grooves in an anti-rotation fixing frame 15. The grooves in the anti-rotation fixing frame 15 are perpendicular to the bottom surface of the joint housing 13, so that the ball-shaped part 11 is prevented from rotating along the long axis direction of the channel pipe 2 during movement.

As shown in fig. 3, the driving assembly 5 is driven by a driving motor 52, and transmits power to the driving member 51 through a transmission 53. In this embodiment, the driving member 51 is a roller-like structure and is fixed on the joint shell 13 by a driving member fixing frame 54. In a non-limiting embodiment, a driving assembly 5 is added on the basis of the first embodiment to increase the driving force, and a sensing assembly 6 is added at a position symmetrical to the spherical member 11 to sense the movement generated by the spherical member 11 driven by the new driving assembly 5. The contact point of the new component and the spherical part is on the same plane as the contact point in the first embodiment.

The sensing assembly 6 is in contact with the spherical part 11, and senses the movement of the spherical part 11 while providing support for the spherical part 11. The rotation of the spherical part 11 drives the sensing element 61 of the sensing assembly 6 to rotate. As shown in fig. 4, the sensing element in this embodiment is a general track ball structure, the rotation of the sensing element 61 can drive the sensing roller 63 to rotate, and the sensing magnetic ring 64 installed on the sensing roller 63 can rotate along with the rotation. The hall sensor 65 mounted on the circuit board senses the change of the magnetic pole on the induction magnetic ring 64, generates a pulse signal, and transmits the pulse signal to the ball joint robot control device 7 through a signal transmission system.

In one non-limiting embodiment, the sensing assembly 6 is identical in construction to the drive assembly 5, except that the drive motor 52 is replaced with a rotary encoder. When the driving motor 52 in the driving assembly 5 rotates, the rotary encoder at the corresponding position in the sensing assembly 6 also rotates proportionally.

As shown in fig. 5 and 6, the driving component 5 and the sensing component 6, which are the same as those in the ball joint 1, are installed in the driving seat 27 and are fixed by the fixing clamping seats. This is a passage tube for driving the passing object forward or backward along the inner wall of the passage tube 2, both referred to as forward and backward passage tubes hereinafter, as shown in fig. 5. The driving direction of all the driving members 51 in the driving seat is parallel to the long axis direction of the passage tube. This is a passage tube for driving the passing object to rotate along the inner wall of the passage tube 2, both referred to as a rotary passage tube hereinafter, as shown in fig. 6. The driving direction of all the driving members 51 in the driving seat is perpendicular to the long axis direction of the passage tube.

The channel tube 2 passes through the driving seat 27 and is fixedly connected with the driving seat 27, the channel wall of the channel tube 2 in the driving seat 27 is provided with a channel tube notch 22, the driving member 51 passes through the channel tube notch 22 to contact with and drive the passing object in the channel tube 2 to move, and the sensing member 61 passes through the channel tube notch 22 to contact with and sense the passing object in the channel tube 2 to move. The channel tube cutout 22 is shaped to conform to the shape of the driving member 51 and sensing member 61 that are to be passed through.

The two ends of the passage pipe 2 are respectively provided with a threaded socket 23 and a spigot 24. The internal diameter of the threads on the inner wall of the socket 23 is the same as the external diameter of the threads on the outer wall of the spigot 23. The socket 24 of one channel tube 2 can be connected to the socket 23 of another channel tube 2. In one embodiment, the two ends of the passage tube 2 are respectively a socket with a snap ring and a socket with a clamping groove, and the inner diameter of the clamping groove on the inner wall of the socket is the same as the outer diameter of the snap ring on the outer wall of the socket.

As shown in fig. 7 and 8, a plurality of threaded passage tubes 21 can be connected in tandem to collectively drive the movement of a penetrating object passing through the interior thereof. The channel pipes with the same driving direction can be directly connected, and the channel pipes with different driving directions need to be connected by the transition pipe 26. The outer diameter of the transition tube 26 is slightly smaller than the inner diameter of the rotary passage tube, and can be inserted into the rotary passage tube and rotated by the driving member 51. The transition pipe 26 has a tapered neck 25 between the socket and the body, and the socket of the transition pipe 26 can be connected with a pipe fixing nut 28. The outside diameters of the tapered pipe neck 25 and the pipe fixing nut 28 are respectively larger than the inside diameters of the socket and the spigot of the threaded passage pipe 21, so that the tapered pipe neck and the pipe fixing nut can play a role in limiting, and the transition pipe 26 can only rotate and cannot advance or retreat.

The transition tube 26 has a socket connected to the socket of the advancing and retreating passage tube, and can rotate together with the advancing and retreating passage tube and the driving seat 27. The driving member 51 can rotate together with the passing object because it is tightly connected with the passing object and generates a certain friction force. In one embodiment, in order to enhance the force for rotating the passing object, a limiting groove parallel to the long axis direction is provided in the channel tube 21, and a limiting protrusion strip parallel to the long axis direction is provided on the passing object to be engaged with the limiting groove, so as to ensure that the passing object can accurately rotate while moving forward and backward.

As shown in FIG. 8, a ball-shaped member 11 has a ball-shaped member through hole 12 at the center, and the ball-shaped member 11 is connected with a driving seat fixing frame 36. The driving seat fixing frame 36 is a conical pipeline and is communicated with the spherical part through hole 12, and a channel pipe or a surgical instrument can pass through the driving seat fixing frame. The inner diameter of the socket of the driving seat fixing frame 36 is the same as the outer diameter of the driving seat 27, so that the driving seat 27 can be tightly clamped. The spherical element 11 drives the driving seat 27 to perform pitching and swinging motions through the driving seat fixing frame 36.

The ball-and-socket joint 1, the advancing and retreating channel pipe and the rotating channel pipe form an executing device of the ball-and-socket joint robot, and the executing device can drive the executing mechanical arm 4 to realize advancing, retreating, rotating, pitching and swinging and has the same motion as a laparoscope instrument operated by a human hand.

As shown in fig. 9, in the endoscopic surgery, the actuator arm 4 enters the body cavity through a puncture in the skin of the patient and rotates around the puncture. Endoscopic surgery therefore requires that the effector arm 4 be rotated about the skin penetration opening while being rotated about the center of the ball 11, the two center points being spaced apart by at least the radius of the ball 11. Unnecessary damage to the patient's skin may occur when the actuator arm 4 rotates, and the skin tension may also affect the accuracy of the rotation of the ball 11. In order to solve this problem, the ball joint 1 is coupled to the joint moving frame 31 via the suspension spring 32, and the ball joint 1 is movable in the joint moving frame 31, so that the actuator arm 4 can easily rotate around the skin puncture.

As shown in fig. 10, in a non-limiting embodiment, the center point of the rotation of the virtual actuator arm 4 is the subcutaneous muscle layer of the abdominal wall, and may be preset at a specific position O on the puncture sheath of the abdominal wall, when the deflection angle of the spherical part 11 is zero degree, the ball-and-socket joint 1 is pulled by the surrounding spring, so that the center of the spherical part 11 is located at the center point a of the joint moving frame 31, and the straight line AO is the axis of the actuator arm 4 at this time. When the ball joint 1 is driven by the motor to start rotating, the axis AO of the actuator arm 4 is deflected to BO with the point O as a rotation point, and the ball 11 is forced to move to the point B. In one embodiment, the joint moving frame 31 is a cuboid structure, three points ABO form a right-angle triangle, AO is shorter than BO, and the displacement generated when AO deflects to BO can be calculated by a host machine and then subjected to displacement compensation. In another embodiment, the joint moving frame 31 is a hemisphere structure, the length of AO is the same as that of BO or the difference is very small, and the displacement generated by the AO deflecting to BO is 0 or very small, so that the displacement can not be compensated.

In one embodiment the ball and socket joint robot is used for open surgery, and the ball and socket joint 1 may be directly coupled with the fixed bracket without the joint support device 3 since there is no skin traction limitation in the open surgery.

As shown in fig. 11, the control device 7 is attached to the console of the ball-and-socket robot to both hands, the mouth, and the feet of the operator. The control device 7 is basically the same as the actuator structure and comprises a ball-and-socket joint 1, a channel tube 2, a driving seat 27 and a joint support device 3 which are similar. The difference is that each driving component 5 in the control device 7 corresponds to a sensing component 6 in the corresponding position of the actuating device, and each sensing component 6 in the control device 7 corresponds to a driving component 5 in the corresponding position of the actuating device. The same position of the actuator arm 4 in the actuator device in the control device is the actuator arm controller lever.

The hand controller 71 decomposes the hand motion of the operator into forward, backward, rotational, pitching and swinging motions, the forward, backward, rotational, pitching and swinging motions are respectively collected by the sensing assembly 6 and are transmitted to the executing device through signal processing, the driving assembly 5 at the corresponding position is controlled to move, and the executing mechanical arm 4 is driven to move as the hand of the operator. Meanwhile, the motion of the mechanical arm 4 of the actuator is also acquired by the sensing assembly 6 in the actuator, and is transmitted to the hand controller 71 through signal processing, so that the corresponding driving assembly 5 is controlled to move, and the control rod of the mechanical arm of the actuator is driven to move. Since the control lever of the actuator arm is held by the operator in his/her hand, the operator is given a force feedback to generate a tactile sensation that actually touches the tissue and to sense the magnitude of the reaction force.

Ball and socket joint robots may need to meet conflicting requirements. That is, when the ball and socket joint robot is actuated, it must be placed close to the patient while allowing access to the patient by medical personnel and the like without obstruction, and when actuated, the ball and socket joint robot must be over the patient's body while ensuring sterility so as to eliminate the risk of infection to the patient. Furthermore, the ball joint robot must provide a sufficient level of strength, accuracy, and flexibility for the motions while providing characteristics of compactness, slimness in size, and light weight, and the ball joint robot must be mounted in a stable manner while being able to move freely and occupying a small area. Furthermore, ball and socket joint robots must provide freedom to the patient and the medical staff in preparation before surgery.

This embodiment provides an ideal set of characteristics for a ball and socket joint robot such as described above. Different from the structure of the traditional ball-and-socket joint robot, each robot arm in the structure of the traditional surgical robot is connected with the main body, so that the robot is large in size, low in mobility and complex in action, the ball-and-socket joint robot is fixed by the joint supporting device 3 which is close to a patient, the length of the actuator mechanical arm 4 above the ball-and-socket joint robot can be limited within 30cm, the joint supporting devices 3 can be respectively connected with a fixed support, and a plurality of fixed frames can be connected with one fixed support after being connected with one another, so that the ball-and-socket joint robot can freely move and occupy a small area.

Various instruments required for the surgery, such as a laparoscopic camera, a gripper, an evacuation tube, an actuator, etc., may be mounted on the distal end portion of the effector arm 4 for performing the surgical operation.

Example two

This embodiment is an improvement on the first embodiment, as shown in fig. 12 and 13, and is characterized in that the driving assembly 5, the sensing assembly 6 and the transition pipe 26 for driving rotation are arranged in the spherical element 11, and the function of the driving seat 27 is provided, and one driving seat 27 for driving rotation, one passage pipe 21 and one driving seat fixing member 36 in the first embodiment are eliminated. The other structure is the same as the first embodiment.

EXAMPLE III

The structure of the embodiment is similar to that of the embodiment, and the difference is that only the driving component 5 is arranged in the actuating device, only the sensing component 6 is arranged in the control device 7, and the operator has no feeling of force feedback when operating. More drive assemblies 5 may be incorporated into the actuator to increase the driving force.

Example four

In this embodiment, the control device 7 of the ball joint robot is miniaturized and mounted on a mask to form a mouth controller 81, which is controlled by the tongue and teeth of the operator.

As shown in fig. 14, the mask body of the mask 82 is tapered to fit over the nose and mouth of the operator and is secured to the head by a headband 84. The part of the mask 82 contacting with human skin is provided with a soft anti-pressure rubber ring 83 to prevent pressure injury. The convex part of the mask 82 is provided with a miniature ball joint controller 85, and the miniature ball joint controller is wrapped by a waterproof elastic membrane 89, and a miniature actuator mechanical arm control rod 87 extends out of the miniature ball joint controller. The miniature actuator mechanical arm control rod 87 is provided with a miniature driving seat 86, only one sensing assembly 6 and one driving assembly 5 are arranged inside the miniature actuator mechanical arm control rod, the miniature actuator mechanical arm control rod is convenient to be made into a long strip shape, and an operator can operate the rotary channel tube by using teeth and lips.

One end of the micro-actuator mechanical arm control rod 87 is a smooth hemispherical rod head 88, which is convenient for the tongue to roll up and pull backwards or push forwards. The operator pushes and pulls and swings the hemispherical head 88 by the tongue, operates the rotary channel tube by the teeth and the lips, enables the corresponding induction component 6 to generate an electric signal, and transmits an output signal to the driving component 5 corresponding to the execution device after real-time translation by the main console circuit, so that the action of the operator is synchronously reproduced by the mechanical arm 4 of the actuator. The operator may also press a button on the hemispherical head 88 with the tongue to further control the movement of the instrument at the end of the effector arm 4.

EXAMPLE five

In the present embodiment, a foot controller 91 of the ball joint robot is mounted on a console and is controlled by the foot of the operator, as shown in fig. 15.

The operator steps on the ball-shaped foot support 92 with his feet and the toes 94 grip the actuator arm lever 93. The operator rotates, advances, retreats, and swings the actuator arm lever 93 with the foot to cause the sensing unit 6 to generate an electric signal, which is interpreted in real time by the main console circuit, and then the output signal is transmitted to the driving unit 5 corresponding to the actuator, so that the operator's motion is synchronously reproduced by the actuator arm 4.

EXAMPLE six

As shown in fig. 15, this embodiment is similar to the fifth embodiment except that the foot supporter 92 is a slipper-like structure, which is fitted over the foot of the operator and connected to the fastening frame by an elastic suspension band 95. The foot can be supported and freely moved conveniently. The pedals 96 are connected to the actuator arm lever 93. The pedal 96 is provided with a vamp 97, which is convenient for an operator to lift the vamp. Also on the footrests 96 are buttons 98 for toe presses.

The operator rotates, advances and retreats and swings the manipulator control lever by feet to enable the sensing assembly 6 to generate an electric signal, the electric signal is translated in real time through the main console circuit, and then an output signal is transmitted to the driving assembly 5 corresponding to the executing device, so that the action of the operator is synchronously reproduced by the manipulator 4. The operator may also press a button with the toes to further control the movement of the end instrument of the effector arm 4.

EXAMPLE seven

The robot control device is connected with the console. When the robot is used, the robot arm is controlled by the console, the instruction of the console is given by the console control device and reaches the slave-end robot control device through RTC instant messaging, and the robot control device receives the instruction and then transmits the instruction to the robot arm to perform corresponding action. The state of the robot arm is collected to the robot control device, the robot control device arrives at the console control device through RTC communication, and meanwhile, the state information of the console control device and the state information of the robot arm are collected, processed and arrived at the console and fed back to the staff.

The operating platform control device is provided with a monitoring device for monitoring whether the working personnel are in place or not and a display for displaying the state information of the operating platform and the robot. When the monitoring device monitors abnormal states, the monitoring device can brake or cut off the power according to monitoring results so as to ensure safe operation of the operation. Preferably, the monitoring device comprises a 3D motion sensing camera (Kinect) and a foot switch, when the 3D motion sensing camera monitors that a worker is in place, partial functional operations of the robot arm can be performed, and when the worker steps on the foot switch, the robot arm can start to operate; when the working personnel are not in place and the foot switch is not stepped on, the robot arm brakes to avoid the movement of the robot arm caused by the operation of the operation interface caused by abnormal factors.

The robot control device is provided with a sensing assembly 6 for recording the displacement of the actuator arm 4, and the sensing assembly 6 can record the movement locus of the actuator arm 4 by recording the displacement of the actuator arm 4. Whether the motion path of the actuator mechanical arm 4 meets the operation requirement can be automatically judged through the information recorded by the sensing assembly 6, and when a plurality of actuator mechanical arms 4 are arranged, whether the motion path of each actuator mechanical arm 4 interferes can be monitored, so that a new motion path is re-planned, and the motion safety of the actuator mechanical arms 4 is ensured.

The robot control device is also provided with a motor driving device for acquiring motor state information and a motor braking device for reflecting the state of the robot, and when a danger signal is monitored, the motor braking device automatically brakes. The motor driving device can be matched with the encoder, when the encoder monitors that the motion path of the robot arm is abnormal, the encoder can feed back information to the motor driving device, and the motor driving device drives the motor to start a new working path.

The robot control device is characterized by further comprising a motor communication device, feedback states between the motor and the motor driving device and between the motor driving device and the robot arm are monitored in real time, monitoring information is fed back to workers, and under the condition of failure, the motor communication device can perform brake lamp operation according to the monitoring information, so that normal operation of the surgical robot is guaranteed, or failure information is fed back to the workers, and the workers can rapidly process the failure.

In addition, the console control device is used for a data recording module for recording robot arm parameter information and/or console parameter information so as to search fault information conveniently. Specifically, the data recording module comprises an operation log and control hand data, for example, in the control hand data, a worker operates a handle, the operation handle is transmitted to a robot arm end through an operation panel controller, so that the robot arm acts, information during the action of the robot arm is fed back to the operation panel controller through an encoder and a motor driving device to form a feedback mechanism, if the operation data is inconsistent with the encoder or the motor data, the system automatically adjusts, and if the operation data is not adjusted, a fault occurs, and the data needs to be checked in the control hand data and a fault place needs to be found.

Preferably, the console control device is provided with an emergency stop switch for emergency braking to emergency brake the robot when a failure occurs, thereby reducing loss due to the failure.

In one embodiment of the present application, the robot control device and the console control device are further provided with a first UPS power supply (uninterruptible power supply) and a second UPS power supply, respectively, which monitor voltage and protect circuits. The UPS power supply is used for monitoring the voltage and the stability of a power grid, and the UPS power supply is started under the condition of power failure, so that smooth operation is ensured, and information obtained by monitoring is fed back to workers through the console controller.

The robot control device and the console control device are respectively provided with a first power supply power monitor and a second power supply power monitor for monitoring the circuit state of each part of the control device, the circuit normally works when the voltage and current values of the circuit are within a preset parameter range, and when the voltage and current values exceed the preset parameter, a fault exists, and the robot control device and the console control device immediately brake or cut off the power.

The robot control device and the console control device are respectively provided with a first state indicator light for displaying the working state of the robot arm and a second state indicator light for displaying the working state of the console. Above-mentioned pilot lamp can present the operating condition of robot end and operation panel most audio-visual for the staff, and the staff is according to the demonstration condition of pilot lamp, through the check error code, and the trouble place can be found out fast. Specifically, the indicator light may be specifically configured with indication conditions such as normal, standby, warning, danger, and the like, so that a worker can monitor the use state of the robot.

The control device provided by the embodiment of the invention specifically comprises an operation table control device and a robot control device, so as to respectively control the states of the operation table and the robot arm, and the operation table control device is connected with the robot control device, so that the information connection and feedback between the operation table control device and the robot control device are realized, and a worker can operate the robot arm at the operation table end to perform an operation. In the operation process, the monitoring device can monitor whether the staff is in place in real time, so that whether braking is carried out is judged, and the operation of the robot arm under partial misoperation is effectively avoided; the display can display all state information of the operating table and the robot and directly present the state information to workers, so that the workers can quickly and accurately find problems existing in the system, the problems are quickly solved, and the safety of the operation is ensured; in addition, the encoder on the robot control device can record the number of rotation turns of the motor, so that the motion track of the mechanical arm is recorded, whether a problem exists in a motion path can be automatically judged through an information system fed back by the encoder, whether interference occurs when the multiple robot arms move is judged, more accurate safe work of each robot arm can be ensured according to feedback information of the robot arms, and the safety of an operation is improved.

Based on the control device provided by the above embodiment, the embodiment of the invention also provides a surgical robot, which comprises an operation table, a robot arm and a control device respectively connected with the operation table and the robot arm; and the control device is any one of the control devices described above. For the structure of the rest of the surgical robot, please refer to the prior art, and the description is omitted here.

Since the surgical robot has the control device, the surgical robot also has high safety in use to some extent.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various changes and modifications may be made by those skilled in the art, and various changes, modifications, equivalents and improvements may be made to the embodiments within the scope of the principle and technical idea of the present invention, and are included in the scope of the present invention.

Claims

1. A surgical robot based on ball and socket joints, characterized in that: the device comprises a control assembly and an execution assembly, wherein the control assembly is provided with a first ball-and-socket joint, and the execution assembly is provided with a second ball-and-socket joint;

the first ball-and-socket joint consists of a first spherical part and a first joint seat, a limiting part is arranged in the first joint seat, first driving assemblies which are vertical to each other are arranged between the first joint seat and the first spherical part, and contact points of the first driving assemblies and the first spherical part are symmetrically distributed around the center point of the first spherical part; a through hole is formed in the center of the first spherical part and is connected with a channel pipe, and an actuator mechanical arm is installed in the channel pipe;

the second ball-socket joint consists of a second spherical part and a second joint seat, a limiting part is arranged in the second joint seat, second sensing assemblies which are vertical to each other are arranged between the second joint seat and the second spherical part, and contact points of the second sensing assemblies and the second spherical part are symmetrically distributed around the center point of the second spherical part; the center of the second spherical part is provided with an executive instrument arm controller rod;

the operator rotates, advances and retreats, swings the controller rod of the executive instrument arm to enable the second sensing assembly to generate an electric signal, the electric signal is translated into a control signal through the main control console, the control signal drives the first driving assembly to execute actions, and the actions of the operator are synchronously reproduced by the mechanical arm of the executor.

2. A ball and socket joint based surgical robot as claimed in claim 1, wherein: the first driving assembly comprises a driving piece and a driving motor, and the driving piece and the driving motor are directly connected or connected through a transmission device.

3. A ball and socket joint based surgical robot as claimed in claim 1, wherein: and a driving seat is installed on the tube wall of the channel tube, and a third driving assembly for driving the actuator arm to advance and retreat along the first spherical piece is installed in the driving seat.

4. A ball and socket joint based surgical robot according to claim 3, wherein: and a fourth driving assembly is installed in the first spherical part and used for driving the actuator mechanical arm to rotate along the inner wall of the first spherical part.

5. A ball and socket joint based surgical robot as claimed in claim 1, wherein: the first ball-and-socket joint is installed in a joint moving frame through a spring, and the joint moving frame is connected with the surgical robot fixing support.

6. A surgical robot based on ball and socket joints and haptic feedback, characterized in that: comprising a ball and socket joint based surgical robot according to any of claims 1-5,

a first sensing assembly is further installed between the first joint seat and the first spherical piece, and a second driving assembly is further installed between the second joint seat and the second spherical piece;

the first sensing assembly senses the counterforce on the mechanical arm of the actuator, and the second driving assembly is electrically connected and controlled to give force feedback to an operator, so that the tactile sensation of real touch tissue is generated, and the counterforce is sensed.