CN109394344B - Data self-calibration main manipulator - Google Patents
Data self-calibration main manipulator Download PDFInfo
- Publication number
- CN109394344B CN109394344B CN201811640672.3A CN201811640672A CN109394344B CN 109394344 B CN109394344 B CN 109394344B CN 201811640672 A CN201811640672 A CN 201811640672A CN 109394344 B CN109394344 B CN 109394344B
- Authority
- CN
- China
- Prior art keywords
- sliding
- joint
- rod
- axis
- fixedly connected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 37
- 229910000831 Steel Inorganic materials 0.000 claims description 17
- 239000010959 steel Substances 0.000 claims description 17
- 230000009471 action Effects 0.000 claims description 3
- 230000003238 somatosensory effect Effects 0.000 claims 2
- 238000013461 design Methods 0.000 abstract description 4
- 230000005484 gravity Effects 0.000 description 14
- 230000009977 dual effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- 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
- A61B34/77—Manipulators with motion or force scaling
Abstract
The invention discloses a data self-calibration main manipulator, a position part and a gesture part, wherein the position part is fixedly connected with the gesture part, the gesture part is fixedly provided with a nine-axis sensor, the main manipulator realizes the safety and accuracy of the acquisition of the joint motion data of the main manipulator by arranging the nine-axis sensor at a first joint, and the nine-axis sensor is applied to the main manipulator and has simple structural design, thereby greatly reducing the number of electric elements and greatly reducing the structural cost and volume.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a data self-calibration main manipulator.
Background
The high requirements on the safety and accuracy of the medical equipment themselves, in order to ensure the success of the surgery, minimize the number of safety risk items regardless of the medical equipment, and minimize the probability of occurrence of the risk items. The laparoscopic surgery robot system has many advantages by a master-slave teleoperation mode, but has a complex and huge structure. Wherein the primary manipulator is the crucial part, which is directly manipulated by the doctor, to input hand motion intention data to the flow inlet of the laparoscopic surgical robot system. This requires the master manipulator to be able to achieve accuracy in the acquisition of the surgeon's hand movements, which is a safe manifestation during surgery. The information acquisition form of the main operator in the existing product is that encoders are arranged on all joints in the structure to respectively acquire rotation angle data of all joints in motion, and the information of the gesture and the spatial position of the hand action is obtained through calculation. However, the encoders are at risk of damage, and errors or malfunctions occur, and countermeasures against the problem often include setting two identical or different encoders at each joint, and fusing and comparing data output by the two encoders at each position, so that not only can the safety be greatly improved, but also the accuracy can be improved, and the data can be in a structure in a double-insurance mode. However, high precision encoders are expensive per se, and the provision of two encoders per position tends to increase the cost of the main manipulator structure by a factor of two.
In view of the above drawbacks, the present inventors have finally achieved the present invention through long-time studies and practices.
Disclosure of Invention
In order to solve the technical defects, the technical scheme adopted by the invention is that a data self-calibration main manipulator is provided, and the safety and accuracy of the acquisition of the joint movement data of the main manipulator are realized by arranging a nine-axis sensor at a first joint of the main manipulator.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
a data self-calibrating master manipulator comprising: the device comprises a position part and a gesture part, wherein the position part is fixedly connected with the gesture part, and the gesture part is fixedly provided with a nine-axis sensor which is used for recording gesture part motion data.
Preferably, the location portion includes a base; the sliding support seat is arranged on the base and rotates around an axis R6 of the base; the sliding seat is connected with the sliding support seat and rotates around an axis R5 of the sliding support seat; the spline shaft penetrates through the sliding seat and rotates around an axis R4 of the sliding seat; the three axes R4, R5, R6 intersect at a point.
Preferably, the position part is fixedly provided with a motion sensing device, and the motion sensing device is used for recording data of user operation actions.
Preferably, the gesture part comprises a main hand clamp which moves along an axis R0 in an opening and closing manner; one end of the main hand clamp is fixedly connected to the first joint and rotates around the axis R1 of the first joint; the nine-axis sensor is fixedly arranged on the first joint; one end of the first connecting rod is fixedly connected with the first joint; the first connecting rod balancing weight is fixed at the other end of the first connecting rod; the second joint is fixedly arranged on the first connecting rod; one end of the second connecting rod is fixedly connected to the second joint and rotates around the axial direction R2 of the second joint; the second connecting rod balancing weight is fixed at the other end of the second connecting rod; one end of the flange is fixedly arranged on the second connecting rod, and the other end of the flange is fixedly connected with the position part.
Preferably, the motion sensing device is fixedly connected with the sliding support seat, the motion sensing device is arranged above the sliding seat, and the video camera of the motion sensing device faces the gesture part.
Preferably, the position part further comprises a sliding rod fixed at one end of the spline shaft; the traction plate is fixed at the other end of the spline shaft in the direction opposite to the sliding rod; one end of the pulley connecting plate is fixed on the sliding seat; the first pulley is arranged on the inner side of one end of the pulley connecting plate; the second pulley is arranged on the inner side of the other end of the pulley connecting plate in the direction opposite to the first pulley; the sliding balancing weight is sleeved on the spline shaft and slides along the axial direction of the spline shaft; the wire rope bypasses the first pulley and the second pulley, one end of the wire rope is fixedly connected with the traction plate, the other end of the wire rope is fixedly connected with the sliding balancing weight, the movement directions of the traction plate and the sliding balancing weight are opposite, one end of the constant force spring is fixed on the sliding seat, and the other end of the constant force spring is fixedly connected on the traction plate.
Preferably, the axes R4 and R5 corresponding to the sliding seat and the sliding support seat are perpendicular to each other, the axes R5 and R6 corresponding to the sliding support seat and the base are perpendicular to each other, the axes R1 and R4 corresponding to the first joint and the sliding seat intersect at a point, and the axes R2 and R4 corresponding to the second joint and the sliding seat are coplanar.
Preferably, the first connecting rod is formed by sequentially connecting a first section rod, a second section rod and a third section rod into a whole, the first section rod, the second section rod and the third section rod are mutually perpendicular, the plane formed by the first section rod and the second section rod and the plane formed by the second section rod and the third section rod are mutually perpendicular, and the shape of the second section rod is L-shaped.
Preferably, the spline shaft penetrates through the sliding seat, and is fixedly arranged at the end part of the sliding seat, the outer side of the sliding rod is sleeved with the outer cylinder, and the end part of the outer cylinder is fixedly connected with the rotary spline.
Preferably, the upper end of the sliding seat is provided with a stay wire encoder, a stay wire of the stay wire encoder is fixedly connected to the traction plate, and the lower end of the base is provided with a rotary encoder.
Compared with the prior art, the invention has the beneficial effects that:
1, the safety and the accuracy of the joint motion data acquisition of the main manipulator are realized by arranging the nine-axis sensor at the first joint, and the nine-axis sensor is applied to the main manipulator, so that the structural design is concise, the number of electric elements is greatly reduced, and the structural cost and the volume are greatly reduced.
2, the main manipulator is designed through a brand new structure of the position part, the whole structure is distributed along the same axis, and the three axes of the position part are intersected at one point, so that the structure is centralized, the volume is small, the working space is large and the utilization is full.
3, the main manipulator is provided with the sliding balancing weight on the spline shaft, and the movement directions of the traction plate and the sliding balancing weight are opposite, when the spline shaft stretches out and draws back along the axis R4 straight line, the sliding balancing weight can realize reverse stretching movement of the same proportion, so that dynamic gravity balance of the position part in the straight line movement along the axis R4 is realized, the setting of the balancing weight is reduced, and the overall weight of the main manipulator is reduced.
And 4, the main manipulator is provided with a constant force spring on the sliding seat, and one end of the constant force spring is fixed with the traction plate, so that the downward component force of the position part on the axis R4 is counteracted, the force of the position part on the axis R4 is balanced, the traction plate is prevented from driving the spline shaft to slide downwards, and the position part of the main manipulator is stable and reliable.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are used in the description of the embodiments will be briefly described below.
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;
FIG. 3 is a schematic view of a partial structure of the present invention;
FIG. 4 is a schematic view of the structure of FIG. 2 from another perspective;
FIG. 5 is a cross-sectional view of a portion of a location of the present invention;
FIG. 6 is a schematic view of the structure of the attitude portion of the present invention;
reference numerals illustrate:
1. the device comprises a base, 2, a sliding support seat, 3, a sliding seat, 4, a spline shaft, 5, a sliding rod, 6, a traction plate, 7, a pulley connecting plate, 8, a first pulley, 9, a second pulley, 10, a sliding balancing weight, 11, a steel wire rope, 12, a constant force spring, 13, a main hand clamp, 14, a first joint, 141, a holding part, 15, a first connecting rod, 151, a first joint rod, 152, a second joint rod, 153, a third joint rod, 16, a first connecting rod balancing weight, 17, a second joint, 18, a second connecting rod, 19, a second connecting rod balancing weight, 20, a flange, 21, a rotary spline, 22, an outer cylinder, 23, a stay wire encoder, 24, a rotary encoder, 25, a nine-axis sensor, 26 and a motion sensing device.
Detailed Description
The above and further technical features and advantages of the present invention are described in more detail below with reference to the accompanying drawings.
Example 1
As shown in fig. 3, a data self-calibration main manipulator comprises a base 1, a sliding support seat 2, a sliding seat 3, a spline shaft 4, a sliding rod 5, a traction plate 6, a pulley connecting plate 7, a first pulley 8, a second pulley 9, a sliding balancing weight 10, a steel wire rope 11 and a constant force spring 12, wherein the sliding support seat 2, the sliding seat 3, the spline shaft 4, the sliding rod 5, the traction plate 6, the pulley connecting plate 7, the first pulley 8, the second pulley 9, the sliding balancing weight 10, the steel wire rope 11 and the constant force spring 12 form a position part of the main manipulator.
In this embodiment, the sliding support 2 is connected to the base 1 through a rotating shaft and a pair of bearings, and the sliding support 2 rotates around the axis R6 of the base 1, so as to implement the overall rotational movement of the main manipulator; the rotary encoder 24 provided at the lower end of the base 1 can measure the rotation angle of the whole main manipulator, and the slide base 3 is connected to the slide support base 2 through a rotation shaft and a pair of bearings, thereby realizing the pitching motion of the whole main manipulator.
In this embodiment, as shown in fig. 4 and 5, the sliding support seat 2 is a U-shaped member, the sliding support seat 2 may be cast integrally, so as to facilitate production and processing, and is sturdy and durable, and the sliding seat 2 is disposed on the U-shaped member, and has a larger rotation space, so as to facilitate adjustment of the pitching posture of the main manipulator, so as to meet the operation requirement, the sliding seat 3 is mounted at the opening of the U-shaped member through a rotation shaft, the sliding seat 3 rotates around the axis R5 of the sliding support seat 2, the sliding seat 3 realizes the pitching motion of the main manipulator through rotation in the U-shaped member, the sliding seat 3 is integrally in a cuboid structure, the inside of the sliding seat 3 is in a cavity structure, so that the overall weight of the main manipulator is further reduced, and be convenient for dispose the part, rotary spline 21 is installed to the one end of sliding seat 3, rotary spline 21 is the spline and cup joints the bearing combination in the spline outside and form, rotary spline 21's bearing portion and sliding seat 3 fixed connection, rotary spline 21's spline portion and integral key shaft mutually gomphosis, because integral key shaft and rotary spline are the keyway cooperation, rotary spline's rotation precision is high, be favorable to the accurate adjustment in position of gesture part, and rotary spline 21's bearing portion's terminal surface still welds together with the tip of urceolus 22, urceolus 22 cup joints in the outside of slide bar, avoid slide bar 5 and the junction part of integral key shaft 4 to expose outside, avoid its inside internal part to receive the damage.
In this embodiment, as shown in fig. 5, the other end of the sliding seat 3 is an opening, the constant force spring 12 is mounted at the opening through a rotating shaft, one end of the constant force spring 12 is fixedly connected to the traction plate 6, the elastic force of the constant force spring 12 is constant, the telescopic length of the elastic sheet of the constant force spring is irrelevant, and the elastic force of the constant force spring 12 is equal to the downward component force of the gravity of the main manipulator along the axis R4, so that the force of the main manipulator on the axis R4 is balanced, and the position of the main manipulator is stable after the telescopic adjustment of the sliding rod 5.
In the present embodiment, as shown in fig. 3 and 5, the spline shaft 4 penetrates the slide mount 3 and rotates around the axis R4 of the slide mount 3; thereby adjusting the integral rotation angle of the gesture part of the main manipulator to adapt to the operation of different positions, and the sliding rod 5 is fixed at one end of the spline shaft 4; a traction plate 6 is fixed at the other end of the spline shaft 4 in the direction opposite to the sliding rod 5; the spline shaft 4 is connected to the traction plate 6 through a bearing, the spline shaft 4 and the traction plate 6 can rotate relatively, the position state of the traction plate 6 cannot be influenced when the spline shaft 4 rotates automatically, the spline shaft 4 and the traction plate 6 cannot move relatively in the axial direction of the spline shaft 4, the traction plate 6 can be driven to move simultaneously when the spline shaft 4 stretches axially, the sliding balancing weight 10 is driven to move through the steel wire rope 11, dynamic gravity balance when a main operator moves linearly along the axis R4 is achieved, and the pulley connecting plate 7 is fixed on the sliding seat 3; the first pulley 8 is connected to the inside of one end of the pulley connecting plate 7 through a rotating shaft and a pair of bearings, and the second pulley 9 is connected to the inside of the other end of the pulley connecting plate 7 through a rotating shaft and a pair of bearings; the sliding balancing weight 10 is sleeved on the spline shaft 4 and slides along the axial direction of the spline shaft 4; the sliding balancing weight 10 is connected with the spline shaft 4 through a bearing, the spline shaft 4 and the sliding balancing weight 10 can rotate relatively, the steel wire rope 11 bypasses the first pulley 8 and the second pulley 9, one end of the steel wire rope 11 is fixedly connected with the traction plate 6, the other end of the steel wire rope 11 penetrates through the lower end of the traction plate to be fixedly connected with the sliding balancing weight 10, the steel wire rope 11 forms a closed steel wire ring, and the movement directions of the traction plate 6 and the sliding balancing weight 10 are opposite.
Example 2
As shown in fig. 6, unlike the above embodiment, the present embodiment further includes a main hand grip 13, a first joint 14, a first link 15, a first link weight 16, a second joint 17, a second link 18, a second link weight 19, and a flange 20, wherein the main hand grip 13, the first joint 14, the first link 15, the first link weight 16, the second joint 17, the second link weight 19, and the flange 20 form a posture part of a main operator.
The position part is decoupled from the gesture part, and the position part of the main manipulator is not affected when the position of the gesture part of the main manipulator changes.
In this embodiment, the main hand grip 13 is opened and closed along the axis R0 as described in fig. 1 and 6; thereby holding an object, the main hand grip 13 being connected to the first joint 14 through a rotation shaft and a pair of bearings, the main hand grip 13 being rotated about an axis R1 of the first joint 14; the nine-axis sensor 25 is fixedly arranged on the first joint 14; specifically, the nine-axis sensor 25 is fixedly arranged at the upper end of the first joint 14 and is positioned on the upper cover between the main hand clamps 13, the change of the motion state of the main hand clamps 13 is recorded by the nine-axis sensor 25 on the first joint 14, a doctor holds the holding part 141 of the first joint 14 to operate the position of the main manipulator, the whole mechanism can realize six degrees of freedom motions of three axes of gesture rotation, deflection and pitching and up-down, front-back, left-right space of the position, the nine-axis sensor 25 comprises a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer, wherein the three-axis gyroscope can detect the rotation angle data of three axes, namely, the three degrees of freedom data of gesture rotation, deflection and pitching which we say are acquired and output; the triaxial accelerometer can detect the up and down, front and back, left and right of the spatial position; the three-axis magnetometer plays a role in yaw correction of six-axis data in application, the three-axis magnetometer and other six-axis data form safer and more accurate dual data acquisition and output, and meanwhile, the safety is ensured more greatly, the first joint 14 is fixed at one end of the first connecting rod 15 through a screw, and the first connecting rod balancing weight 16 is fixed at one end of the first connecting rod 15 through a screw; the second joint 17 is connected to the first link 15 through a rotating shaft and a pair of bearings, the first link 15 realizes gravity balance through the second joint, the gravity moment of the first joint 14 and the main hand clamp 13 is applied to the second joint 17, and the gravity balance is realized through a first link balancing weight 16 at the other end of the first link 15, so that the first link 15 can realize gravity balance no matter moving to any position, the second joint 17 is fixed at one end of a second link 18 through a screw, and the second link 18 rotates around an axial direction R2 of the second link 17; the second link balancing weight 19 is fixed at one end of the second link 18 through a screw, the flange 20 is fixed at one end of the sliding rod 5 through a screw, the other end of the flange 20 is fixed on the second link 18 through a screw, the rotation of the sliding rod 5 drives the second link 18 to rotate, so that the integral rotation of the gesture part is driven, the gravity moment of the second link 18 and the additional components thereof is applied to the flange 20, and the gravity balance is realized through the second link balancing weight 19 at the other end of the second link 18, so that the gravity balance can be realized no matter the second link 18 moves to any position.
The hand holds the holding part of the first joint 14 to drive the gesture part to rotate around the axis R4, and as the sliding rod 5 is fixedly connected with the gesture part through the flange 20, the rotation of the gesture part drives the sliding rod 5 to rotate; the rotation of the sliding rod 5 drives the spline shaft 4 to rotate, the rotation of the spline shaft 4 does not affect the movement of other components of the position part, so that the gesture rotation adjustment of the gesture part is realized, when the hand holds the holding part of the first joint 14 to drive the gesture part to stretch along the axis R4, the gesture part drives the sliding rod 5 to stretch out and draw back, the gesture part moves forwards and backwards, the sliding rod 5 drives the spline shaft 4 to stretch out and draw back, the spline shaft 4 drives the traction plate 6 to stretch out and draw back, the position of the traction plate 6 moves to pull the steel wire rope 11, the sliding balancing weight 10 at the other end of the steel wire rope 11 moves on the spline shaft 4, the upper ends of the traction plate 6 and the steel wire ring are fixedly connected, the lower ends of the sliding balancing weight 10 and the steel wire ring are fixedly connected, the movement directions of the traction plate 6 and the sliding balancing weight 10 are opposite, when the sliding rod 5 stretches out and draws back, the spline shaft 4 drives the traction plate 6 to move backwards, and meanwhile the sliding balancing weight 10 moves forwards in the opposite direction to the direction of the traction plate 6, so that the gravity center of gravity of the main operator on the axial direction R4 is balanced, and the dynamic gravity balance of the main operator on the axis R is realized, and vice versa.
Example 3
As shown in fig. 1 and fig. 2, unlike the above embodiment, the motion sensing device 26 in this embodiment is a kinect, the kinect is fixedly connected with the sliding support base 2, and the kinect is disposed above the sliding base 3, the video camera of the kinect faces the first joint 14, so that the motion track of the first joint 14 held by the hand of the user can be identified in real time, and motion data acquisition is performed, the kinect can emit infrared rays, thereby performing three-dimensional positioning on the whole space, the video camera can identify the motion of the human body by means of the infrared rays, thereby acquiring and outputting motion information of the hand of the operator, and comparing dual data of the nine-axis sensor 25 and the kinect, thereby reducing the security risk of the whole master-slave system, and the nine-axis sensor 25 and the kinect are mature products, and the data processing is provided by manufacturers, so that the master-operator can more simply calculate and process the data, and greatly reduce the difficulty of the design and application of the master-operator structure.
Example 4
As shown in fig. 3 and fig. 6, unlike the foregoing embodiments, in this embodiment, the axes R4 and R5 corresponding to the sliding seat 3 and the sliding seat 2 are perpendicular to each other, the axes R5 and R6 corresponding to the sliding seat 2 and the base 1 are perpendicular to each other, the three axes R4, R5 and R6 intersect at a point, the overall structure layout is along the same axis R4, the structure is centralized, the volume is small, the working space is large and the utilization is sufficient, the axes R1 and R4 corresponding to the first joint 14 and the sliding seat 3 intersect at a point, the axes R2 and R4 corresponding to the second joint 17 and the sliding seat 3 are coplanar, the structure is compact, and the occupied space is small.
Example 5
As shown in fig. 6, unlike the foregoing embodiment, in this embodiment, the first link 15 is formed by sequentially integrally connecting a first link 151, a second link 152 and a third link 153, where the first link 151, the second link 152 and the third link 153 are perpendicular to each other, the plane formed by the first link 151 and the second link 152 and the plane formed by the second link 152 and the third link 153 are perpendicular to each other, the shape of the second link 152 is L-shaped, and the special design of the structures of the first link 15 and the second link 18 can make the center of gravity distribution of the gesture part more concentrated, reduce the number of the gesture part, and reduce the weight of a single counterweight, thereby reducing the overall weight of the main operator.
Example 6
As shown in fig. 3-5, unlike the above embodiment, in this embodiment, the upper end of the sliding seat 3 is provided with a wire encoder 23, the wire of the wire encoder 23 is fixedly connected to the traction plate 6, and the movement of the traction plate 6 drives the wire of the wire encoder, so as to measure the displacement data of the traction plate 6 and further measure the movement data of the sliding rod 5.
The main manipulator is suitable for any robot system with master-slave operation, such as the field of medical equipment: a main operation end in a master-slave operation system of a laparoscopic operation robot, an orthopaedics operation robot, a dentistry operation robot and the like.
The foregoing description of the preferred embodiment of the invention is merely illustrative of the invention and is not intended to be limiting. It will be appreciated by persons skilled in the art that many variations, modifications, and even equivalents may be made thereto without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (6)
1. A data self-calibrating master manipulator comprising: the device comprises a position part and a gesture part, wherein the position part is fixedly connected with the gesture part, the gesture part is fixedly provided with a nine-axis sensor (25), the nine-axis sensor (25) is used for recording gesture part motion data, and the nine-axis sensor (25) comprises a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer;
the position section includes:
a base (1);
the sliding support seat (2) is arranged on the base (1) and rotates around an axis R6 of the base (1);
the sliding seat (3), the sliding seat (3) is connected with the sliding support seat (2) and rotates around the axis R5 of the sliding support seat (2);
a spline shaft (4), wherein the spline shaft (4) penetrates through the sliding seat (3) and rotates around an axis R4 of the sliding seat (3);
the three axes R4, R5 and R6 intersect at a point;
the position part is fixedly provided with a somatosensory device (26), and the somatosensory device (26) is used for recording data of user operation actions;
the position part also comprises a sliding rod (5), and the sliding rod (5) is fixed at one end of the spline shaft (4);
a traction plate (6), wherein the traction plate (6) is fixed at the other end of the spline shaft (4) in the direction opposite to the sliding rod (5);
the pulley connecting plate (7), one end of the pulley connecting plate (7) is fixed on the sliding seat (3);
the first pulley (8) is arranged on the inner side of one end of the pulley connecting plate (7);
a second pulley (9), wherein the second pulley (9) is arranged on the inner side of the other end of the pulley connecting plate (7) in the direction opposite to the first pulley (8);
the sliding balancing weight (10) is sleeved on the spline shaft (4) and slides along the axial direction of the spline shaft (4);
the steel wire rope (11), the steel wire rope (11) bypasses the first pulley (8) and the second pulley (9), one end of the steel wire rope (11) is fixedly connected with the traction plate (6), the other end of the steel wire rope (11) is fixedly connected with the sliding balancing weight (10), and the movement directions of the traction plate (6) and the sliding balancing weight (10) are opposite;
a constant force spring (12), wherein one end of the constant force spring (12) is fixed on the sliding seat (3), and the other end of the constant force spring (12) is fixedly connected on the traction plate (6);
the upper end of the sliding seat (3) is provided with a stay wire encoder (23), a stay wire of the stay wire encoder (23) is fixedly connected to the traction plate (6), and the lower end of the base (1) is provided with a rotary encoder (24).
2. A data self-calibrating master manipulator according to claim 1, wherein: the gesture portion includes:
a main hand grip (13), the main hand grip (13) opening and closing along an axis R0;
the main hand clamp comprises a first joint (14), wherein one end of the main hand clamp (13) is fixedly connected to the first joint (14) and rotates around an axis R1 of the first joint (14), and the nine-axis sensor (25) is fixedly arranged on the first joint (14);
the first connecting rod (15), one end of the first connecting rod (15) is fixedly connected with the first joint (14);
the first connecting rod balancing weight (16), the first connecting rod balancing weight (16) is fixed at the other end of the first connecting rod (15);
the second joint (17), the second joint (17) is fixedly arranged on the first connecting rod (15);
the second connecting rod (18), one end of the second connecting rod (18) is fixedly connected to the second joint (17) and rotates around the axial direction R2 of the second joint (17);
the second connecting rod balancing weight (19), the second connecting rod balancing weight (19) is fixed at the other end of the second connecting rod (18);
and one end of the flange (20) is fixedly arranged on the second connecting rod (18), and the other end of the flange (20) is fixedly connected with the position part.
3. A data self-calibrating master manipulator according to claim 2, wherein: the motion sensing device (26) is fixedly connected with the sliding support seat (2), the motion sensing device (26) is arranged above the sliding seat (3), and a video camera of the motion sensing device (26) faces the gesture part.
4. A data self-calibrating master manipulator according to claim 3, wherein: the sliding seat (3) and the axes R4 and R5 corresponding to the sliding support seat (2) are mutually perpendicular, the axes R5 and R6 corresponding to the sliding support seat (2) and the base (1) are mutually perpendicular, the axes R1 and R4 corresponding to the first joint (14) and the sliding seat (3) are intersected at one point, and the axes R2 and R4 corresponding to the second joint (17) and the sliding seat (3) are coplanar.
5. A data self-calibrating master manipulator according to claim 4, wherein: the first connecting rod (15) is formed by sequentially connecting a first section rod (151), a second section rod (152) and a third section rod (153), the first section rod (151), the second section rod (152) and the third section rod (153) are mutually perpendicular, the plane formed by the first section rod (151) and the second section rod (152) and the plane formed by the second section rod (152) and the third section rod (153) are mutually perpendicular, and the shape of the second section rod (152) is L-shaped.
6. A data self-calibrating master manipulator according to claim 5, wherein: the spline shaft (4) penetrates through the sliding seat (3), the rotating spline (21) is sleeved on the sliding seat, the rotating spline (21) is fixedly arranged at the end part of the sliding seat (3), the outer side of the sliding rod (5) is sleeved with the outer cylinder (22), and the end part of the outer cylinder (22) is fixedly connected with the rotating spline (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811640672.3A CN109394344B (en) | 2018-12-29 | 2018-12-29 | Data self-calibration main manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811640672.3A CN109394344B (en) | 2018-12-29 | 2018-12-29 | Data self-calibration main manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109394344A CN109394344A (en) | 2019-03-01 |
| CN109394344B true CN109394344B (en) | 2024-02-06 |
Family
ID=65462738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811640672.3A Active CN109394344B (en) | 2018-12-29 | 2018-12-29 | Data self-calibration main manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109394344B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110587603A (en) * | 2019-09-05 | 2019-12-20 | 北京工业大学 | Pose self-induction joint module motion control system based on multi-sensor data fusion |
| CN111529069A (en) * | 2020-06-08 | 2020-08-14 | 哈尔滨思哲睿智能医疗设备有限公司 | Posture adjusting mechanism, main manipulator device and surgical robot |
| CN114271947A (en) * | 2021-12-27 | 2022-04-05 | 南京佗道医疗科技有限公司 | Main manipulator for decoupling clamping position |
| CN115476331B (en) * | 2022-11-15 | 2023-03-10 | 科弛医疗科技(北京)有限公司 | Manipulator and master-slave follow-up equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103876834A (en) * | 2012-12-19 | 2014-06-25 | 燕山大学 | Positioning mechanical arm |
| CN106890026A (en) * | 2017-01-12 | 2017-06-27 | 北京交通大学 | A kind of minimally invasive spine surgical robot |
| CN107414859A (en) * | 2017-08-30 | 2017-12-01 | 海安科大机器人科技有限公司 | Wall spray robot is climbed based on mechanical arm |
| WO2018000870A1 (en) * | 2016-06-29 | 2018-01-04 | 微创（上海）医疗机器人有限公司 | Surgical robot and mechanical arm thereof |
| CN209595890U (en) * | 2018-12-29 | 2019-11-08 | 苏州康多机器人有限公司 | A kind of data self calibration main manipulator |
-
2018
- 2018-12-29 CN CN201811640672.3A patent/CN109394344B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103876834A (en) * | 2012-12-19 | 2014-06-25 | 燕山大学 | Positioning mechanical arm |
| WO2018000870A1 (en) * | 2016-06-29 | 2018-01-04 | 微创（上海）医疗机器人有限公司 | Surgical robot and mechanical arm thereof |
| CN106890026A (en) * | 2017-01-12 | 2017-06-27 | 北京交通大学 | A kind of minimally invasive spine surgical robot |
| CN107414859A (en) * | 2017-08-30 | 2017-12-01 | 海安科大机器人科技有限公司 | Wall spray robot is climbed based on mechanical arm |
| CN209595890U (en) * | 2018-12-29 | 2019-11-08 | 苏州康多机器人有限公司 | A kind of data self calibration main manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109394344A (en) | 2019-03-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109394344B (en) | Data self-calibration main manipulator | |
| JP5923025B2 (en) | Magnetic end effector and its guiding and positioning device | |
| US10209152B2 (en) | Force sensor unit and robot arm including a wire cable routed from inside a casing to outside of the casing | |
| WO2018000870A1 (en) | Surgical robot and mechanical arm thereof | |
| KR102386692B1 (en) | Redundant axis and degree of freedom for hardware-constrained remote center robotic manipulator | |
| JP5886513B2 (en) | Articulated measuring arm with laser scanner | |
| JP6719956B2 (en) | Dual arm actuator | |
| US20050252329A1 (en) | Haptic mechanism | |
| CN106667583B (en) | A kind of main hand of micro-wound operation robot seven freedom operation | |
| US10307121B2 (en) | X-ray device having an adjusting apparatus | |
| CN107073720A (en) | Manipulator Hand and manipulator | |
| CN107157581B (en) | Decoupling four-degree-of-freedom telecentric mechanism for in-vitro minimally invasive surgery | |
| CN106078724B (en) | Mechanical arm and surgical robot thereof | |
| RU2720830C1 (en) | Assisting surgical complex | |
| CN209137698U (en) | A kind of catheter controller | |
| US8079284B2 (en) | Device for swiveling objects | |
| JP2016223482A (en) | Link mechanism | |
| JP2016147350A (en) | Articulated robot using link actuation device | |
| CN111374780A (en) | Eight-degree-of-freedom series-connection type main manipulator and surgical robot applying same | |
| CN107970069B (en) | A kind of multiple degrees of freedom remote operation handle for operating robot | |
| CN106313004A (en) | Four-freedom-degree high-speed parallel robot mechanism | |
| CN209734152U (en) | full passive type main operation hand | |
| CN113288427B (en) | Suspension positioning mechanical arm and control method | |
| KR101138532B1 (en) | Device for measuring torque of robot joint and method for the same | |
| CN209595890U (en) | A kind of data self calibration main manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |