CN109481022A - A kind of main hand end operating mechanism of master-slave operation blood vessel intervention operation robot - Google Patents
A kind of main hand end operating mechanism of master-slave operation blood vessel intervention operation robot Download PDFInfo
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- CN109481022A CN109481022A CN201811353586.4A CN201811353586A CN109481022A CN 109481022 A CN109481022 A CN 109481022A CN 201811353586 A CN201811353586 A CN 201811353586A CN 109481022 A CN109481022 A CN 109481022A
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- hand end
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- main hand
- blood vessel
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/73—Manipulators for magnetic surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
Abstract
The invention discloses a kind of main hand end operating mechanisms of master-slave operation blood vessel intervention operation robot, belong to technical field of medical equipment, the main hand end operating mechanism includes: the axial advancing movement and feedback force implementation mechanism that disposable effective travel is more than or equal to 150mm, rotating distance is more than or equal to ± 1080 ° of rotary motion implementation mechanism, axial advancing movement and feedback force implementation mechanism include transmitting the magnetic powders brake device of certain torque, the main hand end operating mechanism freedom degree is two freedom degrees, and seal wire (or conduit) skids in the blood vessels when there is certain aid power to prevent intervention from performing the operation seal wire.Shake, impact are generated when hand main present invention reduces doctor manipulator, improve the accuracy of surgical robot system.
Description
Technical field
The present invention relates to a kind of main hand end operating mechanisms of operating robot for medical treatment, more particularly to a kind of principal and subordinate
The main hand end operating mechanism for operating blood vessel intervention operation robot, belongs to technical field of medical equipment.
Background technique
Currently, as people require medical service level higher, the scientific and technological also boosting Medical Devices of growing rapidly
Development, robot start to come into everybody sight, and robot micro-wound operation is due to having very big advantage to be received by more people.
The main hand of operation of the minimally invasive robot system of successful commercialization is all universal at present, and from hand end isomery formula,
Feedback force is provided by servo motor.Existing main hand is all and from the quasi- isomorphism type of hand end propulsive mechanism, but all using holding
Formula, the action message of manpower is acquired using the encoder being connected with machine shaft and is sent to computer, then is transmitted to from hand end and is passed
The controller for sending mechanism controls motor and realizes the delivering of conduit/seal wire after being computed.Simultaneously from hand end delivery mechanism conduit/lead
Resistance signal is sent to computer by the power detection module of silk, is resent to main hand side controller control motor and is generated feedback force and anti-
Present torque.It and is to use finger control conduct pipe/seal wire, therefore not fully meet the operation of doctor during doctor's actual operation
Habit.
Although the existing main hand of force feedback can be realized the propulsion of conduit/seal wire and rotation process, they all have two
The serious problem of aspect: being on the one hand operating habit when operating method does not meet manpower intervention operation, and in small force feedback
When, manpower force feeling inaccuracy, the presence of even imperceptible feedback force sometimes；On the other hand, force feedback is carried out using motor,
Motor provides kinetic moment, and torque size can operate and change dramatically with manpower.Fatiguability when doctor operates, is more likely to
Cause handle to tremble, influences conduit/seal wire delivering position precision.
Summary of the invention
The main object of the present invention is to provide for a kind of main hand end operation of master-slave operation blood vessel intervention operation robot
Mechanism provides feedback force from brake using magnetic powder, shake, impact is generated when reducing the main hand of doctor manipulator, improves operation
The accuracy of robot system.
The purpose of the present invention can reach by using following technical solution:
A kind of main hand end operating mechanism of master-slave operation blood vessel intervention operation robot, including the main hand of operation, the main hand end operation
Mechanism further include: axial advancing movement and feedback force implementation mechanism and rotary motion implementation mechanism, axial advancing movement and feedback
Power implementation mechanism includes transmitting the magnetic powders brake device of certain torque, axial advancing movement and feedback force implementation mechanism it is disposable
Effective travel is more than or equal to 150mm, and rotary motion implementation mechanism rotating distance is more than or equal to ± 1080 °, which operates machine
Structure freedom degree is two freedom degrees, and operating main hand end operating mechanism there is certain aid power to prevent intervention from leading when performing the operation seal wire
Silk (or conduit) skids in the blood vessels.
Preferable scheme is that the position detection accuracy of the main hand end operating mechanism is: forward displacement detection accuracy is
0.2mm, rotational positioning precision are 0.2 °.
Preferable scheme is that the feedback force range of axial advancing movement and feedback force implementation mechanism is 2-15N.
Preferable scheme is that axial advancing movement and feedback force implementation mechanism include magnetic powder brake, magnetic powder brake bottom
Seat, encoder, synchronous pulley, guide wheel A, synchronous belt, bottom plate, guide wheel B, guide wheel C, operating shaft, operating sleeve, T-type frame, fixing axle
And rotary shaft；The magnetic powder brake being arranged on magnetic powder brake pedestal is the magnetic powder brake of passive type, and magnetic powder brake
On rotary shaft connect counterclockwise with guide wheel A, guide wheel B, guide wheel C by synchronous belt；Magnetic powder brake pedestal, guide wheel A, guide wheel B
Three is fixedly connected on bottom plate.
Preferable scheme is that rotary motion implementation mechanism include: bottom plate, synchronous pulley A, rotary shaft, pedestal, encoder,
Synchronous belt, synchronous pulley B, encoder connection rotary shaft are simultaneously fixed on bottom plate by the pedestal of lower part, and synchronous belt passes through rotation
Axis drives two synchronous pulley operations；Rotary motion implementation mechanism further include: fixing axle, T-type frame, holding screw, ball, operation
Sleeve, trigger switch, sliding sleeve, operating shaft；Operating shaft is connected by 6 balls with operating sleeve, and has 2 balls to be placed in behaviour
Make in the V-groove of axis, operating sleeve is relatively unrotatable with operating shaft；Synchronous pulley B is fixed in operating shaft, can be with operation
Axis rotates together.
Preferable scheme is that can drive operating shaft when rotation operating sleeve, the synchronized band of synchronous pulley B, drive synchronization
Both belt wheel A rotation, encoder and magnetic powder brake pass through rotary shaft and are connected with synchronous pulley A, synchronous pulley drives coding
Both device and magnetic powder brake rotate together.
Preferable scheme is that the main hand end operating mechanism total weight of the master-slave operation blood vessel intervention operation robot
1.0kg -2kg, preferably 1.5kg；The diameter of operating sleeve (506) is 10-20mm, it is preferred to use 15mm；The master-slave operation blood
The main hand end operating mechanism effective travel of pipe intervention operation robot is 150mm-250mm, and preferably including effective stroke is
200mm；Synchronous pulley A, the synchronous pulley B diameter of the main hand end operating mechanism rotary motion are identical, and operating sleeve passes to coding
The rotary motion transmission ratio of device is 1:1.
Preferable scheme is that the operating mechanism at the main hand end be it is wearable, volume be no more than 50*100*90mm, weight is not
More than 2kg.
In any of the above-described scheme preferably, magnetic powder brake is the magnetic of the model CD-HSY-5 of blue mound motor production
Powder clutch；The encoder of measurement rotary motion and the progressive movement of operation of the present invention mechanism has selected the micro- essence of the China Shenzhen appearance of the city
The M50T3600ZG5C absolute value rotary encoder of close Electronics Co., Ltd.'s production, the encoder, resist small, dustproof and waterproof of raising the price
Shake, can use various bad working environments.
Advantageous effects of the invention: the main hand end behaviour of master-slave operation blood vessel intervention operation according to the invention robot
Make mechanism, can not only provide statical moment, but also offer kinetic moment that can be stable from brake using magnetic powder, prevent doctor manipulator
Shake, impact are generated when main hand, improve the accuracy of surgical robot system；
Using the main hand end operating mechanism of master-slave operation blood vessel intervention operation robot of the invention, also there is following technology effect
Fruit:
(1) operating mechanism at main hand end of the invention is wearable, and volume is no more than 50*100*90mm, due to length, width and height size
Less, therefore the requirement of occupied space is reduced, solves the problems, such as that operating theatre equipment occupied space is more nervous.
(2) the forward displacement detection accuracy of the main hand end operating mechanism is 0.2mm, and rotational positioning precision is 0.2 °, is shortened
External conduit/guide wire portion further mitigates conduit in art and disturbs, and the precision of lifting force perception improves operation precision,
Radiation is reduced indirectly.
(3) present invention provides feedback force from brake using magnetic powder, and shake, punching are generated when reducing the main hand of doctor manipulator
It hits, improve the accuracy of surgical robot system while improving the comfort of patient, disturbed due to reducing conduit in art
Property, the case where vasopasm of patient can be effectively prevented.
(4) operating mechanism at main hand end of the invention is wearable, and volume is no more than 50*100*90mm, and weight is no more than
2kg, whole is small in size, can be easy to carry, adapts to the demand of special space operation.
(5) 2 freedom degrees are designed as, the habit that doctor operates blood vessel intervention operation is met.
(6) mechanism is provided for the robot delivering of all kinds of flexibilities/software instrument (under drive lacking environment) to use for reference.
(7) magnetic powder brake (301) that the present invention uses is the magnetic powder cluth of model C D-HSY-5, what the present invention used
Encoder (303,405) is M50T3600ZG5C absolute value rotary encoder, by experimental examination, meets such blood vessel intervention hand
The operation requirement of art, meets practical application, is worth of widely use.
Detailed description of the invention
Fig. 1 is a preferred reality of the main hand end operating mechanism of master-slave operation blood vessel intervention operation according to the invention robot
Apply the blood vessel intervention operation operating environment structural schematic diagram of example；
Fig. 2 is a preferred embodiment of the main hand end operating mechanism of master-slave operation blood vessel intervention operation according to the invention robot
Magnetic powder brake structural principle structural schematic diagram；
Fig. 3 is a preferred embodiment of the main hand end operating mechanism of master-slave operation blood vessel intervention operation according to the invention robot
Operating mechanism axial direction advancing movement and feedback force realize structural schematic diagram；
Fig. 4 is a preferred embodiment of the main hand end operating mechanism of master-slave operation blood vessel intervention operation according to the invention robot
Operating mechanism rotary motion realize structure structural schematic diagram；
Fig. 5 is a preferred embodiment of the main hand end operating mechanism of master-slave operation blood vessel intervention operation according to the invention robot
Operating mechanism rotary motion realize structure diagrammatic cross-section.
In figure: 1- seal wire, 2- blood vessel, 201- stator, 202- magnetizing coil, 203- magnetic yoke, 204- magnetic flux, 205- magnetic powder,
206- rotor, 207- input shaft, 301- magnetic powder brake, 302- magnetic powder brake pedestal, 303- encoder, 304- synchronous belt
Wheel, 305- guide wheel A, 306- synchronous belt, 307- bottom plate, 308- guide wheel B, 309- guide wheel C, 310- operating shaft, 311- operating sleeve,
312-T type frame, 313- fixing axle, 314- rotary shaft, 401- bottom plate, 402- synchronous pulley A, 403- rotary shaft, 404- pedestal,
405- encoder, 406- synchronous belt, 407- synchronous pulley B, 501- synchronous belt, 502- fixing axle, 503-T type frame, 504- tightening
Screw, 505- ball, 506- operating sleeve, 507- trigger switch, 508- sliding sleeve, 509- operating shaft.
Specific embodiment
To make the more clear and clear technical solution of the present invention of those skilled in the art, below with reference to examples and drawings
The present invention is described in further detail, and embodiments of the present invention are not limited thereto.
Embodiment 1: as shown in Figs. 1-5, a kind of master of master-slave operation blood vessel intervention operation robot provided in this embodiment
Hand end operating mechanism, including the main hand of operation, the main hand end operating mechanism further include: axial advancing movement and feedback force implementation mechanism
(3) and rotary motion implementation mechanism (4), axial advancing movement and feedback force implementation mechanism (3) include the magnetic for transmitting certain torque
The disposable effective travel of powder brake apparatus, axial advancing movement and feedback force implementation mechanism (3) is more than or equal to 150mm, rotation
Movement implementing mechanism (4) rotating distance is more than or equal to ± 1080 °, which is two freedom degrees, behaviour
Make main hand end operating mechanism prevents seal wire (1) when intervention operation from beating in blood vessel (2) to seal wire (1) with certain aid power
It is sliding.
In the present embodiment, as shown in Figs. 1-5, the position detection accuracy of the main hand end operating mechanism is: forward displacement inspection
Survey precision is 0.2mm, and rotational positioning precision is 0.2 °.
In the present embodiment, as shown in Figs. 1-5, the feedback force range of axial advancing movement and feedback force implementation mechanism (3)
For 2-15N.
In the present embodiment, as shown in Figs. 1-5, axial advancing movement and feedback force implementation mechanism (3) include magnetic powders brake
Device (301), magnetic powder brake pedestal (302), encoder (303), synchronous pulley (304), guide wheel A(305), synchronous belt (306),
Bottom plate (307), guide wheel B(308), guide wheel C(309), operating shaft (310), operating sleeve (311), T-type frame (312), fixing axle
(313) and rotary shaft (314)；The magnetic powder brake (301) being arranged on magnetic powder brake pedestal (302) is the magnetic powder of passive type
Brake, and the rotary shaft (314) of magnetic powder brake (301) is connect by synchronous belt (306) with multiple guide wheels；Magnetic powder brake
Pedestal (302), guide wheel A(305), guide wheel B(308) three is fixedly connected on respectively on bottom plate (307).
In the present embodiment, as shown in Figs. 1-5, rotary motion implementation mechanism (4) includes: bottom plate (401), synchronous pulley A
(402), rotary shaft (403), pedestal (404), encoder (405), synchronous belt (406), synchronous pulley B(407), encoder
(405) rotary shaft (403) are connected and are fixed on bottom plate (401) by the pedestal of lower part (404), synchronous belt (406) passes through rotation
Shaft (403) drives two synchronous pulley (402,407) operations；Rotary motion implementation mechanism (4) further include: fixing axle (502),
T-type frame (503), holding screw (504), ball (505), operating sleeve (506), trigger switch (507), sliding sleeve (508), operation
Axis (509)；Operating shaft (509) is connected by six balls (505) with operating sleeve (506), and there are two ball (505) to dispose
In the V-groove of operating shaft (509), operating sleeve (506) and operating shaft (509) are relatively unrotatable；Synchronous pulley B(407)
It is fixed on operating shaft (509), can be rotated together with operating shaft (509).
In the present embodiment, as shown in Figs. 1-5, rotate operating sleeve (311,506) when, can drive operating shaft (310,
509), synchronous pulley B(407) synchronized band (306,406,501) drives synchronous pulley A(402) rotation, encoder (303,
405) both it is connected by rotary shaft (314,403) with synchronous pulley A(402) with magnetic powder brake (301), synchronous pulley
(304) encoder (303,405) and magnetic powder brake (301) are driven to rotate together.
Embodiment 2: identical as 1 principle of embodiment with reference to shown in Fig. 1-5, difference is in this present embodiment, the master-slave operation
The main hand end operating mechanism total weight of blood vessel intervention operation robot is about 1.5kg, effective travel 200mm；The main hand end behaviour
Make the synchronous pulley A(402 of mechanism rotary motion), synchronous pulley B(407) diameter is identical, operating sleeve (506) passes to encoder
The rotary motion transmission ratio of (303,405) is 1:1.
In the present embodiment, as shown in Figs. 1-5, the operating mechanism at the main hand end is wearable, volume 50*100*
90mm, weight are no more than 2kg.
Embodiment 3: identical as embodiment 1,2 principles with reference to shown in Fig. 1-5, difference is in this present embodiment, the operation set
The diameter of cylinder (506) is 15mm, and doctor's thumb and middle finger is facilitated to hold operating sleeve (506) just to complete surgical procedure.
Embodiment 4: identical as embodiment 1,2 principles referring to Figure of description 1-5, difference is in the present embodiment, magnetic
The magnetic powder cluth for the model CD-HSY-5 that powder brake (301) is produced using blue mound motor；The survey of operation of the present invention mechanism
The encoder (303,405) of amount rotary motion and progressive movement has selected the micro- precision electronics corporation, Ltd.'s production of Shenzhen appearance of the city
M50T3600ZG5C absolute value rotary encoder, the encoder (303,405) price raising small, dustproof and waterproof, antidetonation, can use various
Bad working environments.
The related description of the specific design parameter of the present invention:
Main hand end operating mechanism usually meets requirement below: 1. will meet the operating habit of doctor, and doctor operates seal wire gimmick
It is delivering and the rotation twirl that right-handed thumb and middle finger carry out seal wire, therefore operating mechanism can preferably use thumb and middle fingering
Row manipulation；2. force teleprence can be established, it can accurately map from conduit/seal wire that hand end delivery mechanism detects and touch blood
The power of tube wall；3. easy to operate in order to meet the direct feel of people, the operating mechanism at main hand end will be with the delivery mechanism from hand end
Isomorphism type；4. frictional force, inertia force want small.For these requirements, according to blood vessel intervention operation operating feature, it is given below specific
Design objective.
(1) freedom degree of main hand end operating mechanism:
The domestic and international main hand some of relevant operation successful commercializations, are widely used in every field, but the design of its configuration with
The slave hand end delivery mechanism configuration of this paper is different, does not meet the operating habit of doctor in this way.The main hand end operating mechanism of this paper is only
Two freedom degrees are needed, the freedom degree that above-mentioned commercialized several moneys operate main hand is big by 2.Compared with heterogeneous design, isomorphism type
Design is more targeted, more meets the operating habit of doctor, therefore the learning curve of doctor's study manipulation operating robot is short.This
Text devises a kind of novel main hand end operating mechanism using the method for isomorphism type according to above-mentioned specific requirement.
Since blood vessel intervention operation only cuts the osculum of a 1 ~ 3mm, operation object conduit/seal wire is wireless freedom degree
Kneading body, only need in surgical procedure it is axial pass, retreat and operation can be completed along the rotation of axis, so from hand end delivery machine
Structure only needs 2 freedom degrees, and in order to meet the operating habit of doctor, structure simply designs along main hand end operating mechanism is set
Meter Cheng Yucong hands movement mode is identical, and freedom degree book is identical, is also 2 freedom degrees.Blood vessel intervention operation operating environment is with reference to figure
1。
(2) locomitivity of main hand end operating mechanism:
Distance is disposably delivered not less than 150mm, seal wire according to requirement conduit/seal wire of cardiovascular minimally invasive intervention operation robot
It rotates angle and is not less than ± 1080 °, i.e., be clockwise and anticlockwise 360 °.The key operation of cardiovascular minimally invasive intervention operation is
For the delivering of conduit/seal wire, twirl is recalled and revolves, so reliably to complete these movements from hand end delivery mechanism.Because of main hand
Operating mechanism and delivery mechanism isomorphism type are held, so operating mechanism also will complete corresponding actions according to certain mapping ratio.It is logical
The main hand of often cardiovascular minimally invasive intervention operation and the mapping ratio from hand are more than or equal to 1, therefore from the disposable effective travel of hand
More than or equal to 150mm, rotating distance is more than or equal to ± 1080 °.And universal main hand operating side is unable to satisfy this requirement, therefore
It needs to require the design just proposed for this.
(3) the position detection essence of main hand end operating mechanism:
Inspection information learns that human body artery blood vessel diameter is about 0.2 ~ 21.6mm, and vein blood vessel diameter is about 0.25 ~ 7.5mm, is
Conduit/seal wire can be delivered to lesion locations with safety and precise, in conjunction with the stress of blood vessel and the requirement of project guide, this
The delivering precision of seal wire is set to 0.5mm by text, and running accuracy is set to 0.5 °.It is main in cardiovascular minimally invasive intervention robot system
The precision of hand end operating mechanism affects principal and subordinate's location tracking precision.In order to guarantee the precision of robot system, main hand end operation
The displacement measurement accuracy of mechanism has to be higher than conduit/seal wire position precision.So the position of main hand end operating mechanism herein
Detection accuracy determines are as follows: forward displacement detection accuracy is 0.2mm, and rotational positioning precision is 0.2 °.
(4) the feedback force range of main hand:
When by the delivering of the conduit detected from hand end delivery mechanism/seal wire resistance (with the frictional force of blood vessel and with vascular wall
Touch power etc.) with certain mapping Proportional Feedback to main hand end operating mechanism, so that doctor can experience feedback force.It will lead
The resistance when delivering of pipe/seal wire, which can experience feedback force with certain proportion amplification doctor, can be improved the speed and successfully of operation
Rate.Feedback force and the size for mapping ratio are related with the human feeling of the detection structure of power and ergonomics.Healthy People
The blood vessel limit that meets with stresses is about 15 ~ 30, however the limiting range of stress that the blood vessel of cardiovascular patient can be born is significantly
Decline.Show that human vas wall can bear conduit/seal wire to touch the extreme value of power to be about 9.54N by reasonably calculating,
The resistance of the seal wire detected in actual surgical procedure is usually less than 2N.The range for the power that upper limb can apply in short time is
16.5 ~ 102.3N, ergonomics point out human body it is pleasant be continuously applied power be less than limiting value 15%, about 2.47 ~
15.3N.In summary it analyzes, and requirement to force feeling when in view of operation accurate operation, the main hand of the operation designed herein are anti-
Feedback power range is determined as 2 ~ 15N.
Mainly there are three the characteristics of aspect for magnetic powder brake:
(1) substantially linear between braking torque and exciting current.Under normal circumstances, in magnetic powder brake in very big model
In enclosing (rated current 5% ~ 95%), the braking torque and input current of output are substantially linear.Select suitable magnetic powder system
Dynamic device can provide more large-scale resistance by hand end operating mechanism based on, according to the conduit/seal wire measured from hand end sensor
The size of resistance changes the size of resistance to change the size of exciting current, to realize that power feels feedback.
(2) slippage characteristic.In the case where keeping exciting current constant, the braking moment " have constancy " of output with
Rotational speed difference between rotor and stator is unrelated, i.e. static friction torque and dynamic friction torque does not have difference, it is only necessary to control the big of electric current
Small control braking torque that can be constant, so it has the advantages that impact is small.Comparison provides feedback using servo motor
The scheme of power can not only provide statical moment, but also offer kinetic moment that can be stable from brake using magnetic powder.This it is prevented that
Shake, impact are generated when the main hand of doctor manipulator, improve the accuracy of surgical robot system.
(3) slippage braking when long-time high speed can fever phenomenon.According to conservation of energy principle, the kinetic energy of braking is converted into
The form of thermal energy consumes.Therefore run at high speed generation fever for a long time, and then seriously affects torque transmitting accuracy, or even burn
It ruins.It is noted that fan heat, the main hand end operating mechanism operating rate of this paper is low, will not connect for a long time when therefore applying magnetic powder brake
The case where reforwarding is dynamic, fever will not influence force feedback precision.
For convenient for the understanding of the present invention, below with reference to a use process, the invention will be further described:
Requirement for doctor in surgical procedure to main hand end operating mechanism devises the main hand end operating mechanism of simulation.The behaviour
Make mechanism mainly by encoder, magnetic powder brake, synchronous pulley, synchronous belt, guide wheel, bottom plate, operating shaft, operating sleeve, flexibility
Sensor, sliding sleeve, etc. parts composition.Operating sleeve is connected by synchronous belt with encoder B, to provide axial progressive position
Information；Operating shaft is connected by synchronous belt with encoder A, to provide the location information rotated along axis.Operating sleeve passes through
Synchronous belt is connected with the synchronous pulley on magnetic powder brake, to provide feedback moment using magnetic powder brake.Operating sleeve
Diameter is 15mm, and just the same with doctor hand delivery conduit/seal wire operational motion, doctor only needs thumb and middle finger just to hold
Operating sleeve is completed to operate.Operating sleeve surface is equipped with flexible skin sensor simultaneously, can acquire doctor and just hold operation set
The pressure of cylinder.
It needs to rotate in crotch conduit/seal wire of blood vessel and axially passs while carrying out, therefore blood vessel intervention operation machine
Device people system, which will have, to be rotated from and into two freedom degrees of feeding.In order to realize operating mechanism operating sleeve rotation and axis
The decoupling for feeding two movements, need to design special structure.Operating shaft is hollow steel pipe, is led between operating sleeve and operating shaft
It crosses six balls to be connected, therefore operating sleeve can be moved freely with respect to operating shaft.Fixing axle is connected with T-type frame, therebetween not
It can relative movement.T-type frame and operating sleeve are relatively fixed.Synchronous belt is connected by fixing axle with T-type frame, and then and operating sleeve
It is connected.So synchronous belt can be driven to move together when operating sleeve is moved along operating shaft.Operating shaft is hollow steel pipe, is provided with V
Type groove is wherein stuck in slot there are two ball, therefore operating sleeve cannot be rotated relative to operating shaft.T-type frame and operating sleeve elder generation paddy
Bottom is fixed.Because fixing axle can be rotated relative to T-type frame, synchronous belt can also be rotated relative to T-type frame.So which achieves
The progressive movement of operating mechanism and the decoupling of rotary motion.
Operating sleeve is connected by ball with operating shaft, the frictional force between the two of reduction, therefore therebetween can be with
Opposite sliding.Operating sleeve and T-type frame are relatively fixed, cannot move therebetween.T-type frame is connected with fixing axle, therebetween
It cannot relatively move.Therefore operating sleeve cannot be relatively moved with fixing axle.When doctor, which just holds operating sleeve, to be axially moved, Gu
Dead axle with moving together.Synchronous belt passes through hollow operating shaft, successively bypasses synchronous pulley, guide wheel A, guide wheel B, guide wheel C, together
Step band is fixed with both ends and fixed both ends of the shaft.Therefore doctor can just hold operating sleeve movement, while drive synchronous pulley with
Rotation.Encoder is connected with synchronous pulley by rotary shaft, therefore encoder is moved with rotating together to acquire doctor's operation
The location information of work, is passed along computer, using a series of operation, is transmitted to the notice that control delivering motor is converted to from hand end
Signal is realized to the delivering of conduit/seal wire, withdrawal operation.Synchronous pulley is connected with magnetic powder brake by rotary shaft simultaneously.Doctor
When raw promotion operating sleeve, synchronous pulley and magnetic powder brake can be driven to rotate together, therefore magnetic powder brake can be passed through
Feedback force can be provided.When delivery catheter/seal wire, loading can measure its resistance from the pressure sensor at hand end and generate telecommunications
Number, it is transmitted to main hand side controller, controller controls the exciting current size of magnetic powder brake according to the size of this signal.Cause
This feedback force can a certain mapping Proportional Feedback conduit/seal wire resistance.The progressive movement of the axial direction of operating mechanism and feedback force are realized
The specific structure is shown in FIG. 3.
Operating shaft is connected by 6 balls with operating sleeve, and has 2 balls to be placed in the V-groove of operating shaft, therefore
Operating sleeve is relatively unrotatable with operating shaft.Synchronous pulley B is fixed in operating shaft, therefore can be turned with operating shaft
It is dynamic.When doctor rotates operating sleeve, operating shaft, synchronous pulley B can be driven to rotate together synchronized band and drive synchronous pulley A
Rotation.Encoder is connected with synchronous pulley A by rotary shaft, and synchronous pulley can drive encoder to rotate together.Therefore encoder
The position signal that the rotary motion of operating sleeve can be acquired is passed to and is rotated from hand end by the signal after main controller operation
The driver of motor, to control delivery mechanism rotary guide pipe/seal wire.Structural reference Fig. 4, Fig. 5 of operating mechanism rotary motion.
To sum up, machine is operated according to the main hand end of the master-slave operation blood vessel intervention operation robot of the specific embodiment of the invention
Structure, the main hand end operating mechanism of the master-slave operation blood vessel intervention operation robot provided, can make up deficiency in the prior art
Place can not only provide statical moment, but also offer kinetic moment that can be stable from brake using magnetic powder, prevent doctor manipulator master
Shake, impact are generated when hand, improve the accuracy of surgical robot system.
More than, further embodiment only of the present invention, but scope of protection of the present invention is not limited thereto, and it is any to be familiar with
Within the scope of the present disclosure, according to the technique and scheme of the present invention and its design is subject to those skilled in the art
With replacement or change, belongs to protection scope of the present invention.
Claims (9)
1. a kind of main hand end operating mechanism of master-slave operation blood vessel intervention operation robot, including operate main hand and be used for blood vessel hand
The seal wire (1) of art, which is characterized in that the main hand end operating mechanism further include: axial advancing movement and feedback force implementation mechanism (3)
With rotary motion implementation mechanism (4), axial advancing movement and feedback force implementation mechanism (3) include the magnetic powder system for transmitting certain torque
The disposable effective travel of dynamic device, axial advancing movement and feedback force implementation mechanism (3) is more than or equal to 150mm, rotary motion
Implementation mechanism (4) rotating distance is more than or equal to ± 1080 °, which is two freedom degrees, operation master
Hand end operating mechanism has the aid power that seal wire (1) skids in blood vessel (2) when preventing intervention from performing the operation to seal wire (1).
2. a kind of main hand end operating mechanism of master-slave operation blood vessel intervention operation robot according to claim 1, feature exist
In the position detection accuracy of the main hand end operating mechanism is: forward displacement detection accuracy is 0.2mm, and rotational positioning precision is
0.2°。
3. a kind of main hand end operating mechanism of master-slave operation blood vessel intervention operation robot according to claim 1, feature exist
In: the feedback force range of axial advancing movement and feedback force implementation mechanism (3) is 2-15N.
4. a kind of main hand end operating mechanism of master-slave operation blood vessel intervention operation robot according to claim 1, feature exist
In axial advancing movement and feedback force implementation mechanism (3) include magnetic powder brake (301), magnetic powder brake pedestal (302), compile
Code device (303), synchronous pulley (304), guide wheel A(305), synchronous belt (306), bottom plate (307), guide wheel B(308), guide wheel C
(309), operating shaft (310), operating sleeve (311), T-type frame (312), fixing axle (313) and rotary shaft (314)；It is arranged in magnetic
Magnetic powder brake (301) in powder brake mount (302) is the magnetic powder brake of passive type, and on magnetic powder brake (301)
Rotary shaft (314) connect counterclockwise with guide wheel A(305), guide wheel B(308), guide wheel C(309) by synchronous belt (306)；Magnetic powder
Brake mount (302), guide wheel A(305), guide wheel B(308) be fixedly connected on bottom plate (307).
5. a kind of main hand end operating mechanism of master-slave operation blood vessel intervention operation robot according to claim 1, feature exist
In rotary motion implementation mechanism (4) includes: bottom plate (401), synchronous pulley A(402), rotary shaft (403), pedestal (404), compile
Code device (405), synchronous belt (406), synchronous pulley B(407), encoder (405) connects rotary shaft (403) and the bottom by lower part
Seat (404) is fixed on bottom plate (401), and synchronous belt (406) drives synchronous pulley (402) and synchronous belt by rotary shaft (403)
(407) it runs；
Rotary motion implementation mechanism (4) further include: fixing axle (502), T-type frame (503), holding screw (504), ball (505),
Operating sleeve (506), trigger switch (507), sliding sleeve (508), operating shaft (509)；Operating shaft (509) passes through six balls
(505) it is connected with operating sleeve (506), and is placed in the V-groove of operating shaft (509) there are two ball (505), operating sleeve
(506) relatively unrotatable with operating shaft (509)；Synchronous pulley B(407) it is fixed on operating shaft (509), with operating shaft
(509) it rotates together.
6. a kind of main hand end operating mechanism of master-slave operation blood vessel intervention operation robot according to claim 5, feature exist
In: rotation operating sleeve (311) and when operating sleeve (506), drive operating shaft (310), synchronous pulley B(407) synchronized band
(306), synchronous belt (406) and synchronous belt (501) drive synchronous pulley A(402) rotation, encoder (303,405) and magnetic powder system
Dynamic device (301) are both connected by rotary shaft (314,403) with synchronous pulley A(402), and synchronous pulley (304) drives coding
Both device (303,405) and magnetic powder brake (301) rotate together.
7. a kind of main hand end operating mechanism of master-slave operation blood vessel intervention operation robot according to claim 5, feature exist
In: the main hand end operating mechanism total weight of the master-slave operation blood vessel intervention operation robot is 1.0kg -2kg, and effective travel is
150mm-250mm；The diameter of operating sleeve (506) is 10-20mm, the synchronous pulley A of the main hand end operating mechanism rotary motion
(402), synchronous pulley B(407) diameter is identical, and operating sleeve (506) passes to the rotary motion transmission ratio of encoder (303,405)
For 1:1.
8. a kind of main hand end operating mechanism of master-slave operation blood vessel intervention operation robot according to claim 1, feature exist
Be in: the operating mechanism at the main hand end it is wearable, volume is no more than 50*100*90mm, and weight is no more than 2kg.
9. a kind of main hand end operating mechanism of master-slave operation blood vessel intervention operation robot according to claim 5, feature exist
In: magnetic powders brake device includes magnetic powder brake (301), and magnetic powder brake (301) is the magnetic powder cluth of model C D-HSY-5；
Encoder (303,405) is M50T3600ZG5C absolute value rotary encoder.
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| CN201811353586.4A CN109481022A (en) | 2018-11-14 | 2018-11-14 | A kind of main hand end operating mechanism of master-slave operation blood vessel intervention operation robot |
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| WO2022258019A1 (en) * | 2021-06-10 | 2022-12-15 | 深圳市爱博医疗机器人有限公司 | Master operating handle of interventional surgical robot |
| WO2022258021A1 (en) * | 2021-06-10 | 2022-12-15 | 深圳市爱博医疗机器人有限公司 | Interventional surgical robot master end control module |
| WO2023029583A1 (en) * | 2021-08-31 | 2023-03-09 | 深圳市爱博医疗机器人有限公司 | Interventional surgical robot master end control device |
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