CN110403701A - Input unit, minimally invasive surgical operation robot and micro-wound surgical operation control method - Google Patents
Input unit, minimally invasive surgical operation robot and micro-wound surgical operation control method Download PDFInfo
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- CN110403701A CN110403701A CN201910814450.7A CN201910814450A CN110403701A CN 110403701 A CN110403701 A CN 110403701A CN 201910814450 A CN201910814450 A CN 201910814450A CN 110403701 A CN110403701 A CN 110403701A
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 210000004247 hand Anatomy 0.000 claims abstract description 57
- 210000000707 wrist Anatomy 0.000 claims abstract description 35
- 239000000725 suspension Substances 0.000 claims description 4
- 230000001960 triggered effect Effects 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000001356 surgical procedure Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000002324 minimally invasive surgery Methods 0.000 description 4
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 210000000080 chela (arthropods) Anatomy 0.000 description 1
- 230000015271 coagulation Effects 0.000 description 1
- 238000005345 coagulation Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 230000036512 infertility Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000001404 mediated effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of input units, minimally invasive surgical operation robot and micro-wound surgical operation control method, which solve existing minimally invasive surgical operation robot security of system is low, the technical issues of being easy to happen maloperation, it includes wrist, it shakes hands, opening and closing part, first connecting rod and second connecting rod, it shakes hands including seat of shaking hands, sliding block, contact switch, first screw and the second screw, seat of shaking hands is equipped with first axle and the second axis, contact switch is connect with seat of shaking hands, sliding block is connected with first straight line bearing, second straight line bearing, first straight line bearing, second straight line bearing is respectively fitted over first axle, on second axis, it shakes hands and is connected with compressed spring between seat and sliding block, sliding block is equipped with the first screw hole and the second screw hole, first screw be located in the first screw hole of sliding block and with the first axis connection, second screw is located in the second screw hole of sliding block And with the second axis connection；Seat of shaking hands is fixedly connected with second connecting rod.The present invention is widely used in the field of medical instrument technology.
Description
Technical field
The present invention relates to the method for operating technical fields of minimally invasive surgical operation robot control surgical instruments, specifically,
It is related to a kind of input unit, minimally invasive surgical operation robot and micro-wound surgical operation control method.
Background technique
Application reference publication No. is the Chinese invention patent of CN109091237A, entitled Minimally Invasive Surgery instrument auxiliary system
Application is known as 20th century medical science to one of the significant contribution of human civilization using laparoscope as the minimally invasive surgery of representative, micro-
Invasive procedures operation refers to that doctor is insinuated into using elongated operation tool by the miniature incision of human body surface and performs the operation in vivo
Operation.It has operative incision is small, amount of bleeding is few, scar after the operation is small, recovery time is fast etc. compared with traditional open surgery
Advantage, this pain that patient is subjected to greatly reduce；Therefore minimally invasive surgery is widely used in clinical operation.
Application reference publication No. is the middle promulgated by the State Council of CN109091238A, entitled split type Minimally Invasive Surgery instrument auxiliary system
Bright patent application, minimally invasive surgical operation robot system include doctor's station, surgeon by operation doctor's mechanical arm come
One or more surgical instruments being accurately controlled on the mechanical arm of patient's station execute various surgical actions.
Surgical operating instrument is the indispensable tool of surgical procedures, can execute different function, including clamps, cuts
It removes, cut, suture, coincide.Surgical operating instrument has different configurations comprising executes end, carpopodium, instrument shaft, device
Tool box etc., surgical operating instrument is inserted into, and opening is passed through, to implement telesurgery.In the course of surgery, if doctor is not intended to
Unwanted signal is inputted by doctor's station, input signal is transmitted, and control surgical operating instrument executes operation, surgery doctor
It is raw then surgical operating instrument can not be prevented to execute operation, increase the risk of remote operation.Therefore, how doctor to be prevented to be not intended to
It operates and surgical operating instrument is caused to be operated, the safety for how improving control surgical operating instrument has become art technology
Personnel's technical problem urgently to be resolved.
Summary of the invention
The present invention is exactly low in order to solve existing minimally invasive surgical operation robot security of system, is easy to happen maloperation
Technical problem provides a kind of raising safety, can effectively avoid input unit, the minimally invasive surgical operation robot of maloperation
And micro-wound surgical operation control method.
The present invention provides a kind of input unit, including wrist, shakes hands, opening and closing part, first connecting rod and second connecting rod, and first connects
One end of bar is rotatably connect with wrist, and second connecting rod is rotatably connect with first connecting rod, is shaken hands solid with the top of second connecting rod
The bottom of fixed connection, opening and closing part and second connecting rod rotatably connects, and second connecting rod is equipped with third motor, and third motor passes through cone tooth
Wheel is connect with opening and closing part, and wrist is equipped with first motor, and first motor is connect by bevel gear with first connecting rod, and first connecting rod is equipped with
Second motor, the second motor are connect by bevel gear with second connecting rod；
It shakes hands including seat of shaking hands, sliding block, contact switch, compressed spring, first straight line bearing, second straight line bearing, first
Screw and the second screw, seat of shaking hands are equipped with first axle and the second axis, and contact switch is connect with seat of shaking hands, first straight line bearing and cunning
Block connection, second straight line bearing are connect with sliding block, and first straight line bearing holder (housing, cover) is in first axle, and second straight line bearing holder (housing, cover) is in the second axis
On；Compressed spring, which is connected to, shakes hands between seat and sliding block, and sliding block is equipped with the first screw hole and the second screw hole, and the first screw hole is set
There is a step, the second screw hole is equipped with step, and the first screw is located in the first screw hole of sliding block, and the second screw is located at the of sliding block
In two screw holes；First screw and the first axis connection, the second screw and the second axis connection；Seat of shaking hands is fixed with second connecting rod to be connected
It connects.
The present invention also provides a kind of minimally invasive surgical operation robot, including doctor's station and patient's station, Yi Shengcao
It include base, column, handrail, Zuo doctor's mechanical arm, right doctor's mechanical arm, display and master controller as platform；It is connected on handrail
There is main control panel；Patient's station includes base, lifting column, suspension arm, left patient's mechanical arm and right patient's mechanical arm；Left doctor
Raw mechanical arm is equipped with wrist, and right doctor's mechanical arm is equipped with wrist；It is characterized in that, wrist includes wrist, shakes hands, opening and closing part,
One end of one connecting rod and second connecting rod, first connecting rod is rotatably connect with wrist, and second connecting rod is rotatably connect with first connecting rod,
It shakes hands and is fixedly connected with the top of second connecting rod, the bottom of opening and closing part and second connecting rod rotatably connects, and second connecting rod is equipped with the
Three motors, third motor connects by bevel gear with opening and closing part, and wrist is equipped with first motor, and first motor passes through bevel gear and the
The connection of one connecting rod, first connecting rod are equipped with the second motor, and the second motor is connect by bevel gear with second connecting rod；
It shakes hands including seat of shaking hands, sliding block, contact switch, compressed spring, first straight line bearing, second straight line bearing, first
Screw and the second screw, seat of shaking hands are equipped with first axle and the second axis, and contact switch is connect with seat of shaking hands, first straight line bearing and cunning
Block connection, second straight line bearing are connect with sliding block, and first straight line bearing holder (housing, cover) is in first axle, and second straight line bearing holder (housing, cover) is in the second axis
On；Compressed spring, which is connected to, shakes hands between seat and sliding block, and sliding block is equipped with the first screw hole and the second screw hole, and the first screw hole is set
There is a step, the second screw hole is equipped with step, and the first screw is located in the first screw hole of sliding block, and the second screw is located at the of sliding block
In two screw holes；First screw and the first axis connection, the second screw and the second axis connection；Seat of shaking hands is fixed with second connecting rod to be connected
It connects；
Contact switch is connect by signal wire with master controller.
Preferably, minimally invasive surgical operation robot further includes alarm set, and alarm set is connect with master controller.
Preferably, alarm set is LED light or buzzer.
The present invention also provides a kind of application micro-wound surgical operation control methods, comprising the following steps:
Step 1: doctor grasps seat of shaking hands, and finger pressing sliding block makes sliding block touch contact switch, contact switch quilt
It triggers and sends the first input signal to master controller；
Step 2: doctor operates Zuo doctor's mechanical arm and right doctor's mechanical arm and performs the operation to control patient's mechanical arm.
The invention has the advantages that the safety of the surgical procedure improved, only when doctor grasps doctor's machinery
Shaking hands in the wrist of arm end can be carried out operation doctor's mechanical arm just to implement to perform the operation.When holding or unclamp shaking hands in wrist
When, there will be a reminder, information warning.
Further aspect of the present invention is clearly stated that in the description of following specific embodiments.
Detailed description of the invention
Fig. 1 is the general illustration of minimally invasive surgical operation robot system；
Fig. 2 is the structural schematic diagram of surgical instrument；
Fig. 3 is the connection schematic diagram of master controller, main control panel, LED light and buzzer；
Fig. 4 is the structural schematic diagram of wrist；
Fig. 5 is the partial sectional view of wrist shown in Fig. 4 shaken hands；
Fig. 6 is the structural schematic diagram shaken hands in Fig. 4；
Fig. 7 is the partial sectional view shaken hands shown in Fig. 6.
Fig. 8 is the partial enlarged view in Fig. 7 at P；
Fig. 9 is the schematic diagram that motor is installed on the wrist, first connecting rod and second connecting rod of wrist.
Symbol description in figure:
10. minimally invasive surgical operation robot system, 100. doctor's stations, 110. bases, 120. columns, 130. handrails,
140. Zuo doctor's mechanical arm, 150. right doctor's mechanical arms, 160. displays, 170. master controllers, 200. patient's stations, 210.
Base, 220. lifting columns, 230. suspension arms, 240. left patient's mechanical arms, 250. right patient's mechanical arms, 300. surgical instruments.
Specific embodiment
Referring to the drawings, with specific embodiment, invention is further described in detail.
As shown in Figure 1, minimally invasive surgical operation robot system 10 includes doctor's station 100, patient's station 200 and attached
Part.Doctor's station 100 include base 110, column 120, handrail 130, Zuo doctor's mechanical arm 140, right doctor's mechanical arm 150,
Display 160 and master controller 170；Zuo doctor's mechanical arm 140 is equipped with the wrist 141 as input unit, right doctor's mechanical arm
150 also are provided with wrist；Main control panel 131 is connected on handrail 130.Patient's station 200 includes base 210, lifting column
220, suspension arm 230 and left patient's mechanical arm 240, right patient's mechanical arm 250 and electric control system (not shown)；It is attached
Part includes surgical instrument 300, sterility protection set (not shown).Surgeon passes through two groups of doctors on doctor's station 100
The motion information of doctor's hand is converted to control signal by raw mechanical arm (Zuo doctor's mechanical arm 140, right doctor's mechanical arm 150),
It is transferred to master controller, for controlling two groups of patient's mechanical arms (left patient's mechanical arm 240, right patient on patient's station 200
Mechanical arm 250) manipulation surgical instrument 300, to implement to perform the operation.Display 160 watches surgical site for surgeon
3-D image.
As shown in Fig. 2, surgical instrument 300 has different configurations comprising instruments box 310, instrument shaft 320, carpopodium 330
With execution end 340.Instruments box 310 is the part that instrument is engaged with patient's mechanical arm instrument adapter；Instrument shaft 320 is instrument
Pivoted arm；Carpopodium 330 is the connection carpopodium for simulating human wrist design；It executes the end effector that end 340 is instrument and (such as holds needle
Pincers, nipper, electric hook, electric coagulation forceps).Doctor controls the movement of input unit (wrist 141) to be converted to the movement of carpopodium 330.
As shown in figure 3, main control panel 131 is connect with master controller 170, contact switch 14123 passes through signal wire and master
Controller 170 connects, and LED light 132 is connect with master controller 170, and buzzer 133 is connect with master controller 170.LED refers to
Show that lamp 132 may be mounted on handrail 130, also may be mounted at other positions.Buzzer 133 may be mounted on handrail 130,
Also other positions be may be mounted at.Main control panel 131 is equipped with the keys such as starting, stopping, ascending, descending.
As shown in figures 4-9, as the movement friendship that the wrist of input unit 141 is between doctor and left patient's mechanical arm 240
The motion information of doctor's hand can be converted to control signal by mutual interface, for left patient's mechanical arm 240 and surgical instrument
300 are controlled.Wrist 141 includes wrist 1411,1412, opening and closing part 1413 of shaking hands, first connecting rod 1414, second connecting rod
1415, one end of first connecting rod 1414 is mounted on the bottom of wrist 1411, one end of second connecting rod 1415 by bearing rotary
It by bearing rotary is mounted on the top of first connecting rod 1414, shake hands 1412 is fixedly connected with the top of second connecting rod 1415,
Opening and closing part 1413 is mounted on the bottom of second connecting rod 1415 by bearing rotary, and third motor is equipped in second connecting rod 1415
5, the output shaft of third motor 5 is connect by bevel gear 6 with opening and closing part 1413, and the folding angle of opening and closing part 1413 can pass through installation
Sensor measurement inside it obtains.The bottom of wrist 1411 is equipped with first motor 1, and the output shaft of first motor 1 passes through
Bevel gear 2 connect with first connecting rod 1414.Second motor 3 is installed, the output shaft of the second motor 3 passes through in first connecting rod 1414
Bevel gear 4 connect with second connecting rod 1415.Wrist 1411 is fixedly mounted on the ontology of Zuo doctor's mechanical arm 140.Shake hands 1412
It is that doctor grasps and keeps that principal and subordinate's tracing mode can be opened, is used to input the first signal, instruction surgeon is quasi-
Standby manipulation surgical instruments；Opening and closing part 1413 is that control surgical instrument is mediated or unclamped, for inputting second signal, instruction confirmation
Surgeon prepares manipulation surgical instruments, and to implement to perform the operation, opening and closing part 1413 uses the structure of the prior art.
1412 are shaken hands including shaking hands seat 14121, sliding block 14122, contact switch 14123, compressed spring 14124, first directly
Spool holds 14125, second straight line bearing 14126, the first screw 14127, the second screw 14128, and seat 14121 of shaking hands is equipped with first
Axis 14121-1 and the second axis 14121-2, contact switch 14123, which is fixedly mounted on, shakes hands in seat 14121, first straight line bearing
14125 connect with sliding block 14122, and second straight line bearing 14126 is connect with sliding block 14122, and 14125 sets of first straight line bearing
On one axis 14121-1 (first straight line bearing 14125 can be slided along first axle 14121-1), 14126 sets of second straight line bearing
On the second axis 14121-2 (second straight line bearing 14126 can be slided along the second axis 14121-2), compressed spring 14124 connects
It being connected to and shakes hands between seat 14121 and sliding block 14122, sliding block 14122 is equipped with the first screw hole 14122-1 and the second screw hole, the
One screw hole 14122-1 is equipped with step 14122-1-1, and the second screw hole also is provided with step, and the first screw 14127 is located at sliding block
In 14122 the first screw hole, the second screw 14128 is located in the second screw hole of sliding block 14122；First screw 14127 with
First axle 14121-1 is connected through a screw thread, and the second screw 14128 is connected through a screw thread with the second axis 14121-2.It shakes hands seat
14121 are fixedly connected with second connecting rod 1415.Compression can be adjusted by the first screw 14127 of rotation, the second screw 14128
The compressed degree of spring 14124, so as to adjust make sliding block 14122 touch contact switch 14123 needed for pressure size, therefore
Applicability can be enhanced.
When doctor grasps seat 14121 of shaking hands, and finger presses sliding block 14122, sliding block 14122 is to contact switch
14123 directions are mobile, while 14124 energy storage by compression of compressed spring, when sliding block 14122 touches contact switch 14123, touching
Point switch 14123 is triggered, and will generate the first input signal and be sent to master controller 170, the work output of master controller 170
Enable signal is to the power unit in doctor's mechanical arm and patient's mechanical arm, while master controller 170 instructs LED light 132
Or the work of buzzer 133 is to reminding doctor, at this time doctor could operate doctor's mechanical arm and shake hands on opening and closing part 1413, the
One connecting rod 1414, second connecting rod 1415 are to control patient's mechanical arm, surgical instrument movement；The structure, which has ensured, only works as surgery
When doctor holds and keeps pressing sliding block 14122, principal and subordinate's tracing mode could be opened, that is, after generating the first input signal, doctor
Opening and closing part 1413 could be operated, operation is executed with manipulation of surgical instrument.This situation prevents doctor to be not intended to pass through doctor's station
Unwanted signal is inputted, the safety of surgical operating instrument remote operation is increased.It performs the operation after a certain period of time, the finger of doctor
It unclamps, under the action of compressed spring 14124, sliding block 14122 is mobile (to the position far from contact switch 14123 to initial position
Set movement), contact switch 14123 is not triggered.The top step 14122-1-1 on sliding block 14122 in first screw hole 14122-1
The tail portion of the first screw 14127 is leaned against, i.e. sliding block 14122 is blocked in the tail portion of the first screw 14127, realizes limit (the second screw
Step in hole is identical as the effect of step 14122-1-1, repeats no more).
It should be noted that can be filled other than using LED light 132 or buzzer 133 with the prompting of other modes
It sets.
Master controller 170 can be configured as, and when signal that no contact switch 14123 is sent does not work；Contact switch
14123 be triggered after master controller 170 could work, so that entire robot system be made to work.
Schematically the present invention and embodiments thereof are described above, description is not limiting, institute in attached drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited to this.So if those skilled in the art
Member is enlightened by it, without departing from the spirit of the invention, the part configuration that takes other form, driving device and
Connection type not inventively designs frame mode similar with the technical solution and embodiment, should belong to guarantor of the invention
Protect range.
Claims (5)
1. a kind of input unit, which is characterized in that including wrist, shake hands, opening and closing part, first connecting rod and second connecting rod, described
One end of one connecting rod is rotatably connect with wrist, and the second connecting rod is rotatably connect with first connecting rod, described to shake hands and second
The top of connecting rod is fixedly connected, and the bottom of the opening and closing part and second connecting rod rotatably connects, and the second connecting rod is equipped with third
Motor, the third motor are connect by bevel gear with opening and closing part, and the wrist is equipped with first motor, and the first motor passes through
Bevel gear connect with first connecting rod, and the first connecting rod is equipped with the second motor, and second motor is connected by bevel gear with second
Bar connection；
It is described to shake hands including seat of shaking hands, sliding block, contact switch, compressed spring, first straight line bearing, second straight line bearing, first
Screw and the second screw, equipped with first axle and the second axis, the contact switch is connect the seat of shaking hands with seat of shaking hands, and described first
Linear bearing is connect with sliding block, and second straight line bearing is connect with sliding block, and for the first straight line bearing holder (housing, cover) in first axle, second is straight
Spool bearing sleeve is on the second axis；The compressed spring, which is connected to, shakes hands between seat and sliding block, and the sliding block is equipped with the first screw hole
With the second screw hole, first screw hole is equipped with step, and the second screw hole is equipped with step, and first screw is located at sliding block
In first screw hole, second screw is located in the second screw hole of sliding block；First screw and the first axis connection, second
Screw and the second axis connection；Seat of shaking hands is fixedly connected with second connecting rod.
2. a kind of minimally invasive surgical operation robot, including doctor's station and patient's station, doctor's station includes machine
Seat, column, handrail, Zuo doctor's mechanical arm, right doctor's mechanical arm, display and master controller；Master control is connected on the handrail
Panel processed；Patient's station includes base, lifting column, suspension arm, left patient's mechanical arm and right patient's mechanical arm；The left side
Doctor's mechanical arm is equipped with wrist, and right doctor's mechanical arm is equipped with wrist；It is characterized in that, the wrist includes wrist, shakes hands, opens and closes
One end of portion, first connecting rod and second connecting rod, the first connecting rod is rotatably connect with wrist, and the second connecting rod and first connects
Bar rotatably connects, and described shake hands is fixedly connected with the top of second connecting rod, the bottom rotation of the opening and closing part and second connecting rod
Ground connection, the second connecting rod are equipped with third motor, and the third motor is connect by bevel gear with opening and closing part, and the wrist is set
There is first motor, the first motor is connect by bevel gear with first connecting rod, and the first connecting rod is equipped with the second motor, described
Second motor is connect by bevel gear with second connecting rod；
It is described to shake hands including seat of shaking hands, sliding block, contact switch, compressed spring, first straight line bearing, second straight line bearing, first
Screw and the second screw, equipped with first axle and the second axis, the contact switch is connect the seat of shaking hands with seat of shaking hands, and described first
Linear bearing is connect with sliding block, and second straight line bearing is connect with sliding block, and for the first straight line bearing holder (housing, cover) in first axle, second is straight
Spool bearing sleeve is on the second axis；The compressed spring, which is connected to, shakes hands between seat and sliding block, and the sliding block is equipped with the first screw hole
With the second screw hole, first screw hole is equipped with step, and the second screw hole is equipped with step, and first screw is located at sliding block
In first screw hole, second screw is located in the second screw hole of sliding block；First screw and the first axis connection, second
Screw and the second axis connection；Seat of shaking hands is fixedly connected with second connecting rod；
The contact switch is connect by signal wire with master controller.
3. minimally invasive surgical operation robot according to claim 2, which is characterized in that the minimally invasive surgical operation robot
It further include alarm set, alarm set is connect with master controller.
4. minimally invasive surgical operation robot according to claim 3, which is characterized in that the alarm set is LED indication
Lamp or buzzer.
5. a kind of micro-wound surgical operation control method for applying minimally invasive surgical operation robot as claimed in claim 2, feature
Be the following steps are included:
Step 1: doctor grasps seat of shaking hands, and finger pressing sliding block makes sliding block touch contact switch, and contact switch is triggered
And the first input signal is sent to master controller；
Step 2: doctor operates Zuo doctor's mechanical arm and right doctor's mechanical arm and performs the operation to control patient's mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910814450.7A CN110403701A (en) | 2019-08-30 | 2019-08-30 | Input unit, minimally invasive surgical operation robot and micro-wound surgical operation control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910814450.7A CN110403701A (en) | 2019-08-30 | 2019-08-30 | Input unit, minimally invasive surgical operation robot and micro-wound surgical operation control method |
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| CN110403701A true CN110403701A (en) | 2019-11-05 |
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| CN201910814450.7A Pending CN110403701A (en) | 2019-08-30 | 2019-08-30 | Input unit, minimally invasive surgical operation robot and micro-wound surgical operation control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112370168A (en) * | 2020-11-12 | 2021-02-19 | 山东威高手术机器人有限公司 | Minimally invasive surgery robot system |
| CN113749775A (en) * | 2021-10-08 | 2021-12-07 | 上海交通大学医学院附属瑞金医院 | Mechanical arm for surgical operation |
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| CN113749775A (en) * | 2021-10-08 | 2021-12-07 | 上海交通大学医学院附属瑞金医院 | Mechanical arm for surgical operation |
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