CN113456240A - Main operating hand clamping structure - Google Patents
Main operating hand clamping structure Download PDFInfo
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- CN113456240A CN113456240A CN202110879041.2A CN202110879041A CN113456240A CN 113456240 A CN113456240 A CN 113456240A CN 202110879041 A CN202110879041 A CN 202110879041A CN 113456240 A CN113456240 A CN 113456240A
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- steel wire
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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
- A61B34/71—Manipulators operated by drive cable mechanisms
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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
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
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- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
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- General Health & Medical Sciences (AREA)
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- Manipulator (AREA)
Abstract
The invention discloses a main manipulator clamping structure, which comprises: a supporting seat; the clamping piece is opened and closed relative to the supporting seat; the transmission assembly comprises a steel wire rope and a collector, the clamping piece synchronously transmits the opening and closing movement of the clamping piece to the collector through the steel wire rope, and the collector obtains the opening and closing angle of the clamping piece according to the opening and closing movement. The whole transmission process of the invention is wire rope transmission, the synchronism is good, the transmission is gapless and does not occupy space, and simultaneously, the scheme of clamping narrow space layout is led to a larger space range of the transmission wire wheel, the space of layout operation and assembly convenience is increased, and the volume and the mass of the whole structure are reduced.
Description
Technical Field
The invention relates to the field of surgical robots, in particular to a main manipulator clamping structure.
Background
With the development of robotics and medical technology, the application of the robot-assisted system in minimally invasive surgery is more extensive. Most of the robot auxiliary systems are master-slave type remote control operation structures, doctors operate the master operation hand to control the motion of the slave surgical instrument through remote communication and computer control, and therefore operations are carried out.
The main operator plays an extremely important role as the input end of the whole system. The opening and closing mechanism and the rotating mechanism thereof are used as important components of a main operating hand, and the operations of cutting, suturing, knotting and the like in the operation process are completed by controlling the motion of a driven surgical instrument through the operations of opening, closing, rotating and the like of a human hand.
In the prior art, a clamping structure is in a form that two gears which are meshed drive a shifting piece, a Hall sensor is arranged on the shifting piece, when the position of the shifting piece reaches the position of a sensor reading head, the sensor can sense the position of the Hall sensor, the clamping action is in place, and when force is released, the shifting piece is reset to the open state of the clamping structure through a spring.
Another form of the clamping structure is a parallelogram link structure, and the rotation of two clamping pieces is converted into the linear motion of a telescopic link at the vertex of a quadrangle. When the clamping piece is pressed downwards to be in place, the tail end of the telescopic connecting rod reaches the sensing area of the Hall sensor, and the clamping action is indicated to be in place; when the force is released, the clamping piece is reset to an open state through the spring, and the tail end of the telescopic connecting rod is also reset at the same time, so that the open-close state of the clamping piece is detected. However, this structure has several disadvantages: 1. because a gap exists between the transmission rod pieces of the quadrilateral connecting rods, the master-slave precision cannot be ensured; 2. the same Hall sensor can only detect two opening and closing states, cannot have the defects of other position states of the clamping structure, is not accurately controlled, and cannot determine the tightness and the state of clamping in the using process; 3. the quadrilateral linkage structure occupies a relatively large space, resulting in a relatively large volume and weight of the entire clamping structure and no space for placing the encoder.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the defects, the invention provides a main manipulator clamping structure which is driven by a steel wire rope and has force feedback.
The technical scheme is as follows:
a main manipulator gripping structure comprising:
a supporting seat;
the clamping piece is opened and closed relative to the supporting seat;
the transmission assembly comprises a steel wire rope and a collector, the clamping piece synchronously transmits the opening and closing movement of the clamping piece to the collector through the steel wire rope, and the collector obtains the opening and closing angle of the clamping piece accordingly.
The collector is a motor and is arranged on the supporting seat, and a motor shaft of the collector is in fit connection with the clamping piece through a steel wire rope; and the motor is provided with an encoder for acquiring the rotation angle of the motor shaft.
The number of the clamping pieces is 2, and the clamping pieces are oppositely arranged on two sides of the supporting seat; the near ends of the clamping pieces are provided with steel wire wheels with the same outer diameter, and the steel wire wheels are rotatably arranged at the near ends of the supporting seats; one end of the steel wire rope is wound on the motor shaft, the other end of the steel wire rope is sequentially wound on the steel wire wheels of the two clamping pieces, and the winding directions of the steel wire rope on the two steel wire wheels are opposite.
A transmission steel wire wheel is rotatably arranged at the near end of the supporting seat; one end of the steel wire rope is wound on the motor shaft, and the other end of the steel wire rope is wound on the transmission steel wire wheel and the steel wire wheels of the two clamping pieces in sequence and then is wound on and fixed on the transmission steel wire wheel.
Threads for winding the steel wire rope are arranged on the transmission steel wire wheel and the steel wire wheel of the clamping piece; and similarly, the motor shaft is also provided with a thread for winding the steel wire rope.
A magnetic ring is arranged on the transmission steel wire wheel, and an encoder reading head is arranged at the position, corresponding to the magnetic ring, on the supporting seat; and the reading head of the encoder reads the rotation angle of the magnetic ring, so that the rotation angle of the transmission steel wire wheel is obtained.
And a torsion spring for resetting the transmission steel wire wheel is also arranged on the transmission steel wire wheel.
And a steel wire guide wheel used for tensioning the steel wire rope is rotatably arranged between the motor shaft and the transmission steel wire wheel.
The number of the steel wire guide wheels is at least one, and the steel wire guide wheels are respectively arranged at different positions and used for meeting the requirement of tensioning the steel wire rope under different conditions.
A return spring is arranged between the two clamping pieces for providing an outward opening force of the two clamping pieces.
The clamping piece and the steel wire wheel are designed into a whole.
The supporting seat is a hollow shell, and the left side and the right side of the supporting seat are provided with openings for installing a clamping piece.
And at least one side surface of the upper side surface and the lower side surface of the hollow shell is provided with a toggle switch for disconnecting or opening the connection of the master hand and the slave hand.
The outer end face of the clamping piece is provided with a finger sleeve for passing through the finger of a doctor to operate.
Compared with the prior art, the invention has the following beneficial effects:
1. the whole transmission process of the invention is steel wire rope transmission, and the wire winding mode of the steel wire rope is 8-shaped wire winding, so that the invention has good synchronism, no transmission clearance and no space occupation, and reduces the volume and the mass.
2. According to the invention, the opening and closing angle of the clamping piece is acquired through the encoder on the motor, and meanwhile, the corresponding position state of the clamping structure is acquired through the magnetic ring and the encoder reading head in the rotating direction of the clamping piece, so that the error of the opening and closing angle of the clamping piece acquired by the encoder on the motor is compensated, thereby forming high-precision closed-loop control and improving the accuracy of acquiring the transmission position.
3. The invention feeds back the resistance of human tissue induced during operation to a doctor by controlling the current of the motor in the clamping process to form a force feedback system, so that the use process is more visual.
4. The steel wire transmission drives the transmission steel wire wheel to move, and the transmission steel wire wheel is connected with the motor shaft, so that the scheme of clamping narrow space layout is led to a larger space range of the transmission steel wire wheel, and the space of layout operation and assembly convenience is increased.
Drawings
Fig. 1 is an overall view of a main manipulator.
Fig. 2 is an overall view of the clamping structure of the present invention.
Fig. 3 is an exploded view of a clamping structure component of the present invention.
FIG. 4 is a schematic diagram of a wire winding method.
FIG. 5 is a detail view of the paddle of the present invention.
Fig. 6 is an overall structural view of the wire wheel and the torsion spring according to the present invention.
Wherein, A is a clamping structure, 1 is a shell, 11 is a waist-shaped hole, and 12 is a toggle switch; 2, a clamping component, 21, a shifting piece, 22, a steel wire wheel and 23, a return spring; 3, a transmission component, 31, a steel wire rope, 32, a steel wire guide wheel, 33, a transmission steel wire wheel, 34, a torsion spring and 35, wherein the steel wire guide wheel is a steel wire rope; 4 is the motor, 5 is the encoder reading head.
Detailed Description
The invention is further elucidated with reference to the drawings and the embodiments.
FIG. 1 is an overall view of a main manipulator, as shown in FIG. 1, a main manipulator clamping structure A of the present invention is disposed at the extreme end of the main manipulator, and a slave surgical instrument, such as a needle holder, is in a proportional mapping relationship with the main manipulator clamping structure A, and a real-time synchronous motion between the main manipulator and the slave surgical instrument is realized through a controller; the two needle holding forceps sheets on the needle holding forceps respectively correspond to the two shifting sheets 21 of the clamping structure, and when the two shifting sheets 21 of the clamping structure do reciprocating opening and closing motion, the two needle holding forceps sheets on the needle holding forceps respectively correspondingly do reciprocating opening and closing motion around a fixed shaft according to a certain proportion.
As shown in fig. 2 and 3, the clamping structure a of the present invention includes a housing 1, a clamping component 2, a transmission component 3 and a force feedback component, wherein the left and right sides of the housing 1 are opened for installing the clamping component 2;
the clamping assembly 2 comprises two clamping pieces, namely shifting pieces 21, a steel wire wheel 22 and a return spring 23, wherein the two clamping pieces 21 are oppositely arranged at openings at two sides of the shell 1; as shown in fig. 5, the wire wheels 22 are integrally fixed at the proximal ends of the two plectrums 21, and the outer diameters of the wire wheels 22 are equal; the wheel shafts are arranged at the positions of two sides of the near end in the shell 1, the steel wire wheels 22 at the near ends of the two shifting pieces 21 are respectively and rotatably arranged on the wheel shafts at two sides of the near end in the shell 1, and the two shifting pieces can perform reciprocating opening and closing movement at two sides of the shell 1 through the design. The two ends of the return spring 5 are respectively fixed between the middle positions of the two shifting pieces 21, and the return spring 5 enables the two shifting pieces 21 to be in an opening state in a natural state, so that outward opening force of the two shifting pieces 21 is provided, and the two shifting pieces 21 can be automatically opened.
The transmission component 3 comprises a steel wire rope 31, a steel wire guide wheel 32 and a transmission steel wire wheel 33, a transmission wheel shaft is arranged at the middle position of the near end in the shell 1, the transmission steel wire wheel 33 is rotatably arranged on the transmission wheel shaft, and a magnetic ring 35 is fixed on one end face of the transmission steel wire wheel 33, as shown in fig. 6; the position of the shell 1 corresponding to the transmission wheel shaft is provided with an encoder reading head 5, and the encoder reading head 5 reads the rotation angle of the magnetic ring 18 on the end face of the transmission steel wire wheel 33 so as to obtain the rotation angle of the transmission steel wire wheel 33. A torsion spring 34 is also provided on the drive wire wheel 33 for providing a torque for resetting the drive wire wheel 33.
In the present invention, as shown in fig. 5, the shifting piece 21 and the wire wheel 22 may be designed as an integral structure or may be fixedly connected by screws. Through an integrated structural design, space can be saved and motor 4 can be placed for force feedback.
In the invention, finger sleeves are arranged on the outer side surfaces of the two poking sheets 21 and are used for operating through fingers of a doctor.
A motor 4 is arranged at the far end in the shell 1, and the motor shaft of the motor faces the transmission wire wheel 33; the motor 4 is provided with an encoder for acquiring the rotation angle of the motor shaft, calculating the rotation angle of the two shifting pieces 21 and further obtaining the positions of the two shifting pieces 21.
A guide wheel axle is arranged between the motor 4 and the transmission steel wire wheel 33 in the shell 1, and a steel wire guide wheel 32 is rotatably arranged on the guide wheel axle and used for tensioning the steel wire rope 31; one end of the steel wire 31 is fixed on the motor shaft, and is wound on the motor shaft for a plurality of circles, the other end of the steel wire 31 is firstly wound on the steel wire guide wheel 32 for a half circle, then is wound on the transmission steel wire wheel 33 and the steel wire wheels 22 of the two plectrums 21 for a circle, and is wound on the transmission steel wire wheel 33 for a circle and is fixed on the transmission steel wire wheel 33, wherein, the winding directions of the steel wire 31 on the steel wire wheels 22 of the two plectrums 21 are opposite, as shown in fig. 4.
In the invention, the transmission wire wheel 33 and the wire wheels 22 of the two shifting pieces 21 are respectively provided with a thread for winding the steel wire rope 31. Similarly, a screw thread for winding the wire rope 31 is also provided on the motor shaft.
In the present invention, the other end of the wire rope 31 is first wound on the wire guide wheel 32 by half a turn, and then sequentially wound on the transmission wire wheel 33 by one turn clockwise, wound on the wire wheel 22 positioned on the right side of the transmission wire wheel 33 by one turn clockwise, wound on the wire wheel 22 positioned on the left side of the transmission wire wheel 33 by one turn counterclockwise, and then wound on the transmission wire wheel 33 by one turn clockwise and fixed on the transmission wire wheel 33.
In the present invention, the position of the idler wheel axle is not on the line connecting the motor axle and the axle of the transmission steel wire wheel 33.
In the present invention, the idler wheel shaft can be designed in multiple numbers, respectively at different positions, for realizing the requirement of tensioning the steel wire rope 31 under different conditions.
In the invention, as shown in fig. 6, the transmission wire wheel 33 and the torsion springs 34 and 35 can be integrally designed, so that the two shifting pieces 21 can be reset while the space is saved; in the invention, the function of resetting the two shifting pieces is realized through the torsion spring 34, and meanwhile, the resetting spring 23 is arranged to further ensure the resetting of the two shifting pieces.
As shown in fig. 2 and 3, at least one of the upper and lower side surfaces of the housing 1 of the present invention is provided with a kidney-shaped hole 11, a toggle switch 12 is movably arranged in the kidney-shaped hole, the toggle switch 12 is connected with an IO control panel of a main manipulator, and the IO control panel is connected with a controller; the doctor is through stirring toggle switch 12 to send toggle signal to the controller through the IO control panel, and by the synchronous motion between the driven surgical instruments of controller control is opened or is broken off and the main operative hand.
In the present invention, the housing 1 may be designed as an upper case and a lower case that are fittingly installed by screws.
In the invention, a reset spring is arranged in the toggle switch 12, after a doctor releases the toggle switch 12, the toggle switch 12 resets under the action of the reset spring and is sent to the controller through the IO control panel, so that the synchronous motion between the driven surgical instrument and the main manipulator is recovered.
The sensor is arranged in the driven surgical instrument and used for sensing the resistance of human tissues during surgery and sending the resistance to the controller, the controller calculates the motor current corresponding to the feedback force according to the elastic force of the spring and sends the motor current to the driver connected with the motor, and the driver controls the motor to generate corresponding torque according to the motor current.
As shown in fig. 2 and 3, when the doctor squeezes the two shift pieces 21 with the fingers, the two shift pieces 21 respectively drive the corresponding wire wheel 22 to make mirror-image synchronous movements in opposite directions due to the winding of the wire rope 31, and further drive the transmission wire wheel 33 and the magnetic ring 35 thereon to rotate through the wire rope 31, and rotate the torsion spring 34; the encoder reading head 5 reads the rotation angle of the magnetic ring 35 in real time, and then the rotation angle of the transmission steel wire wheel 33 is obtained;
meanwhile, the transmission steel wire wheel 33 drives the motor shaft of the motor 4 to rotate through the steel wire rope 31, the rotating angle of the motor shaft of the motor 4 is collected in real time through an encoder on the motor 4, and the positions and the forces of the two shifting pieces 21 are fed back through the rotation and the angle of the motor shaft; because the force transmitted by the steel wire rope 31 has errors, the encoder reading head 5 of the transmission steel wire wheel 33 reads the rotation angle of the magnetic ring 35 on the transmission steel wire wheel 33 to compensate the errors of the motor shaft rotation angle acquired by the encoder, thereby forming a precise gapless position closed loop, two plectrums 21 are extruded by different speeds and forces, the two plectrums 21 are transmitted to the transmission steel wire wheel 33 through the corresponding steel wire wheel 22, then because the transmission steel wire wheel 33 is directly connected with the motor shaft of the motor 4, the force and speed difference can be detected by the current of the motor 4 and the encoder, a sensor is arranged in a driven surgical instrument and is used for sensing the resistance of human tissues during surgery, the controller calculates the motor current corresponding to the feedback force according to the spring elasticity and sends the motor current to a driver connected with the motor, and the driver controls the motor to generate the corresponding feedback force, thereby forming a force feedback system; when the two levers 21 are not pressed, the torsion spring 34 is automatically returned to the initial position by being pressed in the torsion direction, thereby completing one operation cycle.
Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the foregoing embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the technical spirit of the present invention, and these equivalent changes are all within the protection scope of the present invention.
Claims (14)
1. The utility model provides a main operation hand clamping structure which characterized in that: the method comprises the following steps:
a supporting seat;
the clamping piece is opened and closed relative to the supporting seat;
the transmission assembly comprises a steel wire rope and a collector, the clamping piece synchronously transmits the opening and closing movement of the clamping piece to the collector through the steel wire rope, and the collector obtains the opening and closing angle of the clamping piece accordingly.
2. The main manipulator hand-holding structure of claim 1, wherein: the collector is a motor and is arranged on the supporting seat, and a motor shaft of the collector is in fit connection with the clamping piece through a steel wire rope; and the motor is provided with an encoder for acquiring the rotation angle of the motor shaft.
3. The main manipulator hand-holding structure of claim 2, wherein: the number of the clamping pieces is 2, and the clamping pieces are oppositely arranged on two sides of the supporting seat; the near ends of the clamping pieces are provided with steel wire wheels with the same outer diameter, and the steel wire wheels are rotatably arranged at the near ends of the supporting seats; one end of the steel wire rope is wound on the motor shaft, the other end of the steel wire rope is sequentially wound on the steel wire wheels of the two clamping pieces, and the winding directions of the steel wire rope on the two steel wire wheels are opposite.
4. The main manipulator hand clamping structure of claim 3, wherein: a transmission steel wire wheel is rotatably arranged at the near end of the supporting seat; one end of the steel wire rope is wound on the motor shaft, and the other end of the steel wire rope is wound on the transmission steel wire wheel and the steel wire wheels of the two clamping pieces in sequence and then is wound on and fixed on the transmission steel wire wheel.
5. The main manipulator hand grip structure of claim 4, wherein: threads for winding the steel wire rope are arranged on the transmission steel wire wheel and the steel wire wheel of the clamping piece; and similarly, the motor shaft is also provided with a thread for winding the steel wire rope.
6. The main manipulator hand grip structure of claim 4, wherein: a magnetic ring is arranged on the transmission steel wire wheel, and an encoder reading head is arranged at the position, corresponding to the magnetic ring, on the supporting seat; and the reading head of the encoder reads the rotation angle of the magnetic ring, so that the rotation angle of the transmission steel wire wheel is obtained.
7. The main manipulator hand grip structure of claim 4, wherein: and a torsion spring for resetting the transmission steel wire wheel is also arranged on the transmission steel wire wheel.
8. The main manipulator hand grip structure of claim 4, wherein: and a steel wire guide wheel used for tensioning the steel wire rope is rotatably arranged between the motor shaft and the transmission steel wire wheel.
9. The main manipulator hand grip structure of claim 8, wherein: the number of the steel wire guide wheels is at least one, and the steel wire guide wheels are respectively arranged at different positions and used for meeting the requirement of tensioning the steel wire rope under different conditions.
10. The main manipulator hand clamping structure of claim 3, wherein: a return spring is arranged between the two clamping pieces for providing an outward opening force of the two clamping pieces.
11. The main manipulator hand clamping structure of claim 3, wherein: the clamping piece and the steel wire wheel are designed into a whole.
12. The main manipulator hand-holding structure of claim 1, wherein: the supporting seat is a hollow shell, and the left side and the right side of the supporting seat are provided with openings for installing a clamping piece.
13. The main manipulator hand grip structure of claim 12, wherein: and at least one side surface of the upper side surface and the lower side surface of the hollow shell is provided with a toggle switch for disconnecting or opening the connection of the master hand and the slave hand.
14. The main manipulator hand-holding structure of claim 1, wherein: the outer end face of the clamping piece is provided with a finger sleeve for passing through the finger of a doctor to operate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110879041.2A CN113456240B (en) | 2021-08-02 | 2021-08-02 | Main operating hand clamping structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110879041.2A CN113456240B (en) | 2021-08-02 | 2021-08-02 | Main operating hand clamping structure |
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| Publication Number | Publication Date |
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| CN113456240A true CN113456240A (en) | 2021-10-01 |
| CN113456240B CN113456240B (en) | 2022-09-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110879041.2A Active CN113456240B (en) | 2021-08-02 | 2021-08-02 | Main operating hand clamping structure |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114224501A (en) * | 2021-12-14 | 2022-03-25 | 重庆金山医疗机器人有限公司 | Clutch control device of master controller 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 |
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| CN110811843A (en) * | 2019-11-27 | 2020-02-21 | 山东大学 | Force feedback main manipulator for minimally invasive surgery |
| CN111067627A (en) * | 2019-12-31 | 2020-04-28 | 常州脉康仪医疗机器人有限公司 | Seven-degree-of-freedom master manipulator for surgical robot |
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| CN103251458A (en) * | 2013-05-09 | 2013-08-21 | 天津工业大学 | Wire transmission four-freedom-degree surgical instrument for minimally invasive surgery robot |
| CN104622575A (en) * | 2014-12-29 | 2015-05-20 | 天津大学 | Main operation hand for minimally invasive neurosurgery robot on basis of wire rope gearing |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114224501A (en) * | 2021-12-14 | 2022-03-25 | 重庆金山医疗机器人有限公司 | Clutch control device of master controller and surgical robot |
| CN114224501B (en) * | 2021-12-14 | 2023-10-03 | 重庆金山医疗机器人有限公司 | Clutch control device of master hand controller 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 |
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| Publication number | Publication date |
|---|---|
| CN113456240B (en) | 2022-09-23 |
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