CN114404048A - Master console of surgical robot - Google Patents

Master console of surgical robot Download PDF

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Publication number
CN114404048A
CN114404048A CN202210018156.7A CN202210018156A CN114404048A CN 114404048 A CN114404048 A CN 114404048A CN 202210018156 A CN202210018156 A CN 202210018156A CN 114404048 A CN114404048 A CN 114404048A
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CN
China
Prior art keywords
connecting rod
main control
base
console
fixedly connected
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CN202210018156.7A
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Chinese (zh)
Inventor
庞建
杨丽
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Suzhou Wesent Medical Robot Co Ltd
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Suzhou Wesent Medical Robot Co Ltd
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Priority to CN202210018156.7A priority Critical patent/CN114404048A/en
Publication of CN114404048A publication Critical patent/CN114404048A/en
Pending legal-status Critical Current

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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
    • 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
    • A61B34/70—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)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Biomedical Technology (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 invention discloses a main control console of a surgical robot system, which comprises a base with a moving mechanism, an immersive image system fixedly connected with the base, a main control manipulator and an armrest mechanism. The immersive image system is connected with the base through the supporting device. The main control manipulator is connected with the base through a supporting device. The supporting device comprises a main hand lifting mechanism capable of adjusting the height of the main control manipulator and a pitching adjusting mechanism capable of adjusting the pitching direction of the immersive imaging system; the master control manipulator is a multi-degree-of-freedom full-active master control manipulator. The armrest mechanism can be lifted and adjusted correspondingly according to the physiological characteristics of an operator. The master control console of the surgical robot system disclosed by the invention can be integrally adjusted according to the use habits of operators while meeting the requirement that doctors input surgical instructions to the surgical robot and receive audio and video information fed back by a patient side, so that the operation convenience is improved.

Description

Master console of surgical robot
Technical Field
The invention belongs to the technical field of surgical robots, and particularly relates to a master console of a surgical robot system.
Background
With the continuous development of high precision production technology, it has become a trend to use a robot system instead of a physician to operate equipment or perform surgery. Compared with the traditional surgery operation which is carried out by directly operating surgical instruments by doctors, the surgical robot system has great advantages, especially in the surgery operation which has limited operable space, blocked vision and large action interference in the hand activity space, the surgical robot system can make up the defects of hand movement and vision observation, and effectively improves the surgery efficiency.
When a doctor uses the surgical robot system, the surgical robot system makes up for various physiological deficiencies of human bodies, avoids physical strength consumption caused by standing and holding surgical instruments for a long time, and is beneficial to the doctor to keep the optimal operation state in the whole process.
The main control console is a part of the surgical robot system and comprises a base part positioned at the bottom of the equipment, an audio and video display part positioned at the upper part of the equipment, a main control manipulator positioned in the middle of the equipment, an armrest mechanism positioned at the front part of the equipment and a plurality of functional switches arranged on the equipment. The operation action instruction input device is mainly used for a doctor to input an operation action instruction to an operation robot system, the doctor is in butt joint with a main control console in the whole operation process, the control experience of the doctor is directly influenced by the reasonability of the design of the main control console, and the operation action instruction input device is a part of the vital importance in influencing the operability of the operation robot system.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a master console of a surgical robot system.
In order to achieve the purpose, the invention adopts the following technical scheme:
a main control console of a surgical robot system comprises a base with a moving mechanism, an immersive image system fixedly connected with the base, a main control manipulator and an armrest mechanism;
the immersive image system is connected with the base through the supporting device;
the main control manipulator is connected with the base through a supporting device; the supporting device comprises a main hand lifting mechanism capable of adjusting the height of the main control manipulator and a pitching adjusting mechanism capable of adjusting the pitching direction of the immersive imaging system;
the master control manipulator is a multi-degree-of-freedom full-active master control manipulator;
the armrest mechanism can be lifted and adjusted in height according to physiological characteristics of an operator.
Preferably, the master hand lifting mechanism comprises an upright post fixedly connected with the base, a movable seat capable of moving along the upright post and a master control manipulator mounting frame fixedly connected with the movable seat;
the moving seat is connected with the upright post through a guide rail mechanism;
the driving mechanism of the movable seat comprises a driving machine fixedly arranged on the upright post and a lead screw connected with the driving machine, and a lead screw nut on the lead screw is fixedly connected with the movable seat; when the screw rod driving device works, an output shaft of the driving machine rotates to drive the screw rod to rotate, and the screw rod nut drives the moving seat to move along the length direction of the screw rod in the process.
Preferably, the movable seat comprises two symmetrically arranged side connecting plates and a middle connecting plate fixedly connected with the two side connecting plates;
the main control manipulator mounting frame is fixedly connected with the side connecting plate.
Preferably, the cross section of the upright column is I-shaped, the driving machine is fixedly arranged in the middle of the I-shaped upright column, the screw rod is connected with the middle of the upright column through the screw rod supporting seat, and the output shaft of the driving machine is fixedly connected with the screw rod through the coupler;
the screw nut is fixedly connected with the L-shaped adapter plate, and the L-shaped adapter plate is fixedly connected with the movable base;
the guide rail mechanisms are respectively fixedly connected with the two sides of the upright post.
Preferably, the main control manipulator mounting frame comprises a connecting part fixedly connected with the side connecting plate and a mounting part for mounting a main control manipulator; the connecting part is vertical to the mounting part;
a plurality of triangular rib plates capable of improving the strength of the installation part are fixedly arranged between the connection part and the installation part.
Preferably, the pitch adjustment mechanism comprises a multi-link mechanism and a link driving mechanism for driving the link mechanism;
the multi-link mechanism comprises a first link, a second link, a third link and a fourth link; the connecting rod driving mechanism comprises an electric push rod;
in the movement process, the first connecting rod is a fixed rod, and the second connecting rod, the third connecting rod and the fourth connecting rod are movable rods;
the electric push rod is fixedly connected with the first connecting rod and the second connecting rod respectively, and when the electric push rod extends or contracts, the second connecting rod, the third connecting rod and the fourth connecting rod can be driven to move.
Preferably, the first connecting rod is fixedly connected with the base, and the immersive image system is fixedly connected with the third connecting rod.
Preferably, the length of the third connecting rod is smaller than that of the first connecting rod, that of the second connecting rod and that of the fourth connecting rod respectively; the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are sequentially connected through the rotating shaft.
Preferably, the main control hand comprises a base, a large arm rod piece, a small arm rod piece and a side arm rod piece; the base is connected with the main control manipulator mounting frame; the large arm rod piece is connected with the base through a rotating shaft, and the small arm rod piece is connected with the large arm rod piece through a rotating shaft; the side arm rod piece is connected with the driving disc through a rotating shaft, and the driving disc is connected with the base through a rotating shaft; the side arm rod piece and the small arm rod piece are connected through a rotating shaft; the driving disc is connected with a driver which can drive the driving disc to rotate around a rotating shaft between the driving disc and the base; the large arm rod piece is connected with a driver which can drive the large arm rod piece to rotate around a rotating shaft between the large arm rod piece and the base; the large arm rod piece is parallel to the small arm rod piece.
Preferably, the master control hand comprises an operating handle with a touch module.
Preferably, the immersive video system comprises an audio collector, an audio output device, a video collector and a video output device; the armrest mechanism comprises an armrest transverse support transversely arranged in front of the main control console, a plurality of functional switches are respectively arranged at two ends of the armrest transverse support, and a display panel is arranged in the middle of the armrest mechanism; an operation handrail for pushing and pulling the main control console in the moving process is fixedly arranged at the rear part of the main control console.
The master control console of the surgical robot system disclosed by the invention can be integrally adjusted according to the use habits of operators while meeting the requirement that doctors input surgical instructions to the surgical robot and receive audio and video information fed back by a patient side, so that the operation convenience is improved.
In addition, overall structure is compact, and the smooth and easy degree of operation is high, further promotes surgery operation in-process operator's the simple operation nature. Is beneficial to making more exquisite and smooth operation actions.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the master lift mechanism of the present invention;
FIG. 3 is a schematic structural view of the positional relationship between the upright post and the movable base of the present invention;
FIG. 4 is a schematic structural diagram of the positional relationship between the first, second, third and fourth connecting rods and the electric push rod according to the present invention;
FIG. 5 is a schematic structural diagram of a master control manipulator of the present invention;
FIG. 6 is a schematic diagram of the position of four fixed points of the parallelogram motion mechanism of the present invention;
FIG. 7 is a schematic structural view of the operating handle of the present invention;
FIG. 8 is a schematic structural view of the handle of the present invention;
FIG. 9 is a schematic structural view showing the positional relationship of the first, second and third joints according to the present invention;
FIG. 10 is a schematic diagram of the control switch in one embodiment of the present invention;
in the figure, 1 base, 2 immersion type video system, 21 loudspeaker, 22 microphone, 23 video device, 3 main control operator, 31 large arm rod piece, 32 small arm rod piece, 33 side arm rod piece, 34 drive disk, 35 base, 36 operation handle, 361 handle, 362 touch module, 363 gear, 364 reset spring, 365 shell, 37 main rotating shaft, 4 armrest mechanism, 41 transverse support, 42 function switch, 43 display panel, 5 main hand lifting mechanism, 51 upright post, 52 moving seat, 521 side connecting plate, 522 middle connecting plate, 53 main control operator mounting rack, 531 connecting part, 532 mounting part, 533 triangular rib plate, 54 guide rail mechanism, 55 driver, 56 lead screw, 57 lead screw nut, 58 coupler, 59L-shaped adapter plate, 6 pitching adjusting mechanism, 61 first connecting rod, 62 second connecting rod, 63 third connecting rod, 64 fourth connecting rod, 65 electric push rod, 7 foot controller, 8 operating handrails, 9 control switches, 91 toggle pieces, 921 arms, 922 bosses, 923 guide holes, 93 buckling bodies, 931 buckling holes, 94 return springs, 95 side walls of a handle base, 96 through holes, 97 platforms, 98 channels and H supporting devices.
Detailed Description
The following examples are given in conjunction with the accompanying drawings to further illustrate the embodiments. The present invention is not limited to the description of the following examples.
The embodiment of the invention discloses a main control console of a surgical robot system, which is a part of the surgical robot system, wherein the main control console, a video trolley and a patient trolley in the surgical robot system are matched with each other to finish a surgical operation. The master control console is located at the side where a doctor (equipment operator) is located, recognizes specific actions of pushing, swinging, grasping and the like of the hand of the doctor as corresponding operation action instructions, transmits acquired instruction information to a control module in the surgical robot system, issues surgical instrument action instructions to a patient trolley located at the side where a patient is located through the control module, and directly actuates surgical instruments by actuators in the patient trolley after receiving the surgical instrument action instructions.
When the patient-positioning device is used, the main control table, the video trolley and the patient trolley are properly arranged in the corresponding spaces respectively. Among these, the adjustment of the initial position of some devices, the covering of sterile enclosures may require one or more medical staff to cooperate, and it is particularly noted that: during the configuration process of the console, the configuration process includes, but is not limited to, physical position adjustment of the console, corresponding pairing of the movements of the hand-operated part and the corresponding instruments, function pairing of special function keys, and pre-cleaning operation with certain standards.
Example 1
As shown in fig. 1 to 4, the console of the surgical robot system includes a base with a moving mechanism, an immersive imaging system fixedly connected to the base, a master manipulator, and an armrest mechanism. The immersive image system is connected with the base through the supporting device. The main control manipulator is connected with the base through a supporting device. The supporting device comprises a main hand lifting mechanism capable of adjusting the height of the main control manipulator and a pitching adjusting mechanism capable of adjusting the pitching direction of the immersive imaging system. Referring to fig. 5, the master control manipulator is a multi-degree-of-freedom full-active master control manipulator. The armrest mechanism can be lifted and adjusted in height according to physiological characteristics of an operator.
In use, the immersive imaging system conveys audiovisual information captured by the instruments carried by the patient trolley on the patient side to the operator, and the audio input (microphone) in the immersive imaging system is likewise capable of conveying voice information directly to the assistant operator on the patient side. When the device is used, the height of the main control operator, the pitching direction of the immersive imaging system and the height of the armrest mechanism can be adjusted according to the physiological characteristics and the operation habits of the operator, so that the operation comfort of the operator is further improved.
As shown in fig. 2, preferably, the master lift mechanism includes a column fixedly connected to the base, a movable base capable of moving along the column, and a master manipulator mounting frame fixedly connected to the movable base. The movable seat is connected with the upright post through a guide rail mechanism.
As shown in fig. 2 and 3, the driving mechanism of the movable base includes a driving machine fixedly disposed on the upright column and a lead screw connected to the driving machine, and a lead screw nut on the lead screw is fixedly connected to the movable base. When the screw rod driving device works, an output shaft of the driving machine rotates to drive the screw rod to rotate, and the screw rod nut drives the moving seat to move along the length direction of the screw rod in the process.
As shown in fig. 3, preferably, the movable base includes two side connection plates symmetrically disposed and a middle connection plate fixedly connected to the two side connection plates. The main control manipulator mounting frame is fixedly connected with the side connecting plate. Referring to fig. 3, in this embodiment, the driving machine is fixed in the middle of the upright, the cross section of the upright is i-shaped, the movable base is buckled outside the upright, and the screw moving mechanism is just located in the gap between the movable base and the upright, so that the space occupation is reduced while the stability in the moving process is maintained.
Referring to fig. 1 to 3, preferably, in some embodiments of the present invention, the cross section of the upright is in a shape of a h, the driving machine is fixedly disposed in the middle of the h-shaped upright, the screw is connected to the middle of the upright through the screw support seat, and the output shaft of the driving machine is fixedly connected to the screw through the coupling. The screw nut is fixedly connected with the L-shaped adapter plate, and the L-shaped adapter plate is fixedly connected with the movable base. The guide rail mechanisms are respectively fixedly connected with the two sides of the upright post.
Referring to fig. 1 and 2, preferably, the main control manipulator mounting frame comprises a connecting part fixedly connected with the side connecting plate and a mounting part for mounting the main control manipulator. The connecting portion is perpendicular to the mounting portion. A plurality of triangular rib plates capable of improving the strength of the installation part are fixedly arranged between the connection part and the installation part.
Referring to fig. 1, preferably, the immersive video system includes an audio collector, an audio output device, a video collector, and a video output device; the armrest mechanism comprises an armrest transverse support transversely arranged in front of the main control console, a plurality of functional switches are respectively arranged at two ends of the armrest transverse support, and a display panel is arranged in the middle of the armrest mechanism; an operation handrail for pushing and pulling the main control console in the moving process is fixedly arranged at the rear part of the main control console.
Referring to fig. 4, preferably, the pitch adjustment mechanism includes a multi-link mechanism and a link driving mechanism for driving the link mechanism. The multi-link mechanism comprises a first link, a second link, a third link and a fourth link; the link driving mechanism includes an electric push rod. In the movement process, the first connecting rod is a fixed rod, and the second connecting rod, the third connecting rod and the fourth connecting rod are movable rods. The electric push rod is fixedly connected with the first connecting rod and the second connecting rod respectively, and when the electric push rod extends or contracts, the second connecting rod, the third connecting rod and the fourth connecting rod can be driven to move.
Preferably, the first connecting rod is fixedly connected with the base, and the immersive image system is fixedly connected with the third connecting rod.
Referring to fig. 4, preferably, the third link has a length less than the first link, the second link, and the fourth link, respectively. The first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are sequentially connected through the rotating shaft.
Example 2
As shown in fig. 5 and 6, referring to fig. 1 and 2, the present embodiment is optimized on the basis of embodiment 1:
in this embodiment, the main control handle of the main control console includes a base, a large arm member, a small arm member, and a side arm member.
The base is connected with the main control manipulator mounting frame. The large arm rod piece is connected with the base through a rotating shaft, and the large arm rod piece is connected with the small arm rod piece through a rotating shaft.
The side arm rod piece is connected with the driving disc through a rotating shaft, and the driving disc is connected with the base through a rotating shaft; the side arm rod piece and the small arm rod piece are connected through a rotating shaft; the driving disk is connected with a driver which can drive the driving disk to rotate by taking the rotating shaft between the bases as an axis; the large arm rod is connected with a driver which can drive the large arm rod to rotate by taking the rotating shaft between the bases as an axis. The large arm rod piece is parallel to the small arm rod piece.
Referring to fig. 7 and 8, preferably, the master control manipulator includes an operating handle with a touch module.
In the movement process of the main control manipulator, the large arm rod piece, the small arm rod piece, the side arm rod piece and the driving disc form a parallelogram movement mechanism, and four vertexes of the parallelogram movement mechanism are respectively positioned on a central axis of a rotating shaft between the large arm rod piece and the base, a central axis of a rotating shaft between the driving disc and the small arm rod piece, a central axis of a rotating shaft between the large arm rod piece and the small arm rod piece and a central axis of a rotating shaft between the side arm rod piece and the small arm rod piece. The far end of the small arm rod piece is rotatably connected with the clamping functional joint module; the tail end of the clamping function joint module is rotatably connected with an operating handle.
Preferably, the driving disc is connected with the first driver, and when the output shaft of the first driver rotates, the driving disc rotates along with the output shaft, and the driving disc can drive the proximal end of the side arm rod piece to move. The proximal end of the large arm rod is connected with the second driver, and when the output shaft of the second driver rotates, the proximal end of the large arm rod rotates along with the second driver. Wherein the first and second drivers are not shown in the drawing.
Referring to fig. 5, and in particular to a partial comparison schematic a and its associated parts: the far end of the large arm rod piece is connected with one side of the small arm rod piece through a rotating shaft, and the far end of the side arm rod piece is connected with the opposite side of the small arm rod piece through a rotating shaft. The rotating shaft of the large arm rod piece is not overlapped with the rotating shaft of the side arm rod piece, and the rotating shaft of the side arm rod piece is closer to the far end of the small arm rod piece relative to the rotating shaft of the large arm rod piece.
Referring to fig. 5, and in particular to a partial comparison schematic B and its associated parts: preferably, the side arm lever is connected to the drive disc via a pivot located at a point on a radius of a circle formed around the center of rotation of the output shaft of the first driver, the point being spaced from the center of rotation by a distance (r) greater than zero.
As shown in fig. 6, four vertices of the parallelogram motion mechanism are respectively a point a, b point, c point, and d point. The vertex on the central axis of the rotating shaft between the large arm rod piece and the small arm rod piece is a point a, the vertex on the central axis of the rotating shaft between the large arm rod piece and the base is a point b, the vertex on the central axis of the rotating shaft between the driving disc and the small arm rod piece is a point c, and the vertex on the central axis of the rotating shaft between the side arm rod piece and the small arm rod piece is a point d. Position relative to the base during the series of movements of the master manipulator: the point b is a fixed point, and the points c, d and a are movable points.
The following exemplifies a set of operational actions: the graph a, b, c and d are four vertexes of a parallelogram, an ad line is an actual small arm rod piece, the structure has the movement characteristic that a driving joint is arranged at the rear position, the point a is a small arm driving joint generally, the embodiment of the invention backs the driving of the point a to the shaft where the point b is located through the graph parallelogram structure, the structure has the advantages that when the rotating shaft where the point b is located is kept still, the angle between the small arm rod piece and the ground is kept unchanged, the included angle between the small arm rod piece and the ground is not influenced by the movement of the large arm rod piece, the other advantage is that the driving force of the point a is arranged at the rear position of the point b, and the load of a front end (far end) structure can be effectively reduced, so that the load of a motor is reduced, and the rotational inertia is effectively reduced.
Example 3
As shown in fig. 9, the present embodiment is further optimized on the basis of embodiment 2 with reference to other drawings:
as shown in fig. 9, in the drawing, f is the central axis of the first joint rotation shaft, g is the central axis of the second joint rotation shaft, and e is the central axis of the third joint rotation shaft: the clamping function joint module comprises a first joint, a second joint and a third joint, wherein the central axis of a rotating shaft of the second joint is perpendicular to the central axis of a rotating shaft of the first joint, and the central axis of a rotating shaft of the third joint is perpendicular to the central axis of a rotating shaft of the second joint.
Referring to fig. 9, the clamping function joint module is connected with the small arm rod piece through a rotating shaft, and the central axis of the rotating shaft of the first joint is perpendicular to the central axis of the rotating shaft.
The central axis of the rotation axis of the first joint, the central axis of the rotation axis of the second joint, and the central axis of the rotation axis of the third joint have a common intersection point. The first joint, the second joint and the third joint can rotate by taking a central axis of a rotating shaft of the first joint, the second joint and the third joint as an axis respectively. The clamping function joint module can rotate by taking the central axis of the connecting rotating shaft of the clamping function joint module and the small arm rod piece as a shaft.
Referring to the attached drawings 1, 2 and 3, a main rotating shaft is arranged at the top of the base, and a driving machine for driving a main control manipulator to rotate by taking the main rotating shaft as a shaft is fixedly arranged inside the base.
When the surgical robot is used, the main control manipulator is fixed with the main control manipulator mounting frame in the main control console of the surgical robot, and the driver drives the main control manipulator to rotate by taking the central axis of the main rotating shaft as an axis.
In this embodiment, the main control manipulator is fixedly connected with the surgical robot in a hoisting manner, and forms a main control manipulator of the surgical robot system for a physician to input instructions. In some embodiments of the invention, the drive machine is a servo motor.
Example 4
As shown in fig. 7, 8, with reference to the other figures: operating handle includes shell and two handles, the one end of two handles certainly inside the via hole of shell stretches into the shell, the one end that is located the shell of two handles is fixed respectively and is provided with the gear, and the gear of two handles meshes mutually, and the fixed touch sensor module that is provided with respectively on two handles. The joint in the clamping function joint module is an active joint. The first joint, the second joint and the third joint are respectively and fixedly provided with a driving machine which can drive the first joint, the second joint and the third joint to rotate by taking the central axis of the rotating shaft as the axis.
The connecting rotating shaft between the clamping function joint module and the small arm rod piece is connected with a driving machine which is used for driving the clamping function joint module to rotate by taking the central axis of the rotating shaft as a shaft.
A return spring is fixedly arranged in the shell, and two ends of the return spring are respectively and fixedly connected with the two handles; when the finger sleeve is used, when fingers stretch into the finger sleeve and pinch the two handles, the two handles perform a pinching action of closing the middle part, the return spring is compressed, and after the pinching action is finished, the return spring provides a return force opposite to the pinching action for the two handles.
When the handle is used, a sensor for identifying the included angle or the distance between the two handles is fixedly arranged in the shell of the operating handle.
The touch sensor has a certain area for the finger pulp to touch and stroke on, and in some embodiments of the invention, the touch sensor is arranged for sensing a certain action in-place state of the hand to prevent mistaken touch.
Additionally, in some embodiments of the invention, after the touch sensor trim mode is turned on: the specific fine sliding motion of the finger on the touch sensor or the series of motions of sliding contact or sliding contact greater than a certain displacement + knocking + double touch sensors is recognized as a fine adjustment motion command of a front end execution appliance by a control module in the surgical robot, and the motion command is sent to a front end executor, such as closing, clamping and the like of a certain displacement.
In the above embodiments, the master control manipulator has a proximal end close to the base and a distal end relatively far from the base.
Referring to fig. 7, preferably, two control switches are symmetrically arranged on a shell of the operating handle, the two control switches and the two handles are circumferentially and uniformly distributed on the shell, and when the operating handle is grasped by a hand, the two control switches and the two handles are arranged at positions convenient for triggering by fingers.
Referring to fig. 7 and 10, preferably, in some embodiments of the present invention, the control switch includes a toggle member, a catch member, a latch body, and a return spring. The shifting member and the fastening member are respectively located on two sides of a side wall of the housing (as a person skilled in the art will clearly understand, the two sides of the side wall of the housing referred to herein are inner and outer sides of the housing), the side wall of the housing is provided with a through hole having a certain size, one end of the clamping member is fixedly connected with the shifting member, and the other end of the clamping member passes through the through hole and is fastened and fixed with the fastening member. One end of the reset spring is fixed with the shell, and the other end of the reset spring is abutted to the clamping piece. The poking piece and the buckling body cannot pass through the through hole respectively, when the poking piece is poked along the length direction of the through hole, the clamping piece can move along the length direction of the through hole, the reset spring is further compressed or extended in the process, and when the poking is stopped, the reset spring provides reset elasticity which can drive the poking piece to return to the initial position. The clamping piece comprises two symmetrically arranged arms, the arms extend outwards from the poking piece, and the tail ends of the arms are fixedly provided with bosses. The buckling body is provided with a buckling hole, the width of the buckling hole is smaller than the distance between the two bosses, the two arms are shifted towards the middle direction of the two bosses, the arms are elastically deformed, one end of the clamping piece with the bosses can be stretched out from the buckling hole at the moment, shifting is stopped, the arms reset, and the bosses are limited on one side of the buckling body and cannot pass through the buckling hole at the moment. One of the two arms is provided with a guide hole capable of allowing one end of a return spring to pass through, the one end of the return spring passing through the one arm and abutting on the opposite arm. The buckling body is provided with a channel, the channel extends to the buckling hole from the outer side edge of the buckling body and is communicated with the buckling hole, and one end of the reset spring extends into the buckling hole from the channel and is connected with the clamping piece. The lateral wall of shell is provided with the platform that can supply reset spring butt, and when the piece was in initial position was dialled, reset spring was in compression state.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.

Claims (11)

1. A master console of a surgical robotic system, comprising: comprises a base with a moving mechanism, an immersive image system fixedly connected with the base, a main control manipulator and an armrest mechanism;
the immersive image system is connected with the base through the supporting device;
the main control manipulator is connected with the base through a supporting device;
the supporting device comprises a main hand lifting mechanism capable of adjusting the height of the main control manipulator and a pitching adjusting mechanism capable of adjusting the pitching direction of the immersive imaging system;
the master control manipulator is a multi-degree-of-freedom full-active master control manipulator;
the armrest mechanism can be lifted and adjusted in height according to physiological characteristics of an operator.
2. A console of a surgical robotic system as claimed in claim 1, wherein: the main hand lifting mechanism comprises an upright post fixedly connected with a base, a movable seat capable of moving along the upright post and a main control manipulator mounting frame fixedly connected with the movable seat;
the moving seat is connected with the upright post through a guide rail mechanism;
the driving mechanism of the movable seat comprises a driving machine fixedly arranged on the upright post and a lead screw connected with the driving machine, and a lead screw nut on the lead screw is fixedly connected with the movable seat; when the screw rod driving device works, an output shaft of the driving machine rotates to drive the screw rod to rotate, and the screw rod nut drives the moving seat to move along the length direction of the screw rod in the process.
3. A console of a surgical robotic system according to claim 2, wherein: the movable seat comprises two side connecting plates which are symmetrically arranged and a middle connecting plate which is fixedly connected with the two side connecting plates;
the main control manipulator mounting frame is fixedly connected with the side connecting plate.
4. A console of a surgical robotic system according to claim 2, wherein: the cross section of the upright post is I-shaped, the driving machine is fixedly arranged in the middle of the I-shaped upright post, the screw rod is connected with the middle of the upright post through the screw rod supporting seat, and the output shaft of the driving machine is fixedly connected with the screw rod through the coupler;
the screw nut is fixedly connected with the L-shaped adapter plate, and the L-shaped adapter plate is fixedly connected with the movable base;
the guide rail mechanisms are respectively fixedly connected with the two sides of the upright post.
5. A console of a surgical robotic system as claimed in claim 3, wherein: the main control manipulator mounting frame comprises a connecting part fixedly connected with the side connecting plate and a mounting part for mounting a main control manipulator; the connecting part is vertical to the mounting part;
a plurality of triangular rib plates capable of improving the strength of the installation part are fixedly arranged between the connection part and the installation part.
6. A console of a surgical robotic system as claimed in claim 1, wherein: the pitching adjusting mechanism comprises a multi-link mechanism and a link driving mechanism for driving the link mechanism;
the multi-link mechanism comprises a first link, a second link, a third link and a fourth link; the connecting rod driving mechanism comprises an electric push rod;
in the movement process, the first connecting rod is a fixed rod, and the second connecting rod, the third connecting rod and the fourth connecting rod are movable rods;
the electric push rod is fixedly connected with the first connecting rod and the second connecting rod respectively, and when the electric push rod extends or contracts, the second connecting rod, the third connecting rod and the fourth connecting rod can be driven to move.
7. A console of a surgical robotic system as claimed in claim 6, wherein: the first connecting rod is fixedly connected with the base, and the immersive image system is fixedly connected with the third connecting rod.
8. A console of a surgical robotic system as claimed in claim 6, wherein: the length of the third connecting rod is respectively smaller than that of the first connecting rod, that of the second connecting rod and that of the fourth connecting rod;
the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are sequentially connected through the rotating shaft.
9. A console of a surgical robotic system as claimed in claim 1, wherein: the main control hand comprises a base, a large arm rod piece, a small arm rod piece and a side arm rod piece;
the base is connected with the main control manipulator mounting frame;
the large arm rod piece is connected with the base through a rotating shaft, and the small arm rod piece is connected with the large arm rod piece through a rotating shaft;
the side arm rod piece is connected with the driving disc through a rotating shaft, and the driving disc is connected with the base through a rotating shaft; the side arm rod piece and the small arm rod piece are connected through a rotating shaft; the driving disc is connected with a driver which can drive the driving disc to rotate around a rotating shaft between the driving disc and the base; the large arm rod piece is connected with a driver which can drive the large arm rod piece to rotate around a rotating shaft between the large arm rod piece and the base;
the large arm rod piece is parallel to the small arm rod piece.
10. A console of a surgical robotic system as claimed in claim 9, wherein: the master control hand comprises an operating handle with a touch module.
11. A console of a surgical robotic system as claimed in claim 1, wherein: the immersive image system comprises an audio collector, an audio output device, a video collector and a video output device; the armrest mechanism comprises an armrest transverse support transversely arranged in front of the main control console, a plurality of functional switches are respectively arranged at two ends of the armrest transverse support, and a display panel is arranged in the middle of the armrest mechanism; an operation handrail for pushing and pulling the main control console in the moving process is fixedly arranged at the rear part of the main control console.
CN202210018156.7A 2022-01-07 2022-01-07 Master console of surgical robot Pending CN114404048A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210018156.7A CN114404048A (en) 2022-01-07 2022-01-07 Master console of surgical robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210018156.7A CN114404048A (en) 2022-01-07 2022-01-07 Master console of surgical robot

Publications (1)

Publication Number Publication Date
CN114404048A true CN114404048A (en) 2022-04-29

Family

ID=81272039

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210018156.7A Pending CN114404048A (en) 2022-01-07 2022-01-07 Master console of surgical robot

Country Status (1)

Country Link
CN (1) CN114404048A (en)

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