CN115252147A - Force feedback main manipulator for puncture surgery and puncture surgery robot system - Google Patents
Force feedback main manipulator for puncture surgery and puncture surgery robot system Download PDFInfo
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- CN115252147A CN115252147A CN202211025629.2A CN202211025629A CN115252147A CN 115252147 A CN115252147 A CN 115252147A CN 202211025629 A CN202211025629 A CN 202211025629A CN 115252147 A CN115252147 A CN 115252147A
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- connecting rod
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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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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
Abstract
The invention relates to a force feedback main manipulator for a puncture operation and a puncture operation robot system, which comprise a base, an operating device, a posture adjusting device and a force feedback device, wherein the base is provided with an installation end surface; the operating device comprises a connecting rod and a handle, one end of the connecting rod is movably connected to the base, the handle is connected to the connecting rod in a sliding mode, and the operating device further comprises a screw rod and nut mechanism; the posture adjusting device comprises a mechanism for converting the swing of the operating device into regular motion in two directions, the swing of the operating device is detected and controlled, the posture adjusting device and the force feedback device can help a doctor to transmit corresponding adjusting action of a handle from an operating hand in real time and feed back contact force with an object when the operating hand carries out corresponding adjusting action, so that the doctor is provided with a more real feeling of simulating a puncture operation when actually holding a needle, the success rate of the operation is improved, and the life safety of a patient is guaranteed.
Description
Technical Field
The invention relates to the technical field of puncture surgery equipment, in particular to a force feedback main manipulator and a puncture surgery robot system for puncture surgery.
Background
In recent years, the X-ray Computed Tomography (CT) imaging technology has made tremendous progress, both in basic technology and in new clinical applications. The various components of CT, such as light pipes, detectors, slip rings, data acquisition systems and algorithms have made great progress. Since the advent of spiral CT and multi-slice CT, many new clinical applications have appeared, and the method has the advantages of fast scanning time, clear images and the like, and can be used for the examination of various diseases. The development of CT technology over thirty years has again become one of the most exciting diagnostic methods in the field of medical imaging; CT is no longer available today as a simple image examination. Under the promotion of various diversified modes such as continuous breaking of the boundary of each department and interdependence and joint exploration of modern medical science, the CT is matched with each clinical department to realize various examinations and treatments and obtain remarkable medical effects.
CT guided percutaneous puncture is a technique which is more clinically applied at present. The puncture method is a technology that a puncture needle accurately penetrates into a focus in a body and obtains lesion tissues under the accurate guidance of CT scanning, and the puncture method under the guidance of a CT image can judge the puncture direction in real time and make adjustment in time on the premise of CT imaging (human tissues and the puncture needle), thereby greatly improving the success rate of the operation, reducing the risk of the operation, and improving the recovery speed and the life quality of a patient. However, the CT equipment adopts X rays or gamma rays and the like to complete work, and the operation is completed on the CT side, so that a doctor can be exposed in a radiation environment for a long time, and great threat is caused to the health of the body; the auxiliary puncture system of the master-slave robot can remotely operate the mechanical arm of the slave manipulator outside the CT room through the master manipulator to complete the puncture process, and in order to simulate the puncture process when a doctor holds a needle as much as possible, a linear moving device (generally more than 100 mm) meeting the puncture depth needs to be arranged at the master manipulator end.
The main operating hand is used as a system component for directly operating the mechanical arm to complete the puncture operation, and naturally plays a very important role, and the clinical research results show that the closer the use process of the main operating hand in the teleoperation robot auxiliary puncture operation system is to the size of a puncture needle, the closer the puncture process is to the actual puncture situation when the needle is actually held, the higher the success rate of the puncture operation is, in the prior art, the main operating hand cannot directly simulate the needle holding and puncturing process of a doctor in the conventional puncture operation in the use process, so that the success rate of the operation is influenced, and the life safety of a patient is seriously or even endangered.
Disclosure of Invention
In view of the above, there is a need to provide a force feedback main manipulator for puncture surgery, so as to solve the technical problem that the main manipulator cannot effectively simulate the actual puncture situation when holding a needle.
In order to solve the technical problem, the invention provides a force feedback main manipulator for a puncture surgery, which comprises a base, a posture adjusting device, an operating device and a force feedback device, wherein the base is provided with a base seat;
the base is provided with a mounting end surface;
the operating device comprises a connecting rod and a handle, one end of the connecting rod is movably connected to the base, the handle is connected to the connecting rod in a sliding mode, and the operating device further comprises a screw rod and nut mechanism;
the gesture adjusting device is used for converting the swing of the operating device into regular motion in two directions to realize the detection and control of the swing of the operating device;
the force feedback device comprises a depth feedback assembly, the depth feedback assembly is used for force feedback and needle insertion control of depth adjustment of the handle, and the depth feedback assembly comprises a third feedback motor.
Preferably, the posture adjusting device comprises a parallel motion mechanism, the parallel motion mechanism comprises a first transmission strip and a second transmission strip, the first transmission strip is rotatably mounted on the base along a first direction, the second transmission strip is rotatably mounted on the base along a second direction, and rotation axes of the first direction and the second direction are located on the same plane and are perpendicular to each other.
Preferably, the parallel motion mechanism further comprises a first pulley and a second pulley, the first transmission strip is rotatably mounted on the base along a first direction through the first pulley, the second transmission strip is rotatably mounted on the base along a second direction through the second pulley, the first transmission strip is connected with the first pulley and the connecting rod, and the second transmission strip is connected with the second pulley and the connecting rod.
Preferably, the first transmission strip and the second transmission strip are both in a semi-annular structure, a first guide hole formed in the first transmission strip along the annular direction of the first transmission strip is formed in the first transmission strip, and the connecting rod penetrates through the first guide hole and is connected with the base; and a second guide hole formed in the second transmission strip along the annular direction of the second transmission strip, and the connecting rod penetrates through the second guide hole and is connected with the base.
Preferably, the feed screw nut mechanism includes lead screw and nut, the lead screw is rotatable install in inside the connecting rod, the axis of rotation of lead screw with the axis coincidence of connecting rod, the mobilizable threaded connection of nut in the lead screw, the handle with nut fixed connection, work as the handle drives the nut is followed when the axis of connecting rod slides, the lead screw rotates, degree of depth feedback subassembly passes through the rotation realization force feedback of lead screw.
Preferably, one end of the screw rod is coaxially and fixedly installed on an output shaft of the third feedback motor, the third feedback motor transmits the puncture action of the handle to the slave manipulator through the change of a self rotating angle, and the self rotating speed is adjusted according to the contact force applied to the slave manipulator, so that the force feedback is realized.
Preferably, the handle is annular and slidably sleeved on the outer side of the connecting rod, a limiting protrusion is formed on the inner side of the handle along the axis direction of the connecting rod, a limiting groove formed along the axis direction of the connecting rod is formed on the side wall of the connecting rod, and the limiting protrusion is movably arranged in the limiting groove.
Preferably, one end of the connecting rod is connected to the base through a spherical pair.
Preferably, one end of the connecting rod is provided with a hinge portion, a spherical groove is formed on the mounting end surface, a spherical hinge structure is formed between the hinge portion and the spherical groove to form the spherical pair, and the opening diameter of the spherical groove is smaller than the diameter of the hinge portion.
The application also provides a puncture surgery robot system, which comprises a slave manipulator, a communication device and the force feedback master manipulator for puncture surgery, wherein the slave manipulator is used for realizing the transmission of force or moment through the communication device and the force feedback device.
According to the force feedback main operating hand for the puncture operation, when a doctor uses the hand feedback main operating hand, the doctor holds the handle by hand, and when the doctor pushes the handle, the handle drives the connecting rod to rotate by taking the hinged part as a rotating center, so that posture adjustment is realized, and the angle and position adjustment action during actual needle holding can be effectively simulated; when a doctor slides and presses the handle on the connecting rod, depth adjustment is realized, and the puncture action during actual needle holding can be effectively simulated; the posture adjusting device and the force feedback device can help a doctor to transmit corresponding adjusting actions of the handle to the slave manipulator in real time and feed back contact force with an object when the slave manipulator carries out corresponding adjusting actions, so that the doctor is provided with a more real feeling of simulating a puncture operation when actually holding a needle, the success rate of the operation is improved, and the life safety of a patient is ensured.
By adopting the puncture surgery robot system provided by the invention, the surgery process of the traditional Chinese doctor in the conventional puncture surgery when actually holding the needle can be simulated, so that the use experience of a doctor is improved, the success rate of the surgery is improved, and the life safety of a patient is ensured.
The foregoing is a summary of the present invention, and in order to provide a clear understanding of the technical means of the present invention and to be implemented in accordance with the present specification, the following is a detailed description of the preferred embodiments of the present invention.
Drawings
FIG. 1 is a schematic structural diagram of a force feedback main operator for puncture surgery according to an embodiment of the present invention;
FIG. 2 is a schematic view of a hidden base according to an embodiment of the present invention;
FIG. 3 is a schematic view of a depth drive assembly and a depth feedback assembly in accordance with an embodiment of the present invention;
FIG. 4 is a schematic bottom view of the present invention;
fig. 5 is a schematic structural view of a robotic system for puncture surgery according to an embodiment of the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Example one
As shown in fig. 1, the present embodiment discloses a force feedback main manipulator 100 for puncture surgery, which comprises a base 1, an operation device 2, a posture adjusting device 3 and a force feedback device 4.
The base 1 is used for supporting and supporting the whole main manipulator 100, and has a mounting end surface 11, and preferably, the mounting end surface 11 is located at the upper end of the base 1.
As shown in fig. 2, the operating device 2 includes a link 21, a hinge 22, and a handle 23, the hinge 22 is located at one end of the link 21, one end of the link 21 away from the hinge 22 is located away from the mounting end surface 11, and the link 21 can rotate on the mounting end surface 11 with the hinge 22 as a rotation center; in the present embodiment, the hinge portion 22 is located at the lower end of the link 21; the connecting rod 21 is hinged to the mounting end surface 11 through the hinge portion 22, in some embodiments, the hinge portion 22 may be a universal swivel joint, in other embodiments, the hinge portion may also be a spherical hinge portion, in this embodiment, the hinge portion is preferably the latter, that is, the hinge portion 22 is spherical, a spherical groove 11a is formed on the mounting end surface 11, a spherical hinge structure is formed between the hinge portion 22 and the spherical groove 11a, wherein, in order to prevent the hinge portion 22 from being disengaged from the spherical groove 11a, the opening diameter of the spherical groove 11a is smaller than the diameter of the hinge portion 22.
The handle 23 is attached to the link 21 so as to be slidable in the axial direction of the link 21.
In the embodiment of this application, handle 23 includes sliding sleeve 231, sliding sleeve 231 slidable cover is located the outside of connecting rod 21, in the preferred embodiment of this application, sliding sleeve 231's inboard is followed the both ends of the axis direction of connecting rod 21 are formed with spacing arch 232, the lateral wall of connecting rod 21 is formed with the spacing groove 21a of seting up along its axis direction, spacing arch 232 mobilizable set up in the spacing groove 21a, the setting of spacing groove 21a both can realize the gliding direction of handle 23, can effectively restrict the gliding distance of handle 23 again.
The handle 23 can rotate along the hinge part 22 under the action of external force to realize posture adjustment or slide along the connecting rod 21 to realize depth adjustment, and particularly, when the handle 23 can rotate along the hinge part 22 under the action of external force, the adjustment action of the angle and the position during actual needle holding can be effectively simulated; when the handle 23 can slide along the connecting rod 21 under the action of external force, the puncture action during actual needle holding can be effectively simulated.
The posture adjusting device 3 comprises a posture transmission component 31 and a depth transmission component 32, wherein the posture transmission component 31 and the depth transmission component 32 are both connected with the operating device 2 so as to respectively transmit the stress of the handle 23 for posture adjustment and depth adjustment to the force feedback device 4.
The force feedback device 4 comprises a posture feedback component 41 and a depth feedback component 42, wherein the posture feedback component 41 is connected with the posture transmission component 31 and is used for force feedback of posture adjustment of the handle 23; the depth feedback assembly 42 is connected to the depth drive assembly 32 for force feedback for depth adjustment of the handle 23.
The force feedback in the embodiment of the application comprises the transmission of the corresponding adjusting action of the handle to the slave operating hand and the feedback of the contact force between the slave operating hand and the object when the slave operating hand performs the corresponding adjusting action.
In the embodiment of the present application, as shown in fig. 1 and 2, the posture transmission assembly 31 includes a parallel kinematic mechanism 311, wherein the parallel kinematic mechanism 311 includes a first transmission bar 3111, a first pulley 3112, a second transmission bar 3113 and a second pulley 3114.
For convenience of description, in the embodiment of the present application, the rotation axis in the first direction is set to the X axis, the rotation axis in the second direction is set to the Y axis, both the X axis and the Y axis are parallel to the mounting end surface 11, the first pulley 3112 rotates around the X axis, and the second pulley 3114 rotates along the Y axis.
In some embodiments of the present application, the first transmission bar 3111 and the second transmission bar 3113 are both semi-annular structures, a first pulley 3112 is fixedly installed at two ends of the first transmission bar 3111, a second pulley 3114 is fixedly installed at two ends of the second transmission bar 3113, one end of the link 21 away from the hinge portion 22 passes through the first transmission bar 3111, and a first guide hole 311a formed along an annular direction of the first transmission bar 3111; one end of the link 21, which is far away from the hinge portion 22, passes through the second transmission bar 3113, and a second guide hole 311b opened along a circumferential direction of the second transmission bar 3113 is formed.
In order to ensure the consistency of the rotation of the connecting rods in all directions, the first guide holes 311a are bilaterally symmetrical with respect to the middle position of the first transmission bar 3111; the second guide hole 311b is bilaterally symmetrical with respect to the middle position of the second transmitting bar 3113.
Wherein, both ends of the first transmission bar 3111 are rotatably mounted on two opposite sides of the base 1, both ends of the second transmission bar 3113 are rotatably mounted on the other opposite sides of the base 1, when the external force pushes the handle 23 to make the connecting rod 21 rotate along the hinge portion 22 with the X-axis as the axis, the portion of the connecting rod 21 passing through the second transmission bar 3113 moves in the second guiding hole 311b, and meanwhile the portion of the connecting rod 21 passing through the first transmission bar 3111 pushes the first transmission bar 3111 to rotate synchronously with the connecting rod 21, thereby realizing the rotation of the first pulley 3111; when the external force pushes the handle 23 to rotate the connecting rod 21 along the hinge portion 22 with the Y-axis as the axis, the portion of the connecting rod 21 passing through the first transmitting bar 3111 moves in the first guiding hole 311a, and simultaneously the portion of the connecting rod 21 passing through the second transmitting bar 3113 pushes the second transmitting bar 3113 to rotate synchronously with the connecting rod 21, thereby realizing the rotation of the second pulley 3114; due to the above structure, when the handle 23 is pushed by an external force to rotate the connecting rod 21 along the hinge portion 22 in any direction, the first partial motion and the second partial motion can be vertically divided into a first partial motion and a second partial motion, and the first pulley 3112 and the second pulley 3114 are driven to rotate by a corresponding angle.
Correspondingly, the posture feedback assembly 41 comprises a first feedback unit 411 and a second feedback unit 412, the first feedback unit 411 is connected with the first transmission bar 3111 and is used for generating resistance force which is opposite to the rotation trend of the first pulley 3112 and adjustable in size; the second feedback unit 412 is connected to the second transmission bar 3113 for generating a resistance force with an adjustable magnitude opposite to the rotation tendency of the second pulley 3114.
In different embodiments, the generation of the resistance can be realized in different manners, such as electromagnetic rotation between a stator and a rotor, telescopic expansion of air pressure, and hydraulic extrusion; in this embodiment, the resistance is generated in a first manner, wherein the first feedback unit 411 includes a first driving turntable 4111, a first driven turntable 4112, and a first feedback motor 4113, the first driving turntable 4111 is mounted on the first transmission bar 3111 and is coaxially and fixedly mounted with the first pulley 3112, the first driven turntable 4112 is coaxially and fixedly mounted on an output shaft of the first feedback motor 4113, and the first driving turntable 4111 is in transmission connection with the first driven turntable 4112; the second feedback unit 412 includes a second driving turntable 4121, a second driven turntable 4122 and a second feedback motor 4123, the second driving turntable 4121 is mounted on the second transmission bar 3113 and is coaxially and fixedly mounted with the second pulley 3114, the second driven turntable 4122 is coaxially and fixedly mounted on an output shaft of the second feedback motor 4123, and the second driving turntable 4121 is in transmission connection with the second driven turntable 4122.
The posture adjusting action of the handle 23 is decomposed into a first sub-motion taking an X axis as a rotation axis and a second sub-motion taking a Y axis as a rotation axis through the parallel motion mechanism 311, the first sub-motion and the second sub-motion drive the first driving turntable 4111 and the second driving turntable 4121 to rotate respectively, and further drive the first driven turntable 4112 and the second driven turntable 4122 to rotate, because the first driven turntable 4112 is coaxially and fixedly installed on the output shaft of the first feedback motor 4113, and the second driven turntable 4122 is coaxially and fixedly installed on the output shaft of the second feedback motor 4123, the rotation of the first driven turntable 4112 and the second driven turntable 4122 can drive the output shaft of the first feedback motor 4113 and the output shaft of the second feedback motor 4123 to rotate respectively; when the stators of the first feedback motor 4113 and the second feedback motor 4123 are energized, the electromagnetic action between the stators and the rotors exerts an electromagnetic force for one rotation of the stators, which drives the corresponding output shafts to have another rotation tendency, i.e., resistance against the rotation of the first pulley 3112 and the second pulley 3114 is formed; the first feedback motor 4113 and the second feedback motor 4123 are configured to have stator currents with magnitude related to the magnitude of the contact force applied from the posture adjustment of the manipulator, and the magnitude of the stator currents is controlled by a control system 50, so as to achieve the adjustable magnitude of the resistance.
In a further embodiment of the present application, as shown in fig. 4, in order to facilitate the installation of the first feedback motor 4113 and the second feedback motor 4123, the outer side of the base 1 has a rib 12, the first driving turntable 4111 and the second driving turntable 4121 are respectively installed at the outer side of the rib, the first feedback motor 4113 and the second feedback motor 4123 are installed inside the rib 12 and at the lower end of the base 1, the first feedback motor 4113 and the second feedback motor 4123 respectively extend out from the inside of the rib 12 and install the corresponding first driven turntable 4112 and second driven turntable 4122, and the spare portion of the rib 12 can be installed with the above chip integrated with the above control system 50.
It can be understood that, the first driving turntable 4111 is in transmission connection with the first driven turntable 4112 and the second driving turntable 4121 is in transmission connection with the second driven turntable 4122, so that the transmission connection between the precision gears can be adopted, and other modes can be adopted for transmission, in this embodiment, the first driving turntable 4111 is in transmission connection with the first driven turntable 4112 as an example, the first driving turntable 4111 is a sheet structure formed by enclosing an arc-shaped edge and a straight edge, the arc-shaped edge of the first driving turntable 4111 is provided with a steel wire rope 4114 in the length direction thereof, two ends of the steel wire rope 4114 are respectively fixed on the straight edge through a tension wheel 4115, and the outer side of the steel wire rope is coupled with the outer side of the first driven turntable 4112; the above structure is also adopted for the transmission connection between the second driving turntable 4121 and the second driven turntable 4122, which is not described herein.
As shown in fig. 3, the depth transmission assembly 32 includes a lead screw-nut mechanism, the lead screw-nut mechanism includes a lead screw 321 and a nut 322, the lead screw 321 is rotatably installed inside the connecting rod 21, a rotation axis of the lead screw 321 coincides with an axis of the connecting rod 21, the nut 322 is movably screwed to the lead screw 321, the handle 23 is fixedly connected to the nut 322, when the handle 23 drives the nut 322 to slide along the axis of the connecting rod 21, the lead screw 321 rotates, and the depth feedback assembly 42 is configured to generate a resistance force with an adjustable magnitude opposite to a rotation direction of the lead screw 321.
The handle 23 and the nut 322 are fixedly connected as follows: the sliding sleeve 231 forms a containing cavity inside, and the nut 322 is fixedly embedded inside the containing cavity.
Due to the structure, the handle 23 is pressed under the action of external force, so that the nut 322 moves downwards to be in threaded fit with the screw rod 321, the screw rod 321 rotates under the driving of the nut, and the rotation direction of the screw rod is determined by the movement direction of the nut 322.
In the embodiment of the present application, the depth feedback assembly 42 includes a third feedback motor 421, and one end of the screw rod 321 is coaxially and fixedly mounted on an output shaft of the third feedback motor 421.
The depth adjustment action of the handle 23 is converted into the rotation of the lead screw 321 through the lead screw nut mechanism, and since the lead screw 321 is coaxially and fixedly mounted on the output shaft of the third feedback motor 421, the rotation of the lead screw drives the output shaft of the third feedback motor 421 to have a rotation trend, and when the stator of the third feedback motor 421 is energized, the electromagnetic action between the stator and the rotor applies a rotating electromagnetic force to the stator, and the electromagnetic force drives the output shaft of the third feedback motor 421 to have another rotation trend, so as to form a resistance force for hindering the rotation of the lead screw 321, wherein the third feedback motor 421 is configured such that the magnitude of the stator current is related to the magnitude of the contact force applied when the operator punctures deeply, so as to achieve the adjustable magnitude of the resistance force.
When the needle holding device is used, a doctor holds the handle 23 by hands, and when the doctor pushes the handle 23, the handle 23 drives the connecting rod 21 to rotate by taking the hinge part 22 as a rotating center, so that posture adjustment is realized, and the angle and position adjustment action during actual needle holding can be effectively simulated; when a doctor slides and presses the handle 23 on the connecting rod 21, the depth adjustment is realized, and the puncture action during actual needle holding can be effectively simulated; the posture adjusting device 3 and the force feedback device 4 can help a doctor to transmit corresponding adjusting actions of the handle to the slave manipulator in real time and feed back contact force with an object when the slave manipulator carries out corresponding adjusting actions, so that the doctor is provided with a more real feeling of simulating a puncture operation when actually holding a needle, the success rate of the operation is improved, and the life safety of a patient is ensured.
Example two
As shown in fig. 1 and fig. 5, the present embodiment discloses a robotic puncture surgery system, which includes a master manipulator 100, a slave manipulator 200 and a communication device 300, wherein the slave manipulator 200 implements transmission of force or torque through the communication device 300 and the force feedback device 4.
In some embodiments, in combination with fig. 2, the first feedback motor 4113, the second feedback motor 4123 and the third feedback motor 421 are all connected to the communication device 300 through a control system 50, the force applied by the user to the handle 23 of the main manipulator 100 is divided and then transmitted to the first feedback motor 4113, the second feedback motor 4123 and the third feedback motor 421, and the resistance generated by the manipulator 200 during the surgical operation is fed back to the handle 23 through the resistance torque generated by the first feedback motor 4113, the second feedback motor 4123 and the third feedback motor 421, so as to achieve the force feedback of the surgical operation.
By adopting the puncture surgery robot system provided by the invention, the surgery process of the doctor in the conventional puncture surgery when actually holding the needle can be simulated, so that the use experience of the doctor is improved, the success rate of the surgery is improved, and the life safety of the patient is ensured.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. A force feedback main manipulator for puncture surgery, which is characterized by comprising: the device comprises a base (1), a posture adjusting device (3), an operating device (2) and a force feedback device (4);
the base (1) is provided with a mounting end surface (11);
the operating device (2) comprises a connecting rod (21) and a handle (23), one end of the connecting rod (21) is movably connected to the base (1), the handle (23) is connected to the connecting rod (21) in a sliding mode, and the operating device (2) further comprises a lead screw and nut mechanism;
the posture adjusting device (3) is used for converting the swing of the operating device (2) into regular motion in two directions, so that the swing of the operating device (2) is detected and controlled;
the force feedback device (4) comprises a depth feedback assembly (42), the depth feedback assembly (42) is used for force feedback and needle insertion control of depth adjustment of the handle, and the depth feedback assembly (42) comprises a third feedback motor.
2. Force feedback main manipulator for puncture surgery according to claim 1, wherein the posture adjusting device (3) comprises a parallel kinematic mechanism (311), the parallel kinematic mechanism (311) comprises a first transmission bar (3111) and a second transmission bar (3113), the first transmission bar (3111) is rotatably mounted on the base (1) along a first direction, the second transmission bar (3113) is rotatably mounted on the base (1) along a second direction, and the rotation axes of the first direction and the second direction are located on the same plane and are perpendicular to each other.
3. Force-feedback main manipulator for paracentesis surgery according to claim 2, characterized in that said parallel kinematic mechanism (311) further comprises a first pulley (3112) and a second pulley (3114), said first transmission bar (3111) being rotatably mounted to said base (1) through said first pulley (3112) in a first direction, said second transmission bar (3113) being rotatably mounted to said base (1) through said second pulley (3114) in a second direction, said first transmission bar (3111) connecting said first pulley (3112) and said connecting rod (21), said second transmission bar (3113) connecting said second pulley (3114) and said connecting rod (21).
4. The main manipulator of force feedback for puncture surgery as claimed in claim 2, wherein the first transmission bar (3111) and the second transmission bar (3113) are both semi-ring structures, the first transmission bar (3111) is formed with a first guiding hole (311 a) along the ring direction, and the connecting rod (21) passes through the first guiding hole (311 a) to connect with the base (1); a second guide hole (311 b) formed along the annular direction of the second transmission bar (3113) is formed, and the connecting rod (21) also penetrates through the second guide hole (311 b) to be connected with the base (1).
5. The force feedback main operator for puncture surgery as recited in claim 1, wherein said lead screw-nut mechanism comprises a lead screw (321) and a nut (322), said lead screw (321) is rotatably installed inside said connecting rod (21), the rotation axis of said lead screw (321) coincides with the axis of said connecting rod (21), said nut (322) is movably screwed on said lead screw (321), said handle (23) is fixedly connected with said nut (322), when said handle (23) drives said nut (322) to slide along the axis of said connecting rod (21), said lead screw (321) rotates, said depth feedback assembly (42) realizes force feedback through the rotation of said lead screw (321).
6. The force feedback master manipulator for puncture operation according to claim 5, wherein one end of the screw rod (321) is coaxially and fixedly installed on the output shaft of the third feedback motor (421), the third feedback motor (421) transmits the puncture action of the handle (23) to the slave manipulator (200) through the change of the rotation angle thereof, and adjusts the rotation speed thereof according to the magnitude of the contact force applied to the slave manipulator (200) to realize the force feedback.
7. The main manipulator with force feedback for puncture operation as claimed in claim 1, wherein the handle (23) is ring-shaped and slidably sleeved outside the connecting rod (21), a limiting protrusion (232) is formed on the inner side of the handle (23) along the axial direction of the connecting rod (21), a limiting groove (21 a) is formed on the side wall of the connecting rod (21) along the axial direction, and the limiting protrusion (232) is movably disposed in the limiting groove (21 a).
8. Force-feedback main operator for puncture surgery according to claim 1, characterized in that one end of the link (21) is connected to the base (1) by means of a spherical pair.
9. The force feedback main operator for puncture operation according to claim 8, wherein one end of the connecting rod (21) is provided with a hinge portion (22), a spherical groove (11 a) is formed on the mounting end surface (11), a spherical hinge structure is formed between the hinge portion (22) and the spherical groove (11 a) to form the spherical pair, and the opening diameter of the spherical groove (11 a) is smaller than the diameter of the hinge portion (22).
10. A robotic puncture surgery system, characterized in that it comprises a slave manipulator (200), a communication device (300) and a force-feedback master manipulator (100) for puncture surgery according to any one of claims 1 to 9, the slave manipulator (200) enabling the transmission of force or torque with the force-feedback device (4) through the communication device (300).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211025629.2A CN115252147A (en) | 2021-04-26 | 2021-04-26 | Force feedback main manipulator for puncture surgery and puncture surgery robot system |
Applications Claiming Priority (2)
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116509557A (en) * | 2023-06-28 | 2023-08-01 | 苏州恒瑞宏远医疗科技有限公司 | Main operation hand of puncture robot, puncture biopsy robot and operation method of puncture biopsy robot |
| CN116725696A (en) * | 2023-08-15 | 2023-09-12 | 苏州恒瑞宏远医疗科技有限公司 | Main operation device of puncture robot, puncture robot and operation method thereof |
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| WO2022161498A1 (en) * | 2021-02-01 | 2022-08-04 | 武汉联影智融医疗科技有限公司 | Master arm control device for robot, and robot |
| WO2022161499A1 (en) * | 2021-02-01 | 2022-08-04 | 武汉联影智融医疗科技有限公司 | Master manipulator manipulation device for robot |
| CN114259301B (en) * | 2021-12-15 | 2023-06-23 | 武汉联影智融医疗科技有限公司 | Puncture structure, master hand controller and puncture robot |
| CN115281802B (en) * | 2022-09-28 | 2023-01-24 | 真健康（北京）医疗科技有限公司 | Control method, equipment and system of puncture device |
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| CN116509557A (en) * | 2023-06-28 | 2023-08-01 | 苏州恒瑞宏远医疗科技有限公司 | Main operation hand of puncture robot, puncture biopsy robot and operation method of puncture biopsy robot |
| CN116725696A (en) * | 2023-08-15 | 2023-09-12 | 苏州恒瑞宏远医疗科技有限公司 | Main operation device of puncture robot, puncture robot and operation method thereof |
| CN116725696B (en) * | 2023-08-15 | 2023-11-24 | 苏州恒瑞宏远医疗科技有限公司 | Main operation device of puncture robot, puncture robot and operation method thereof |
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| CN113116519A (en) | 2021-07-16 |
| CN113116519B (en) | 2022-09-20 |
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