CN115778560A - Force feedback master hand end effector - Google Patents
Force feedback master hand end effector Download PDFInfo
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- CN115778560A CN115778560A CN202211633649.8A CN202211633649A CN115778560A CN 115778560 A CN115778560 A CN 115778560A CN 202211633649 A CN202211633649 A CN 202211633649A CN 115778560 A CN115778560 A CN 115778560A
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Abstract
The invention discloses a force feedback master hand end effector, which relates to the field of minimally invasive surgical robots and comprises a first L rod part, a second L rod part and a third L rod part; the first L-bar section comprises a handle portion, a linear transmission portion and a rotary transmission portion; the linear transmission part can send the opening and closing operation of the handle part to the surgical instrument after being processed by the control system; the rotation transmission part can send the rotation operation of the handle part to the surgical instrument after being processed by the control system; the second L-shaped rod part can send the rotating operation of the first L-shaped rod part to the surgical instrument after being processed by the control system; the third L-shaped rod part can send the rotating operation of the second L-shaped rod part to the surgical instrument after being processed by the control system; the force information sent to the control system by the surgical instrument can provide transmission resistance after being processed, so that the force feedback of the surgical instrument end is realized. The invention can improve the flexibility and stability of the minimally invasive surgery robot during working and more accurate force feedback.
Description
Technical Field
The invention relates to the technical field of minimally invasive surgery robots, in particular to a force feedback master hand end effector.
Background
The robot-assisted minimally invasive surgery (RMIS) has the advantages of small wound, accurate operation, low probability of fatigue of doctors and quick recovery, and is widely applied to surgical operations.
Minimally invasive surgical robots generally include: imaging system, patient operation platform, doctor's control cabinet. A doctor sits on a doctor console to operate, and controls surgical instruments and the three-dimensional high-definition endoscope through a main operating hand and a group of foot pedals. When the device works, the control system collects the pose signals sent by the master hand in real time and sends the pose signals to the slave hand according to a certain proportion, so that the slave hand can reproduce the operation of a doctor, meanwhile, the slave hand returns force information and pose information to the control system in real time, and the control system processes the force information and pose information and sends the force information and the pose information to the master hand, so that closed-loop control and force feedback are realized.
The master hand end effector is used for operating the surgical instrument, and a doctor can sleeve fingers into the adhesive tape to operate the end effector so as to control the surgical instrument to carry out operations such as suturing, knotting and the like, so that the stability and flexibility of the operation and the accuracy of force feedback directly influence the surgical quality; therefore, a structure of the master hand end effector which improves the flexibility and the stability of the minimally invasive surgery robot during working and enables more accurate force feedback is lacked at present.
Disclosure of Invention
The invention aims to provide a force feedback master hand end effector, which is used for solving the problems in the prior art and can improve the flexibility and stability of a minimally invasive surgery robot during working and achieve more accurate force feedback.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a force feedback master hand end effector which comprises a first L rod part, a second L rod part and a third L rod part; the first L-bar section is mounted on a second bevel gear shaft in a second L-bar section mounted on a third bevel gear shaft in a third L-bar section; the first L-bar portion comprises a handle portion, a linear transmission portion and a rotary transmission portion; the linear transmission part can send the opening and closing operation of the handle part to the surgical instrument after being processed by the control system, so that the surgical instrument can carry out the same opening and closing operation; the rotary transmission part can send the rotary operation of the handle part to the surgical instrument after being processed by the control system, so that the surgical instrument can carry out the same rotary operation; the second L-shaped rod part can send the rotating operation of the first L-shaped rod part to a surgical instrument after being processed by the control system, so that the surgical instrument can perform the same rotating operation, and the rotation of the first L-shaped rod part is the left-right rotating operation relative to the axial direction of the handle part; the third L-shaped rod part can send the rotating operation of the second L-shaped rod part to the surgical instrument after being processed by the control system, so that the surgical instrument can perform the same rotating operation; the force information sent to the control system by the surgical instrument can provide transmission resistance after being processed so as to realize force feedback of the surgical instrument end, and the rotation of the second L rod part is the up-and-down rotation operation relative to the axial direction of the handle part.
Optionally, the handle part comprises a second mounting seat, a handle, a first cushion block, a first bearing, a second bearing, a connecting rod, a third bearing, a transition plate, a linear bearing, a backing plate and an adhesive tape; the sticky tape is connected with the base plate through a screw, the base plate is connected with the handle through a screw, the second bearing is in interference fit with the handle and is embedded into a through hole in the middle of the handle, the first bearing is embedded into a through hole in the head of the handle, two sides of the first bearing are respectively contacted with a cushion block, the first bearing is fixedly embedded into the head of the second mounting seat, the third bearing is in interference fit with the transition plate and is embedded into the transition plate, the inner ring of the third bearing is fixed in interference fit with the connecting rod, the linear bearing is embedded into the bottom of the mounting seat, and the transition plate can be driven to perform axial linear motion through opening and closing motion of the handle.
Optionally, the linear transmission part comprises a central shaft, a shaft sleeve, a fourth bearing, a shaft sleeve end cover, a second cushion block, a mounting plate, a fifth bearing, a guide wheel, a bracket, a gasket, a sixth bearing, a wire guide wheel, a wire pre-tightening block, a steel wire, a first motor and a wire barrel; the first motor is fixed at the tail part of a first mounting seat through screws, a wire barrel is fixed on a motor shaft through a jackscrew, both sides of a sixth bearing embedded in a wire guide wheel are respectively contacted with a gasket and are fixedly embedded into the head part of a support together, the support and the first mounting seat are fixed through screws, the bottom part of a second cushion block is contacted with the first mounting seat, the top part of the second cushion block is contacted with a mounting plate, the mounting plate is fixed on the first mounting seat through screws and pins, a fifth bearing is in interference fit with the guide wheel and is embedded into the guide wheel, a fifth bearing inner ring is fixed in interference fit with the mounting plate, two fourth bearing inner rings are contacted with the tail end of a central shaft and are pressed by nuts, a fourth bearing outer ring is embedded into a shaft sleeve and is pressed by a shaft sleeve end cover, the shaft sleeve end cover is fixed on the shaft sleeve through screws, the central shaft passes through a linear bearing and is fixed with a transition plate through pins, one end of a steel wire passes through and is fixed on the shaft sleeve, the other end of the wire passes through a wire guide wheel and is fixed on a wire pre-tightening block, the wire is fixed on the shaft sleeve through screws, the pre-tightening block is fixed on the shaft sleeve, and the other side of the guide wheel is contacted with the guide wheel; when the handle part is separated, the motor is driven by the steel wire, the opening and closing angle can be read by the encoder, and meanwhile, the motor can also provide a force feedback function.
Optionally, the rotary transmission part comprises a seventh bearing, a first bearing end cover, a large bevel gear, a small bevel gear and a second motor; the seventh bearing is embedded into the first mounting seat and is pressed tightly by the end cover of the first bearing, the end cover of the first bearing is fixed on the first mounting seat by a screw, the inner ring of the seventh bearing is contacted with the bottom of the second mounting seat and is pressed tightly by the big bevel gear, the big bevel gear is fixed on the second mounting seat by a screw, the second motor is fixed with the first mounting seat by a screw, the small bevel gear is fixed on a motor shaft by a screw, the big bevel gear is meshed with the small bevel gear, the first end cover is fixed with the first mounting seat in interference fit, and the first shell is fixed on the first mounting seat by a screw; when the handle part rotates, the motor is driven by the gear to read angle data and provide force feedback.
Optionally, the second L-bar portion includes a third mounting seat, a second housing, a second end cover, a first limit pin, a third motor, a first bevel gear shaft, an eighth bearing, a ninth bearing, and a second bearing end cover; the ninth bearing is embedded into the bottom of the third mounting seat, the ninth bearing inner ring is contacted with the bottom of the first bevel gear shaft, the top of the first bevel gear shaft is contacted with the eighth bearing inner ring, the eighth bearing is embedded into the top of the third mounting seat and is pressed tightly by the second bearing end cover, the second bearing end cover is fixed on the third mounting seat by screws, the third motor is fixed with the third mounting seat by screws, the first bevel gear is fixed on a motor shaft by screws, the first bevel gear is meshed with the first bevel gear shaft, the first limit pin passes through the second bearing end cover and is fixed with the third mounting seat in an interference fit manner, the second outer shell is fixed on the third mounting seat by screws, and the top of the first bevel gear shaft is embedded into the left side of the first mounting seat and is fixed by screws; when the first L rod part rotates, the first L rod part is transmitted to the motor through the gear, and operations such as angle data reading, force feedback providing and the like are performed.
Optionally, the third L-bar portion includes a fourth mounting seat, a third housing, a third end cover, a second limit pin, a fourth motor, a second bevel gear shaft, a tenth bearing, an eleventh bearing, and a third bearing end cover; the eleventh bearing is embedded into the bottom of the fourth mounting seat, an inner ring of the eleventh bearing is contacted with the bottom of the second bevel gear shaft, the top of the second bevel gear shaft is contacted with an inner ring of the tenth bearing, the tenth bearing is embedded into the top of the fourth mounting seat and is tightly pressed by a third bearing end cover, the third bearing end cover is fixed on the fourth mounting seat through screws, the fourth motor and the fourth mounting seat are fixed through screws, the second bevel gear is fixed on a motor shaft through screws, the second bevel gear is meshed with the second bevel gear shaft, a second limiting pin penetrates through the third bearing end cover and is fixed with the fourth mounting seat in an interference fit manner, the third shell is fixed on the fourth mounting seat through screws, and the top of the second bevel gear shaft is embedded into the left side of the third mounting seat and is fixed through screws; when the second L rod part rotates, the second L rod part is transmitted to the motor through the gear, and operations such as angle data reading, force feedback providing and the like are performed.
Compared with the prior art, the invention achieves the following technical effects:
the invention adopts four motors to provide attitude information of three degrees of spatial freedom and one degree of opening and closing freedom, realizes the pose separation with the main manipulator, and leads the integral modeling calculation of the main manipulator to be simpler and more convenient. The invention adopts the wire transmission to transmit the opening and closing information of the surgical instrument, and compared with the traditional gear transmission, the transmission precision is higher, thereby realizing more accurate force feedback. The invention ensures the stability of the central shaft in translation through the radial supporting function of the guide wheel and the matching of the linear bearing.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of a first L-bar section of the present invention;
FIG. 3 is a schematic view of the handle portion of the present invention;
FIG. 4 is a cross-sectional view of a handle portion of the present invention;
FIG. 5 is a cross-sectional view of a first L-bar section of the present invention;
FIG. 6 is a partial schematic view one of the wire drive section of the present invention;
FIG. 7 is a second partial schematic view of the wire drive portion of the present invention;
FIG. 8 is a partial cross-sectional view of the wire drive section of the present invention;
FIG. 9 is a schematic view of the structure of a second L-bar section of the present invention;
FIG. 10 is a schematic view of the structure of a third L-bar section of the present invention;
description of reference numerals: 1 is a first L rod part, 1-1 is a first mounting seat, 1-2 is a first shell, 1-3 is a first end cover, 1-4 is a handle part, 1-4-1 is a second mounting seat, 1-4-2 is a handle, 1-4-3 is a first cushion block, 1-4-4 is a first bearing, 1-4-5 is a second bearing, 1-4-6 is a connecting rod, 1-4-7 is a third bearing, 1-4-8 is a transition plate, 1-4-9 is a linear bearing, 1-4-10 is a backing plate, 1-4-11 is an adhesive tape, 1-5 is a linear transmission part, 1-5-1 is a central shaft, 1-5-2 is a shaft sleeve, 1-5-3 is a fourth bearing 1-5-4 shaft sleeve end covers, 1-5-5 second cushion blocks, 1-5-6 mounting plates, 1-5-7 fifth bearings, 1-5-8 guide wheels, 1-5-9 brackets, 1-5-10 gaskets, 1-5-11 sixth bearings, 1-5-12 wire guide wheels, 1-5-13 wire pre-tightening blocks, 1-5-14 steel wires, 1-5-15 first motors, 1-5-16 wire barrels, 1-6 rotary transmission parts, 1-6-1 seventh bearings, 1-6-2 first bearing end covers, 1-6-3 large bevel gears, 1-6-4 small bevel gears, 1-6-5 is a second motor, 2 is a second L rod part, 2-1 is a third mounting seat, 2-2 is a second shell, 2-3 is a second end cover, 2-4 is a first limit pin, 2-5 is a third motor, 2-6 is a first bevel gear, 2-7 is a first bevel gear shaft, 2-8 is an eighth bearing, 2-9 is a ninth bearing, 2-10 is a second bearing end cover, 3 is a third L rod part, 3-1 is a fourth mounting seat, 3-2 is a third shell, 3-3 is a third end cover, 3-4 is a second limit pin, 3-5 is a fourth motor, 3-6 is a second bevel gear, 3-7 is a second bevel gear shaft, 3-8 is a tenth bearing, 3-9 is an eleventh bearing, and 3-10 is a third bearing end cover.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a force feedback master hand end effector, which solves the problems in the prior art and can improve the flexibility and stability of a minimally invasive surgery robot during working and more accurate force feedback.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
Fig. 1 is a schematic diagram of the overall structure of a force feedback master hand end effector of the invention, which is used for a tail end posture part of a master hand of a minimally invasive surgery robot, and the structure of the device comprises: a first L-bar section 1, a second L-bar section 2 and a third L-bar section 3.
As shown in fig. 1 and 2, the first L-bar section 1 includes a first mount 1-1, a first housing 1-2, a first end cap 1-3, a handle section 1-4, a linear transmission section 1-5, and a rotary transmission section 1-6.
As shown in FIGS. 3 and 4, the handle part 1-4 includes a second mounting seat 1-4-1, a handle 1-4-2, a first cushion block 1-4-3, a first bearing 1-4-4, a second bearing 1-4-5, a connecting rod 1-4-6, a third bearing 1-4-7, a transition plate 1-4-8, a linear bearing 1-4-9, a backing plate 1-4-10 and an adhesive tape 1-4-11. The adhesive tape 1-4-11 is connected with the backing plate 1-4-10 through a screw, the backing plate 1-4-10 is connected with the handle 1-4-2 through a screw, the second bearing 1-4-5 is in interference fit with the handle 1-4-2 and is embedded into a through hole in the middle of the handle 1-4-2, the first bearing 1-4-4 is embedded into a through hole in the head of the handle 1-4-2, two sides of the first bearing are respectively contacted with one cushion block 1-4-3 and are embedded into the head of the second mounting seat 1-4-1 together, the first bearing is fixed through a pin, the third bearing 1-4-7 is in interference fit with the transition plate 1-4-8 and is embedded into the transition plate 1-4-8, the inner ring of the third bearing 1-4-7 is fixed in interference fit with the connecting rod 1-4-6, and the linear bearing 1-4-9 is embedded into the bottom of the mounting seat 1-4-1.
As shown in fig. 2 and 5-8, the linear transmission part 1-5 mainly comprises a central shaft 1-5-1, a shaft sleeve 1-5-2, a fourth bearing 1-5-3, a shaft sleeve end cover 1-5-4, a second cushion block 1-5-5, a mounting plate 1-5-6, a fifth bearing 1-5-7, a guide wheel 1-5-8, a bracket 1-5-9, a gasket 1-5-10, a sixth bearing 1-5-11, a wire guide wheel 1-5-12, a wire pre-tightening block 1-5-13, a steel wire 1-5-14, a first motor 1-5-15 and a wire cylinder 1-5-16, wherein the first motor 1-5-15 is fixed at the tail part of the first mounting seat 1-1 through a screw, the wire barrel 1-5-16 is fixed on a motor shaft through a jackscrew, the sixth bearing 1-5-11 is embedded into the wire guide wheel 1-5-12, two sides of the sixth bearing are respectively contacted with a gasket 1-5-10 and embedded into the head of the bracket 1-5-9 together and fixed by a pin, the bracket 1-5-9 is fixed with the first mounting seat 1-1 through a screw, the bottom of the second cushion block 1-5-5 is contacted with the first mounting seat 1-1, the top of the second cushion block is contacted with the mounting plate 1-5-6, the mounting plate 1-5-6 is fixed on the first mounting seat 1-1 through a screw and a pin, the fifth bearing 1-5-7 is in interference fit with the guide wheel 1-5-8 and is embedded into the guide wheel 1-5-8, inner rings of fifth bearings 1-5-7 are fixed with mounting plates 1-5-6 in an interference fit manner, inner rings of two fourth bearings 1-5-3 are in contact with the tail end of a central shaft 1-5-1 and are pressed by nuts, outer rings of the fourth bearings 1-5-3 are embedded into a shaft sleeve 1-5-2 and are pressed by shaft sleeve end covers 1-5-4, the shaft sleeve end covers 1-5-4 are fixed on the shaft sleeve 1-5-2 through screws, the central shaft 1-5-1 penetrates through linear bearings 1-4-9 and is fixed with transition plates 1-4-8 through pins, one end of a steel wire 1-5-14 penetrates through and is fixed on the shaft sleeve 1-5-2, the other end of the steel wire penetrates through and is fixed on wire pre-tightening blocks 1-5-13 after passing through wire guide wheels 1-5-12, the wire pre-tightening blocks 1-5-13 are fixed on the shaft sleeve 1-5-2 through screws, pre-tightening of the steel wire is achieved by tightening the screws, and the other side of the shaft sleeve 1-5-2 is in contact with guide wheels 1-5-8. When the handle part 1-4 is opened and closed, the connecting rod 1-4-6 drives the central shaft 1-5-1 to move along the axial direction, meanwhile, the stability of the axial movement is ensured through the linear bearing 1-4-9 and the guide wheel 1-5-8, the vibration in the movement process is reduced, the linear movement of the central shaft 1-5-1 is converted into the rotary movement of the wire barrel 1-5-16 through a steel wire, an opening and closing angle is read by a coder on the first motor 1-5-15 and is sent to a control system, the control system sends the processed information to a surgical instrument to enable the surgical instrument to carry out the same opening and closing operation, meanwhile, force information sent to the control system by the surgical instrument can also be sent to the first motor 1-5-15 after being processed, and the first motor 1-5-15 provides certain transmission resistance of the central shaft 1-5-1 through wire transmission so as to feed back the clamping force of the surgical instrument end.
As shown in fig. 2 and 5, the rotary transmission part 1-6 mainly comprises a seventh bearing 1-6-1, a first bearing end cover 1-6-2, a large bevel gear 1-6-3, a small bevel gear 1-6-4 and a second motor 1-6-5, wherein the seventh bearing 1-6-1 is embedded into the first mounting seat 1-1 and is pressed tightly by the first bearing end cover 1-6-2, the first bearing end cover 1-6-2 is fixed on the first mounting seat 1-1 through a screw, an inner ring of the seventh bearing 1-6-1 is contacted with the bottom of the second mounting seat 1-4-1 and is pressed tightly by the large bevel gear 1-6-3, the large bevel gear 1-6-3 is fixed on the second mounting seat 1-4-1 through a screw, the second motor 1-6-5 is fixed with the first mounting seat 1-1 through a screw, the small bevel gear 1-6-4 is fixed on a motor shaft through a screw, the large bevel gear 1-6-3 is meshed with the small bevel gear 1-4, and is fixed on the first mounting seat 1-1 through a screw, and is fixed on the first mounting seat 1-2. The large bevel gear 1-6-3 and the handle part 1-4 rotate simultaneously, the large bevel gear 1-6-3 and the handle part 1-4 are transmitted to the second motor 1-6-5 through the small bevel gear 1-6-4, an encoder on the second motor 1-6-5 reads the rotation angle and transmits the rotation angle to the control system, the control system processes the rotation angle and transmits the rotation angle to the surgical instrument, the surgical instrument performs the same rotation operation, meanwhile, force information transmitted to the control system by the surgical instrument can also be transmitted to the second motor 1-6-5 after being processed, and the second motor 1-6-5 provides certain transmission resistance for the handle part 1-4 through gear transmission, so that force feedback of the surgical instrument end is realized.
As shown in FIG. 9, the second L-bar section 2 mainly includes a third mounting seat 2-1, a second housing 2-2, a second end cap 2-3, a first limit pin 2-4, a third motor 2-5, a first bevel gear 2-6, a first bevel gear shaft 2-7, an eighth bearing 2-8, a ninth bearing 2-9 and a second bearing end cap 2-10, the ninth bearing 2-9 is embedded in the bottom of the third mounting seat 2-1, the inner race of the ninth bearing 2-9 is in contact with the bottom of the first bevel gear shaft 2-7, the top of the first bevel gear shaft 2-7 is in contact with the inner race of the eighth bearing 2-8, the eighth bearing 2-8 is embedded in the top of the third mounting seat 2-1 and is compressed by the second bearing end cap 2-10, the second bearing end cap 2-10 is fixed on the third mounting seat 2-1 by a screw, the third motor 2-5 is fixed to the third mounting seat 2-1 by a screw, the first bevel gear 2-6 is fixed to the first bevel gear shaft 2-1 by a screw, the first bevel gear shaft 2-7 is engaged with the first bevel gear shaft 2-1, the first bevel gear shaft 2-7 is fixed to the first housing 2-1 by a screw, and a second bearing end cap 2-10, and a second bearing end cap 2-7 is engaged with the second bearing cap 2-1, and a screw. The first L rod part 1 and a first bevel gear shaft 2-7 rotate simultaneously and are transmitted to a third motor 2-5 through a first bevel gear 2-6, an encoder on the third motor 2-5 reads a rotation angle and transmits the rotation angle to a control system, the control system processes the rotation angle and transmits the rotation angle to a surgical instrument, so that the surgical instrument performs the same rotation operation, force information transmitted to the control system by the surgical instrument is processed and can also be transmitted to the third motor 2-5, and the third motor 2-5 provides certain transmission resistance of the first L rod part 1 through gear transmission so as to realize force feedback of the surgical instrument end; the rotation of the first L-rod section 1 is a left-right rotating operation with respect to the axial direction of the handle section.
As shown in FIG. 10, the third L-bar section 3 mainly includes a fourth mounting seat 3-1, a third housing 3-2, a third end cap 3-3, a second limit pin 3-4, a fourth motor 3-5, a second bevel gear 3-6, a second bevel gear shaft 3-7, a tenth bearing 3-8, an eleventh bearing 3-9 and a third bearing end cap 3-10, the eleventh bearing 3-9 is embedded in the bottom of the fourth mounting seat 3-1, the inner race of the eleventh bearing 3-9 is in contact with the bottom of the second bevel gear shaft 3-7, the top of the second bevel gear shaft 3-7 is in contact with the inner race of the tenth bearing 3-8, the tenth bearing 3-8 is embedded in the top of the fourth mounting seat 3-1, the third bearing end cover 3-10 is used for pressing, the third bearing end cover 3-10 is fixed on a fourth mounting seat 3-1 through screws, a fourth motor 3-5 and the fourth mounting seat 3-1 are fixed through screws, a second bevel gear 3-6 is fixed on a motor shaft through screws, the second bevel gear 3-6 is meshed with a second bevel gear shaft 3-7, a second limiting pin 3-4 penetrates through the third bearing end cover 3-10 to be fixed with the fourth mounting seat 3-1 in an interference fit mode, a third shell 3-2 is fixed on the fourth mounting seat 3-1 through screws, and the top of the second bevel gear shaft 3-7 is embedded into the left side of the third mounting seat 2-1 and is fixed through screws. The second L rod part 2 and a second bevel gear shaft 3-7 rotate simultaneously and are transmitted to a fourth motor 3-5 through a second bevel gear 3-6, an encoder on the fourth motor 3-5 reads a rotation angle and sends the rotation angle to a control system, the control system processes the rotation angle and sends the rotation angle to a surgical instrument, the surgical instrument performs the same rotation operation, force information sent to the control system by the surgical instrument is processed and then can be sent to the fourth motor 3-5, and the fourth motor 3-5 provides certain transmission resistance of the second L rod part 2 through gear transmission so as to realize force feedback of the surgical instrument end; the rotation of the second L-bar portion 2 is an up-and-down rotating operation with respect to the axial direction of the handle portion.
In the description of the present invention, it should be noted that the terms "center", "top", "bottom", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (6)
1. A force feedback master hand end effector, comprising: comprises a first L rod part, a second L rod part and a third L rod part; the first L-bar portion is mounted on a second bevel gear shaft in a second L-bar portion mounted on a third bevel gear shaft in a third L-bar portion; the first L-bar section comprises a handle portion, a linear transmission portion and a rotary transmission portion; the linear transmission part can send the opening and closing operation of the handle part to the surgical instrument after being processed by the control system, so that the surgical instrument can carry out the same opening and closing operation; the rotary transmission part can send the rotary operation of the handle part to the surgical instrument after being processed by the control system, so that the surgical instrument can carry out the same rotary operation; the second L rod part can send the rotating operation of the first L rod part to a surgical instrument after being processed by the control system, so that the surgical instrument can perform the same rotating operation; the third L rod part can send the rotating operation of the second L rod part to the surgical instrument after being processed by the control system, so that the surgical instrument can perform the same rotating operation; the force information sent to the control system by the surgical instrument can provide transmission resistance after being processed, so that force feedback of the surgical instrument end is realized.
2. The force-feedback master hand end effector of claim 1, wherein: the handle part comprises a second mounting seat, a handle, a first cushion block, a first bearing, a second bearing, a connecting rod, a third bearing, a transition plate, a linear bearing, a base plate and an adhesive tape; the adhesive tape is connected with the base plate through a screw, the base plate is connected with the handle through a screw, the second bearing is in interference fit with the handle and is embedded into a through hole in the middle of the handle, the first bearing is embedded into the through hole in the head of the handle, two sides of the first bearing are respectively contacted with a cushion block and are fixedly embedded into the head of the second mounting seat together, the third bearing is in interference fit with the transition plate and is embedded into the transition plate, the inner ring of the third bearing is fixed with the connecting rod in interference fit, and the linear bearing is embedded into the bottom of the mounting seat.
3. The force feedback master hand end effector of claim 2, wherein: the linear transmission part comprises a central shaft, a shaft sleeve, a fourth bearing, a shaft sleeve end cover, a second cushion block, a mounting plate, a fifth bearing, a guide wheel, a support, a gasket, a sixth bearing, a wire guide wheel, a wire pre-tightening block, a steel wire, a first motor and a wire barrel; the first motor is fixed at the tail of a first mounting seat through screws, a wire barrel is fixed on a motor shaft through jackscrews, both sides of a sixth bearing embedded in a wire guide wheel are respectively contacted with a gasket and are fixedly embedded into the head of a support together, the support and the first mounting seat are fixed through screws, the bottom of a second cushion block is contacted with the first mounting seat, the top of the second cushion block is contacted with a mounting plate, the mounting plate is fixed on the first mounting seat through screws and pins, a fifth bearing is in interference fit with the guide wheel and is embedded into the guide wheel, a fifth bearing inner ring is fixed in interference fit with the mounting plate, two fourth bearing inner rings are contacted with the tail end of a central shaft and are pressed by nuts, a fourth bearing outer ring is embedded into a shaft sleeve and is pressed by a shaft sleeve end cover, the shaft sleeve end cover is fixed on the shaft sleeve through screws, the central shaft passes through a linear bearing and is fixed with a transition plate through pins, one end of a steel wire passes through and is fixed on the shaft sleeve, the other end of the wire passes through a wire guide wheel and is fixed on a wire pre-tightening block, the wire is fixed on the shaft sleeve through screws, and the other end of the wire pre-tightening block is fixed on the shaft sleeve, and the other side of the guide wheel is contacted with the guide wheel.
4. The force feedback master hand end effector of claim 3, wherein: the rotary transmission part comprises a seventh bearing, a first bearing end cover, a large bevel gear, a small bevel gear and a second motor; the seventh bearing is embedded into the first mounting seat and is pressed tightly by the first bearing end cover, the first bearing end cover is fixed on the first mounting seat through screws, the inner ring of the seventh bearing is in contact with the bottom of the second mounting seat and is pressed tightly through the large bevel gear, the large bevel gear is fixed on the second mounting seat through screws, the second motor is fixed with the first mounting seat through screws, the small bevel gear is fixed on a motor shaft through screws, the large bevel gear is meshed with the small bevel gear, the first end cover is fixed with the first mounting seat in an interference fit mode, and the first shell is fixed on the first mounting seat through screws.
5. The force feedback master hand end effector of claim 4, wherein: the second L rod part comprises a third mounting seat, a second outer shell, a second end cover, a first limiting pin, a third motor, a first bevel gear shaft, an eighth bearing, a ninth bearing and a second bearing end cover; the ninth bearing is embedded into the bottom of the third mounting seat, a ninth bearing inner ring is contacted with the bottom of the first bevel gear shaft, the top of the first bevel gear shaft is contacted with the eighth bearing inner ring, the eighth bearing is embedded into the top of the third mounting seat and is tightly pressed by the second bearing end cover, the second bearing end cover is fixed on the third mounting seat through screws, the third motor is fixed with the third mounting seat through screws, the first bevel gear is fixed on a motor shaft through screws, the first bevel gear is meshed with the first bevel gear shaft, the first limiting pin penetrates through the second bearing end cover and is fixed with the third mounting seat in an interference fit manner, the second outer shell is fixed on the third mounting seat through screws, and the top of the first bevel gear shaft is embedded into the left side of the first mounting seat and is fixed through screws.
6. The force-feedback master hand end effector of claim 5, wherein: the third L rod part comprises a fourth mounting seat, a third shell, a third end cover, a second limiting pin, a fourth motor, a second bevel gear shaft, a tenth bearing, an eleventh bearing and a third bearing end cover; the eleventh bearing is embedded into the bottom of the fourth mounting seat, an eleventh bearing inner ring is contacted with the bottom of the second bevel gear shaft, the top of the second bevel gear shaft is contacted with the tenth bearing inner ring, the tenth bearing is embedded into the top of the fourth mounting seat and is tightly pressed by the third bearing end cover, the third bearing end cover is fixed on the fourth mounting seat through screws, the fourth motor is fixed with the fourth mounting seat through screws, the second bevel gear is fixed on a motor shaft through screws, the second bevel gear is meshed with the second bevel gear shaft, the second limiting pin penetrates through the third bearing end cover and is fixed with the fourth mounting seat in an interference fit manner, the third shell is fixed on the fourth mounting seat through screws, and the top of the second bevel gear shaft is embedded into the left side of the third mounting seat and is fixed through screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211633649.8A CN115778560A (en) | 2022-12-19 | 2022-12-19 | Force feedback master hand end effector |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211633649.8A CN115778560A (en) | 2022-12-19 | 2022-12-19 | Force feedback master hand end effector |
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| CN115778560A true CN115778560A (en) | 2023-03-14 |
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| CN202211633649.8A Pending CN115778560A (en) | 2022-12-19 | 2022-12-19 | Force feedback master hand end effector |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117323015A (en) * | 2023-10-30 | 2024-01-02 | 赛诺威盛医疗科技(扬州)有限公司 | Miniaturized multi-degree-of-freedom robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117323015A (en) * | 2023-10-30 | 2024-01-02 | 赛诺威盛医疗科技(扬州)有限公司 | Miniaturized multi-degree-of-freedom robot |
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