CN116421331A - Teleoperation master hand and master operation trolley - Google Patents

Abstract

The invention provides a teleoperation master hand belonging to an active master hand and a master operation trolley. The teleoperation master hand comprises a position adjusting mechanism and a gesture adjusting mechanism. The position adjusting mechanism is used for mapping the slave-end mechanical arm and comprises a base, a left rotary joint, a right rotary joint, a front rotary joint, a rear rotary joint and a pitching rotary joint which are connected in series. The gesture adjusting mechanism is used for mapping an executing tool arranged at the tail end of the slave mechanical arm and comprises a gesture redundant deflection joint, a gesture pitching joint, a gesture deflection joint, a gesture rotation joint and a gesture clamping joint which are connected in series. The gesture redundant yaw joint is connected with the pitching rotation joint, and the gesture clamping joint is used for mapping actions of a tool head in the slave end mechanical arm tail end execution tool. A balance spring is provided in the position adjustment mechanism for pulling a member of the position adjustment mechanism to adjust the posture adjustment mechanism to an initial height without power. The main operation trolley comprises at least one teleoperation main hand, a display screen and handrails.

Description

Teleoperation master hand and master operation trolley

Technical Field

The invention belongs to the technical field of medical appliances, and particularly relates to a teleoperation master hand and a master operation trolley.

Background

In recent years, robot-assisted minimally invasive surgery has been developed in the medical industry, on the one hand, minimally invasive surgery has little injury and quick recovery, on the other hand, medical robots have been developed rapidly, more and more surgical robots enter an operating room, and the success rate of surgery is increased while the burden of doctors is reduced. Meanwhile, the surgical robot industry has also gained tremendous commercial and industrial value.

Teleoperation master is an important component of master-slave type auxiliary surgical robots. The doctor controls the teleoperation master hand at the master end of the surgical robot, the master hand detects the actions of the doctor and converts the actions into electric signals to be transmitted to the slave end control system of the robot, and the movements and actions of the mechanical arm and the tail end executing tool are controlled through a one-to-one mapping relation, so that the whole surgical process is completed.

The remote operation master hand mainly comprises an active master hand and a passive master hand, in the existing active master hand, self-balancing is incomplete, balance can only be realized by means of motor retention force in an electrified state, and the whole master hand can fall under the action of gravity when power is off. Therefore, a fixing clamping groove is needed, and a user must place the main hand into the clamping groove after finishing using the device so as to avoid the damage caused by power-off falling.

Disclosure of Invention

The invention aims to provide a teleoperation master hand and a master operation trolley, which are used for solving the problem that the master hand in the prior art must be placed into a clamping groove after the use of the master hand is finished.

The technical scheme of the invention is as follows:

a teleoperation master hand, belonging to an active master hand, comprising:

the position adjusting mechanism is used for mapping the slave-end mechanical arm and comprises a base, a left rotary joint, a right rotary joint, a front rotary joint, a rear rotary joint and a pitching rotary joint which are connected in series;

the gesture adjusting mechanism is used for mapping an executing tool arranged at the tail end of the slave-end mechanical arm and comprises a gesture redundant deflection joint, a gesture pitching joint, a gesture deflection joint, a gesture rotation joint and a gesture clamping joint which are connected in series, wherein the gesture redundant deflection joint is connected with the pitching rotation joint, and the gesture clamping joint is used for mapping the action of a tool head in the executing tool at the tail end of the slave-end mechanical arm;

and the position adjusting mechanism is provided with a balance spring, and the balance spring is used for pulling a component of the position adjusting mechanism to adjust the posture adjusting mechanism to an initial height under the condition of no power.

The teleoperation master hand in an embodiment, the left rotary joint and the right rotary joint comprise a rotary seat and a rotary motor, the rotary seat is rotationally connected with the base, the rotary motor is respectively connected with the rotary seat and the base, and the rotation of an output shaft of the rotary motor is linked with the rotation of the rotary seat and the base.

In one embodiment, the remote operation master hand is characterized in that the rotating motor is fixedly connected to the rotating seat, a motor gear is arranged on an output shaft of the rotating motor, a rotating shaft gear is arranged on the rotating shaft, and the rotating shaft gear is meshed with the motor gear to realize linkage.

In one embodiment, a teleoperation master hand is fixed on the rotating seat, and a transverse shaft is connected to the upright;

the front-rear rotary joint comprises a first rotary disc, a first arm and a first motor, the first rotary disc is rotatably connected to the transverse shaft, one end of the first arm is connected with the first rotary disc, and the other end of the first arm is connected with the pitching rotary joint; the first motor is fixedly connected to the rotating seat, and the rotation of an output shaft of the first motor is linked with the rotation of the first rotating disc relative to the transverse shaft.

The teleoperation main hand in one embodiment, the pitching rotary joint comprises a second rotary disc, a second arm, a second motor and an auxiliary arm, wherein the second rotary disc is rotationally connected with the transverse shaft, and the transverse shaft coincides with the rotation axis of the second rotary disc and the rotation axis of the first rotary disc;

the auxiliary arm is parallel to the first arm, one end of the auxiliary arm is rotationally connected with the second rotary disk, the other end of the auxiliary arm is rotationally connected with one end of the second arm, the other end of the second arm is provided with the gesture adjusting mechanism, the second arm is rotationally connected with the first arm, the rotational connection part is positioned between two ends of the second arm, and the first arm, the second rotary disk, the auxiliary arm and the second arm form a parallelogram-like configuration;

the second motor is fixedly connected to the rotating seat, and the rotation of an output shaft of the second motor is linked with the rotation of the second rotating disc relative to the transverse shaft.

In one embodiment, the rotation axes of the base and the rotating seat are vertical base lines; the balance spring includes:

the two ends of the first spring are respectively connected with the rotating seat and the first arm, and are used for providing pulling force to enable the first arm to always have a trend of being parallel to the vertical base line;

and the two ends of the second spring are respectively connected with the rotating seat and the auxiliary arm, and the second spring and the first spring are configured to be matched with each other under the condition of no power so that the second arm is perpendicular to the vertical base line.

A teleoperation master hand in an embodiment, wherein a rotating seat in the left and right rotating joints is rotationally connected with the base so as to realize left and right swinging of the gesture adjusting mechanism; the first arm in the front and rear rotary joints is rotationally connected with the rotary seat so as to realize front and rear swinging of the gesture adjusting mechanism; a second arm in the pitching rotary joint is rotationally connected with the first arm so as to realize the up-and-down pitching of the gesture adjusting mechanism;

the balance spring comprises a first spring and a second spring, wherein two ends of the first spring are respectively connected with the rotating seat and the first arm, and the balance spring is used for providing a tensile force to enable the first arm to always have a trend parallel to the vertical base line;

the two ends of the second spring are respectively connected with the rotating seat and the first end of the second arm, the second end of the second arm is connected with the gesture redundant deflection joint, the rotating connection part of the first arm and the second arm is positioned between the first end and the second end of the second arm, and the second spring and the first spring are configured to be mutually matched under the condition of no power so that the second arm is perpendicular to the vertical base line.

A teleoperation master hand in an embodiment, wherein the tail end of the position adjusting mechanism is a second arm in the pitching rotary joint, and the gesture adjusting mechanism is arranged on the second arm;

the gesture redundant deflection joint comprises a redundant motor and an L-shaped redundant swing arm, one end of the L-shaped redundant swing arm is rotationally connected with the second arm through the redundant motor, and the rotation axis of the L-shaped redundant swing arm is perpendicular to the length direction of the second arm;

the attitude pitching joint comprises a pitching motor and an L-shaped pitching swing arm, one end of the L-shaped pitching swing arm is rotationally connected with the other end of the L-shaped redundant swing arm through the pitching motor, and the rotation axis of the L-shaped pitching swing arm is perpendicular to the rotation axis between the L-shaped redundant swing arm and the second arm;

the attitude deflection joint comprises a deflection motor and an L-shaped deflection swing arm, one end of the L-shaped deflection swing arm is rotationally connected with the other end of the L-shaped pitching swing arm through the deflection motor, and the rotation axis of the L-shaped deflection swing arm is perpendicular to the rotation axis between the L-shaped pitching swing arm and the L-shaped redundant swing arm; the other end of the L-shaped swing arm is connected with the gesture rotary joint.

The teleoperation master hand in an embodiment, the gesture rotary joint comprises a rotary shell and a rotary motor, the rotary shell is connected with the other end of the L-shaped swing arm, the rotary motor is fixedly connected in the rotary shell, and an output shaft of the rotary motor is connected with the gesture clamping joint.

In a certain embodiment, the teleoperation master hand is characterized in that the left and right rotary joints, the front and rear rotary joints, the pitching rotary joints, the gesture redundant yaw joints, the gesture pitching joints, the gesture yaw joints and the gesture turning joints are all rotary joints, and angular displacement sensors are respectively arranged, and are used for detecting and outputting the rotation angles of the corresponding joints.

A main operation trolley, comprising a trolley body, wherein the trolley body is provided with:

at least one teleoperational master hand as claimed in any one of the preceding claims;

the display screen is in signal connection with the camera equipment on the slave end mechanical arm and is used for feeding back the tail end action of the slave end execution tool in real time;

armrests for the arms of the operator.

The main operation trolley in one embodiment comprises a trolley body, wherein two teleoperation main hands are arranged on the trolley body and are respectively used for left and right hand operation of an operator.

By adopting the technical scheme, the invention has the following advantages and positive effects compared with the prior art:

when the teleoperation master hand and the main operation trolley are turned off, the balance spring pulls the components in the position adjusting mechanism to a proper position, so that the posture adjusting mechanism is adjusted to an initial height. In the prior art, an active master needs to be placed in a clamping groove after the use and before shutdown, and all components are downward caused by the action of gravity under the condition of no power, so that the components are damaged, wherein the damage of an attitude adjusting mechanism is mainly caused. The balance spring can provide pulling force under the condition of no power, pulls the components in the position adjusting mechanism, so that the posture adjusting mechanism is kept at the initial height, self-balancing under the condition of no power is realized, the problem that an active master hand is easy to drop and damage under the condition of no power in the prior art is solved, the rule that the master hand is required to be placed into the clamping groove after the use is finished is not needed, the clamping groove is omitted, the size of the teleoperation master hand is reduced, and the size of the main operation trolley is further reduced.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention.

FIG. 1 is a schematic diagram of a teleoperation master hand according to the present invention;

FIG. 2 is a schematic diagram of a position adjustment mechanism according to the present invention;

FIG. 3 is a schematic view of a posture adjustment mechanism according to the present invention;

FIG. 4 is an enlarged partial schematic view of the junction of the base and swivel base of the present invention;

FIG. 5 is a schematic view of a position adjustment mechanism according to the present invention;

FIG. 6 is a schematic diagram of a linkage structure of a first motor output shaft and a first rotary disk of the present invention;

FIG. 7 is a partial schematic view of the present invention at a first spring;

FIG. 8 is a schematic view of another state of the position adjustment mechanism of the present invention;

fig. 9 is a schematic structural view of a main operation trolley according to the present invention.

Reference numerals illustrate:

1: a position adjusting mechanism; 101: a base; 102: a rotating seat; 103: a rotating electric machine; 104: a motor gear; 105: a rotating shaft gear; 106: detecting a gear; 107: left and right angular displacement sensors; 108: a column; 109: a horizontal axis; 110: a first arm; 111: a first motor; 112: a first rotating disk; 113: tensioning the fixing bolt; 114: an output shaft (of the first motor); 115: a second arm; 116: an auxiliary arm; 117: a second motor; 118: a second rotating disk; 119: a first spring; 120: a second spring; 121: a reversing wheel;

2: a posture adjustment mechanism; 201: gesture redundant deflection joints; 202: attitude pitching joints; 203: posture deflection joint; 204: a posture rotary joint; 205: the joint is clamped in the posture;

3: a vehicle body; 4: a display screen; 5: an armrest.

Detailed Description

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will explain the specific embodiments of the present invention with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the invention, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.

For the sake of simplicity of the drawing, the parts relevant to the present invention are shown only schematically in the figures, which do not represent the actual structure thereof as a product. Additionally, in order to simplify the drawing for ease of understanding, components having the same structure or function in some of the drawings are shown schematically with only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.

Example 1

Referring to fig. 1 to 8, the present embodiment provides a teleoperated master hand belonging to an active master hand, including a position adjustment mechanism 1 and an attitude adjustment mechanism 2. The position adjustment mechanism 1 is used for mapping a slave-end mechanical arm, and comprises a base 101, a left rotary joint, a right rotary joint, a front rotary joint, a rear rotary joint and a pitching rotary joint which are connected in series. The gesture adjusting mechanism 2 is used for mapping an executing tool installed on the tail end of the slave mechanical arm, and comprises a gesture redundant yaw joint 201, a gesture pitch joint 202, a gesture yaw joint 203, a gesture rotation joint 204 and a gesture clamping joint 205 which are connected in series. The attitude redundant yaw joint 201 is connected with the pitch rotation joint, and the attitude clamp joint 205 is used for mapping the motions of the tool head in the slave end mechanical arm end execution tool.

A balance spring is provided in the position adjustment mechanism 1 for pulling a member of the position adjustment mechanism 1 to adjust the posture adjustment mechanism 2 to an initial height without power. The self-balancing of the balance spring under the condition of no electric power is realized, so that the problem that an active master hand is easy to drop and damage under the condition of no electric power in the prior art is solved, the rule that the master hand is required to be placed into a clamping groove after the use is finished is not needed, the setting of the clamping groove can be omitted, and the size of the teleoperation master hand is reduced. Of course, in the transportation process, especially the situation that the teleoperation main hand has acceleration in the gravity direction may damage the self-balance brought by the balance spring, so that the components in the teleoperation main hand shake to cause damage, or additional structures such as a clamping groove may be optionally arranged to fix the teleoperation main hand.

The structure of the present embodiment will now be described.

The teleoperation master hand provided by the embodiment is mainly used for a laparoscopic surgery robot, but can also be used for other medical robots. The left rotary joint, the right rotary joint, the front rotary joint, the rear rotary joint, the pitching rotary joint, the gesture redundant deflection joint 201, the gesture pitching joint 202, the gesture deflection joint 203 and the gesture rotary joint 204 are all rotary joints, and are all provided with angular displacement sensors, the angular displacement sensors are used for detecting the rotation angles of the corresponding joints and outputting the rotation angles to a robot slave control system, and the positions of all components can be obtained through the values detected by the angular displacement sensors of all the joints, so that the motions and actions of a slave mechanical arm and a tail end executing tool are controlled through a one-to-one mapping relation, and the whole operation process is completed.

The position adjusting mechanism 1 has 3 degrees of freedom, so that the gesture adjusting mechanism 2 can do left-right, front-back and up-down motions, and the corresponding robot slave end adjusts the mechanical arm action to enable the tail end executing tool to do left-right deflection, advancing-retreating and pitching motions; the main points are that the left and right rotary joints correspond to left and right swinging motions, the front and back rotary joints correspond to advancing and retreating motions, and the pitching joints correspond to pitching motions. The position adjusting mechanism 1 can ensure that the whole gesture adjusting mechanism 2 is self-balanced to the initial height without falling under the action of motor assistance, thereby ensuring that a teleoperation master hand is not damaged under the condition of power failure, and the position adjusting mechanism 1 can also ensure that the whole gesture adjusting mechanism 2 is actively located at any point in a working space under the action of motor assistance and is self-balanced to the point. The position adjusting mechanism 1 in the embodiment has compact structure and strong applicability.

The base 101 is adapted to be fixedly connected to an external structure, typically a main operating trolley. The left and right rotary joints comprise a rotary seat 102 and a rotary motor 103, the rotary seat 102 is rotationally connected with the base 101, and the rotation of the rotary seat can be driven by external force or by the rotary motor 103. The rotary motor 103 is connected to the rotary base 102 and the base 101, respectively, and rotation of an output shaft of the rotary motor 103 is linked with rotation of the rotary base 102 and the base 101.

Specifically, a rotating shaft is provided on the base 101, and the rotating shaft is rotatably connected to the rotating seat 102. The side of the rotating seat 102 close to the base 101 is a first side, and the opposite side is a second side; the interval between the rotary seat 102 and the base 101 is a transmission interval. The rotating motor 103 is fixedly connected to the rotating base 102 and is disposed on a second side of the rotating base 102. An output shaft of the rotating motor 103 penetrates through the rotating seat 102 and stretches into the transmission section, a motor gear 104 is arranged on the output shaft of the rotating motor 103, a rotating shaft gear 105 is arranged on the rotating shaft, and the rotating shaft gear 105 and the motor gear 104 are arranged in the transmission section and are meshed for transmission.

For convenience of distinction, the angular displacement sensor in the left and right rotary joints is referred to as a left and right angular displacement sensor 107. The shell of the left-right angular displacement sensor 107 is fixedly connected to the rotating seat 102, and a detection shaft of the left-right angular displacement sensor extends into the transmission section through the rotating seat 102; the detection shaft of the left-right angular displacement sensor 107 is provided with a detection gear 106, and the detection gear 106 is meshed with the rotating shaft gear 105 for transmission, so that the rotating angle of the rotating seat 102 relative to the base 101 can be obtained through conversion.

The rotary seat 102 is fixed with a column 108, and the column 108 is connected with a transverse shaft 109.

The front and rear rotary joints comprise a first rotary disc 112, a first arm 110 and a first motor 111, the first rotary disc 112 is rotatably connected to the transverse shaft 109, one end of the first arm 110 is fixedly connected with the first rotary disc 112, and the other end is connected with the pitching rotary joint. The first motor 111 is fixedly connected to the rotary base 102, and the rotation of the output shaft 114 thereof is linked with the rotation of the first rotary disk 112 relative to the transverse shaft 109. Specifically, a certain proportion of decelerating rotational movement is realized between the first motor 111 and the first arm 110 through wire rope transmission, and the main purpose is to amplify the output torque of the first motor 111, thereby improving the load bearing capacity of the position adjustment mechanism 1. More specifically, as shown in fig. 6, two ends of the steel wire rope are respectively connected and fixed on the first rotary disk 112 through tensioning fixing bolts 113, and the middle of the steel wire rope winds a certain number of turns on a shaft sleeve of an output shaft 114 of the first motor 111, so that enough friction force after tensioning is ensured; when the first motor 111 rotates in the forward and reverse directions, the wire rope can pull the first rotating disk 112 to rotate in the forward and reverse directions. The angular displacement sensor in the front and rear rotary joints is provided at the rotational connection of the first rotary disk 112 and the transverse shaft 109.

The pitch rotation joint comprises a second rotary disc 118, a second arm 115, a second motor 117 and an auxiliary arm 116, the second rotary disc 118 being rotatably connected to the transverse shaft 109, the transverse shaft 109 coinciding with the axis of rotation of the second rotary disc 118 and with the axis of rotation of the first rotary disc 112. The auxiliary arm 116 is parallel to the first arm 110, one end of the auxiliary arm 116 is rotationally connected with the second rotary disk 118, the other end is rotationally connected with one end of the second arm 115, the other end of the second arm 115 is provided with the posture adjustment mechanism 2, the second arm 115 is rotationally connected with the first arm 110, and the rotational connection part is positioned between the two ends of the second arm 115, and the first arm 110, the second rotary disk 118, the auxiliary arm 116 and the second arm 115 form a parallelogram-like configuration.

The second motor 117 is fixedly connected to the rotary base 102, and the rotation of the output shaft thereof is linked with the rotation of the second rotary disk 118 relative to the transverse shaft 109. The specific linkage structure may be the same as that of the linkage of the output shaft 114 of the first motor 111 and the first rotary disk 112. An angular displacement sensor in the pitch rotation joint is provided at the rotational connection of the first arm 110 and the second arm 115.

The axes of rotation of the base 101 and the swivel 102 are set to be vertical baselines, which are ideally parallel or coincident with the direction of gravity, but in practice allow for minor errors. The counter-spring comprises a first spring 119 and a second spring 120.

The first spring 119 is connected to the swivel base 102 and the first arm 110 at both ends thereof, respectively, for providing a pulling force such that the first arm 110 always has a tendency to be parallel to the vertical base line. Specifically, a containing area is arranged in the upright post 108, a first spring 119 is arranged in the containing area, a through hole communicated with the containing area is arranged at the top of the upright post 108, and a reversing wheel set is arranged in the through hole; the lower end of the first spring 119 is connected to the upright 108, and the upper end is connected to one end of a wire rope, and the other end of the wire rope bypasses the reversing wheel set and passes through the through hole to be connected to the first arm 110. The reversing wheel set comprises two reversing wheels 121, and the two reversing wheels 121 are arranged on two sides of the steel wire rope along the swinging direction of the first arm 110 and are suitable for swinging of the first arm 110 in the front-back two directions. The first spring 119 always provides a reverse pulling force, regardless of the angular position of the first arm 110, which tends to bias the first arm 110 toward the upright position. It should be noted that it is ensured that the first spring 119 always expands and contracts within the receiving area of the upright 108 within the range of travel of the first arm 110. Further, the lateral shaft 109 is provided with a relief hole to prevent interference with the first spring 119.

The second spring 120 is connected at both ends to the swivel mount 102 and the auxiliary arm 116, respectively, and the second spring 120 and the first spring 119 are configured to cooperate with each other in a non-powered condition such that the second arm 115 is perpendicular to the vertical base line. Specifically, the lower end of the second spring 120 is connected to the swivel base 102, and the other end is fixed to a specific point on the auxiliary arm 116 via a wire rope. The second spring 120 always provides a downward pulling force, tending to tilt the second arm 115 upward.

By proper shaping and design of the first spring 119 and the second spring 120, the first arm 110 and the second arm 115 are self-balanced with the posture adjustment mechanism 2 in the absence of electric power, and the first arm 110 and the second arm 115 are kept in a balanced state, i.e., the first arm 110 is vertical and the second arm 115 is horizontal, i.e., the initial state of the first arm 110 and the second arm 115 of the position adjustment mechanism 1.

Note that the movement of the posture adjustment mechanism 2 in the left-right, front-back, up-down directions is realized by the combined rotational movement of the left-right rotational joint, the front-back rotational joint, and the pitch rotational joint.

The gesture clamping joint 205, the gesture turning joint 204, the gesture yaw joint 203, the gesture pitch joint 202, and the gesture redundant yaw joint 201 are respectively used for clamping (including shearing, etc.), turning, yaw (gesture yaw and gesture redundant yaw both map this action), and pitch of a tool head of the end mechanical arm end execution tool. Except for the gesture clamping joint 205, other joints are all actively driven by a motor and are provided with angular displacement sensors for recording positions, so that long-time complex fine operation can be realized.

The gesture redundant yaw joint 201 includes a redundant motor and an L-shaped redundant swing arm, one end of which is rotatably connected to the second arm 115 through the redundant motor, and a rotation axis of which is perpendicular to a length direction of the second arm 115.

The attitude pitching joint 202 includes a pitching motor and an L-shaped pitching swing arm, one end of which is rotatably connected to the other end of the L-shaped redundant swing arm by the pitching motor, and the rotation axis thereof is perpendicular to the rotation axis between the L-shaped redundant swing arm and the second arm 115.

The gesture deflection joint 203 comprises a deflection motor and an L-shaped deflection swing arm, one end of the L-shaped deflection swing arm is rotationally connected with the other end of the L-shaped pitching swing arm through the deflection motor, and the rotation axis of the L-shaped deflection swing arm is perpendicular to the rotation axis between the L-shaped pitching swing arm and the L-shaped redundant swing arm; the other end of the L-shaped swing arm is connected with a posture rotary joint 204.

The gesture rotary joint 204 comprises a rotary shell and a rotary motor, wherein the rotary shell is connected with the other end of the L-shaped deflection swing arm, the rotary motor is fixedly connected in the rotary shell, and an output shaft of the rotary motor is connected with the gesture clamping joint 205.

The teleoperation master hand provided by the embodiment utilizes the elastic element, namely the balance spring and the active drive of the motor to complete the self-balance of the joint, so that the hands can operate the sense of no load, the operation comfort is high, and a doctor can obtain a better operation effect. Meanwhile, all the active joints are provided, so that the active joints can stay at any position and are self-balanced under the auxiliary action of the active motor, and the active joints can be self-balanced at a specific balance point under the auxiliary action of the non-active motor, so that the falling risk is avoided even if the power is lost.

The existing surgical robot main manipulator is generally provided with a band-type brake mounted on a motor in each joint so as to prevent the motor from falling off. For such a master hand, if a doctor is suddenly power-off and locked during the operation, the doctor is suddenly jammed while pushing and pulling the master hand, and an impact force is generated between the hands, which is a bad influence for both the doctor and the master hand. The balance spring is arranged in the teleoperation main hand, the balance spring and the motor jointly assist and balance the gravity action, the band-type brake is not needed, when the motor is powered off and does not output force, one part of the gravity of each component of the teleoperation main hand is counteracted by the balance spring, the rest part of the gravity acts on the hands of a doctor, but each joint cannot be locked, the main hand can move while the disconnection ensures safety, and the doctor can obviously feel the action of the load, so that the operation is stopped in a buffer mode. Therefore, the teleoperation master hand provided by the embodiment has better stability.

In addition, the teleoperation master hand also has an omnibearing motion scale and strong applicability; and the volume is smaller, and all functions and self-balancing design can be completed in a small space.

Example 2

Referring to fig. 9, the present embodiment provides a main operation trolley including a vehicle body on which a teleoperation main hand, a display screen, and an armrest as shown in embodiment 1 are provided.

Preferably, in this embodiment, two teleoperation master hands are provided on the body for the left and right hand operations of the operator, i.e. the doctor, respectively. When the teleoperation main hand is installed, the base in the teleoperation main hand is fixedly installed on the car body.

The armrests arranged on the vehicle body are convenient for doctors to lean on.

The display screen is in signal connection with the camera equipment on the slave end mechanical arm and is used for feeding back the tail end action of the slave end execution tool in real time. That is, the motion of teleoperation master hand operates the slave end of the robot through signal transmission, the slave end is provided with a mechanical arm provided with a camera, and the camera can feed back the real-time motion of the tail end of the slave end execution tool to the display screen, so that a doctor can adjust in real time.

In the prior art, the self-balancing master hand is generally huge and bulkier, and the occupied space is large, so that the main operation trolley is indirectly huge, the width requirement on a transportation channel exists, and the auxiliary operation robot system cannot be introduced for operation due to insufficient width of part of elevator and operating room access channels. In contrast, the teleoperation master hand shown in embodiment 1 is small in size, so that the main operation cart in this embodiment employing the teleoperation master hand in embodiment 1 is reduced in overall size, thereby solving the above-described problems.

The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, it is within the scope of the appended claims and their equivalents to fall within the scope of the invention.

Claims (12)

1. A teleoperation master hand, belonging to an active master hand, characterized in that it comprises:

the position adjusting mechanism is used for mapping the slave-end mechanical arm and comprises a base, a left rotary joint, a right rotary joint, a front rotary joint, a rear rotary joint and a pitching rotary joint which are connected in series;

the gesture adjusting mechanism is used for mapping an executing tool arranged at the tail end of the slave-end mechanical arm and comprises a gesture redundant deflection joint, a gesture pitching joint, a gesture deflection joint, a gesture rotation joint and a gesture clamping joint which are connected in series, wherein the gesture redundant deflection joint is connected with the pitching rotation joint, and the gesture clamping joint is used for mapping the action of a tool head in the executing tool at the tail end of the slave-end mechanical arm;

and the position adjusting mechanism is provided with a balance spring, and the balance spring is used for pulling a component of the position adjusting mechanism to adjust the posture adjusting mechanism to an initial height under the condition of no power.

2. A teleoperated master hand according to claim 1, characterized in that the left and right rotary joints comprise a rotary base and a rotary motor, the rotary base is rotatably connected with the base, the rotary motor is respectively connected with the rotary base and the base, and the rotation of the output shaft of the rotary motor is linked with the rotation of the rotary base and the base.

3. A teleoperation master according to claim 2, characterized in that the rotating motor is fixedly connected to the rotating base, a motor gear is arranged on an output shaft of the rotating motor, a rotating shaft gear is arranged on the rotating shaft, and the rotating shaft gear and the motor gear are meshed to realize linkage.

4. A teleoperated master hand according to claim 2, characterized in that the rotating base is fixed with a column, the column being connected with a transverse shaft;

the front-rear rotary joint comprises a first rotary disc, a first arm and a first motor, the first rotary disc is rotatably connected to the transverse shaft, one end of the first arm is connected with the first rotary disc, and the other end of the first arm is connected with the pitching rotary joint; the first motor is fixedly connected to the rotating seat, and the rotation of an output shaft of the first motor is linked with the rotation of the first rotating disc relative to the transverse shaft.

5. A teleoperated master hand according to claim 4, characterized in that the pitch rotation joint comprises a second rotation disc, a second arm, a second motor and an auxiliary arm, the second rotation disc being rotatably connected to the transverse shaft, the transverse shaft coinciding with the rotation axis of the second rotation disc and with the rotation axis of the first rotation disc;

the auxiliary arm is parallel to the first arm, one end of the auxiliary arm is rotationally connected with the second rotary disk, the other end of the auxiliary arm is rotationally connected with one end of the second arm, the other end of the second arm is provided with the gesture adjusting mechanism, the second arm is rotationally connected with the first arm, the rotational connection part is positioned between two ends of the second arm, and the first arm, the second rotary disk, the auxiliary arm and the second arm form a parallelogram-like configuration;

the second motor is fixedly connected to the rotating seat, and the rotation of an output shaft of the second motor is linked with the rotation of the second rotating disc relative to the transverse shaft.

6. A teleoperated master hand according to claim 5, wherein the axes of rotation of the base and swivel are vertical baselines; the balance spring includes:

the two ends of the first spring are respectively connected with the rotating seat and the first arm, and are used for providing pulling force to enable the first arm to always have a trend of being parallel to the vertical base line;

and the two ends of the second spring are respectively connected with the rotating seat and the auxiliary arm, and the second spring and the first spring are configured to be matched with each other under the condition of no power so that the second arm is perpendicular to the vertical base line.

7. A teleoperated master hand according to claim 1, wherein a swivel mount in the left and right swivel joints is rotatably connected to the base to effect a left and right swing of the attitude adjustment mechanism; the first arm in the front and rear rotary joints is rotationally connected with the rotary seat so as to realize front and rear swinging of the gesture adjusting mechanism; a second arm in the pitching rotary joint is rotationally connected with the first arm so as to realize the up-and-down pitching of the gesture adjusting mechanism;

the balance spring comprises a first spring and a second spring, wherein two ends of the first spring are respectively connected with the rotating seat and the first arm, and the balance spring is used for providing a tensile force to enable the first arm to always have a trend parallel to the vertical base line;

the two ends of the second spring are respectively connected with the rotating seat and the first end of the second arm, the second end of the second arm is connected with the gesture redundant deflection joint, the rotating connection part of the first arm and the second arm is positioned between the first end and the second end of the second arm, and the second spring and the first spring are configured to be mutually matched under the condition of no power so that the second arm is perpendicular to the vertical base line.

8. A teleoperated master hand according to claim 1, characterized in that the position adjustment mechanism ends in a second arm in the pitch rotation joint, the attitude adjustment mechanism being mounted to the second arm;

the gesture redundant deflection joint comprises a redundant motor and an L-shaped redundant swing arm, one end of the L-shaped redundant swing arm is rotationally connected with the second arm through the redundant motor, and the rotation axis of the L-shaped redundant swing arm is perpendicular to the length direction of the second arm;

the attitude pitching joint comprises a pitching motor and an L-shaped pitching swing arm, one end of the L-shaped pitching swing arm is rotationally connected with the other end of the L-shaped redundant swing arm through the pitching motor, and the rotation axis of the L-shaped pitching swing arm is perpendicular to the rotation axis between the L-shaped redundant swing arm and the second arm;

the attitude deflection joint comprises a deflection motor and an L-shaped deflection swing arm, one end of the L-shaped deflection swing arm is rotationally connected with the other end of the L-shaped pitching swing arm through the deflection motor, and the rotation axis of the L-shaped deflection swing arm is perpendicular to the rotation axis between the L-shaped pitching swing arm and the L-shaped redundant swing arm; the other end of the L-shaped swing arm is connected with the gesture rotary joint.

9. The teleoperation master hand according to claim 8, wherein the posture swivel joint comprises a swivel housing and a swivel motor, the swivel housing is connected with the other end of the L-shaped yaw arm, the swivel motor is fixedly connected in the swivel housing, and an output shaft of the swivel motor is connected with the posture clamping joint.

10. A teleoperated master hand according to claim 1, characterized in that the left and right rotational joints, the front and rear rotational joints, the pitch rotational joints, the attitude redundant yaw joints, the attitude pitch joints, the attitude yaw joints, and the attitude swing joints are rotational joints, and are provided with angular displacement sensors for detecting and outputting rotational angles of the corresponding joints.

11. The utility model provides a main operation platform truck which characterized in that includes the automobile body, be equipped with on the automobile body:

at least one teleoperated master hand according to any one of claims 1 to 10;

the display screen is in signal connection with the camera equipment on the slave end mechanical arm and is used for feeding back the tail end action of the slave end execution tool in real time;

armrests for the arms of the operator.

12. The master control cart according to claim 11, comprising two teleoperation master hands provided on the cart body for left and right hand operations of an operator, respectively.

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