CN116872170A - Surgical robot control device for reading surgical operation - Google Patents
Surgical robot control device for reading surgical operation Download PDFInfo
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- CN116872170A CN116872170A CN202311148348.0A CN202311148348A CN116872170A CN 116872170 A CN116872170 A CN 116872170A CN 202311148348 A CN202311148348 A CN 202311148348A CN 116872170 A CN116872170 A CN 116872170A
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- 230000033001 locomotion Effects 0.000 claims abstract description 55
- 230000005540 biological transmission Effects 0.000 claims description 17
- 238000004891 communication Methods 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 description 9
- 230000005484 gravity Effects 0.000 description 5
- 238000013016 damping Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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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
- A61B34/35—Surgical robots for telesurgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a surgical robot control device for reading surgical operation, which comprises a base, wherein a rotating device and a linear moving device are arranged on the base, the rotating device and the linear moving device are connected with an operating device for driving the rotating device to move, a first sensor for detecting the moving distance of the base or the linear moving device is arranged on the base or the linear moving device, a second sensor for detecting the rotating angle of the base or the rotating device is arranged on the base or the rotating device, and signal output ends of the first sensor and the second sensor are connected with a tele-surgical robot. The operating device can realize linear movement and circumferential rotation in the linear movement direction, the linear movement distance is identified through the first sensor, the rotation motion is identified through the second sensor, the multi-degree-of-freedom motion of the manipulator is realized, and the gesture information of the operating device is acquired.
Description
Technical Field
The invention relates to the technical field of surgical robots, in particular to a surgical robot control device for reading surgical operations.
Background
When operating the surgical robot, a surgeon holds an operator of the surgical robot to perform actions, and the operator identifies and judges the direction, angle, amplitude and the like of the actions and feeds the actions back to the surgical end of the surgical robot. When the remote operation is performed, the operation end for loading the operation instrument is arranged in an operation room, signal transmission is performed between the remote end and the operation section through a network and the like, and a surgeon can remotely control the operation instrument by operating an operator on the remote end at any place.
However, when an operator of the current surgical robot cannot control the opening and closing of the surgical instrument by one operator, the operating point of the surgical instrument is moved to any position in the three-dimensional space to achieve accurate reaching of the surgical position, and the action of the operator is accurately and timely fed back to the surgical instrument.
Disclosure of Invention
The invention aims to overcome the defects that the motion self-freedom degree of an operation hand of a surgical robot in the prior art is low and the motion applied by the motion to an operation device cannot be accurately read, and provides the surgical robot operation device for reading the surgical operation.
The aim of the invention can be achieved by adopting the following technical scheme:
the surgical robot control device for reading the surgical operation comprises a base, wherein a rotating device and a linear moving device are arranged on the base, the rotating device and the linear moving device are connected with an operating device for driving the rotating device to move, a first sensor for detecting the moving distance of the rotating device is arranged on the base or the linear moving device, a second sensor for detecting the rotating angle of the rotating device is arranged on the base or the rotating device, and signal output ends of the first sensor and the second sensor are connected with a remote surgical robot;
the rotating device comprises a rotating bracket, the rotating bracket is hinged on the linear moving device through a first hinge shaft, the rotating bracket is hinged on the base through a second hinge shaft, and the first hinge shaft and the second hinge shaft are mutually perpendicular; the operating device is movable in a straight line on the straight line moving device.
The operation device is used for pushing, pulling, rotating and other actions after being held by a hand of a surgeon, the linear movement device enables the surgeon to push, pull and move the operation device on the linear movement device by hand, and the first sensor identifies the moving distance of the operation device so as to judge the moving distance of the operation device. The rotating device can enable a doctor to stir the operating device by hand to rotate on the rotating device, the operating device can rotate relative to the base, and the second sensor is used for identifying the rotating angle of the operating device. The first sensor and the second sensor identify the operation of the operation device input by the surgeon through identifying the action of the operation device, the control device at the remote end on the operation robot receives the input signals of the first sensor and the second sensor, converts the input signals into the action of the operation device, and then transmits the action to the operation end of the operation robot in the operation room, and the operation end controls the operation device, so that the surgeon performs remote operation through the operation robot.
According to the rotating device provided by the invention, in an initial state, the direction of linear motion of the operating device is perpendicular to the first hinge shaft and the second hinge shaft, the direction of linear motion of the operating device in the initial state is taken as a Z shaft, the first hinge shaft is taken as an X shaft, and the second hinge shaft is taken as a Y shaft. Since the operating device can move on the linear moving device along a straight line, two sides of the linear moving device are hinged with the rotating bracket through the first hinge shaft. Therefore, the operation device can be shifted to rotate around the X axis and rotate around the Y axis in the rotating device, so that the operation robot operation device provided by the invention can identify the depth change of the operation device when moving on the linear moving device, and meanwhile, the operation device can be projected on any point of the X-Y plane, and therefore, the operation device can be moved to any position in the space coordinate system XYZ and can read identification, and the blind area of the rotation position of the operation device is eliminated.
Further, the linear moving device comprises a fixing frame and a guide rod in sliding connection with the fixing frame, the operating device is fixedly connected with one end of the guide rod, the operating device pushes the guide rod to move, and the first sensor is arranged on the fixing frame and used for identifying the moving distance of the operating device.
The doctor pushes and pulls the operating device by hand so that the guide bar slides on the fixing frame, and the first sensor can be a displacement sensor for identifying the displacement of the guide bar relative to the fixing frame. The rotating pivot of the guide rod is located at the joint of the first hinge shaft and the fixing frame, and in order to balance the weight at two ends of the guide rod, the joint of the first hinge shaft and the fixing frame can be located at the gravity center of the guide rod, the linear moving device, the operating device and the like after being connected.
Further, a club head is arranged at one end of the guide rod, which is far away from the operating device.
According to the invention, the rod heads and the operating devices which are respectively arranged at the two ends of the guide rod are mutually balanced, so that the weight of the operating device per se is prevented from influencing the operation of doctors, and the operating hand feeling of the operating device is better.
Further, the rotating bracket is hinged on the fixed frame through a first hinge shaft; the second sensor comprises a first angle sensor and a second angle sensor which are all in communication connection with a control device of the surgical robot, the first angle sensor is arranged on the base and used for identifying the rotation angle of the second hinge shaft, and the second angle sensor is arranged on the rotation support and used for identifying the rotation angle of the first hinge shaft.
In the rotating device provided by the invention, in an initial state, the axis of the guide rod is the direction of linear motion of the operating device, and the operating device is pushed to enable the guide rod to rotate around the X axis and rotate around the Y axis, and the rotating fulcrum is the joint of the linear moving device on the guide rod and the first hinge shaft. Simultaneously, this scheme is through these two angle sensor of first angle sensor and second angle sensor detect respectively the rotation angle of first articulated shaft and second articulated shaft, and surgical robot's controlling means receives angle sensor's data, can learn whole rotary device's rotation gesture information, carries out certain conversion to the rotation angle of discernment according to the relative position of guide bar and runing rest, converts into surgical instrument's rotation gesture. According to the scheme, the angle sensor is used for directly identifying the rotation angle of the rotation joint, the obtained information is more accurate, and the operation robot can accurately feed back the operation input by the surgeon to the operation device.
In addition, compared with the structure that the universal shaft and other connection modes are used for realizing rotation, the structure of the rotating device provided by the scheme ensures that the operating device moves and transfers the movement of the operating device to the guide rod more stably under the condition that the movable range of the operating device is enough, is more convenient to operate, and simultaneously cooperates with the angle sensor for measuring the pose information more accurately.
Further, a transmission structure is arranged between the guide rod and the fixing frame, a third hinge shaft connected with the fixing frame in a rotating mode is arranged on the fixing frame, the transmission structure converts the linear motion of the guide rod into the rotary motion of the third hinge shaft, and the first sensor comprises a third angle sensor used for measuring the rotation angle of the third hinge shaft.
The third angle sensor is arranged on the fixing frame and used for identifying the rotation angle of the third hinge shaft, in the scheme, the linear motion of the linear moving device is converted into the rotation of the third hinge shaft, so that the angle sensor can be used for acquiring the movement information of the operating device through the rotation of the identification edge, and the reading acquired through the angle sensor is more accurate than that acquired by the displacement sensor.
Further, the guide rod comprises a front rod and a rear rod which are separated from each other or are connected with each other in a sliding way, one end, close to each other, of the front rod and the rear rod is connected with the fixing frame in a sliding way, and the other end of the rear rod is fixedly connected with the operating device;
the transmission structure comprises a movable parallelogram frame, two adjacent edges of the movable parallelogram frame are hinged to each other, the movable parallelogram comprises a group of first opposite edges parallel to the axis of the guide rod, the movable parallelogram also comprises another group of second opposite edges, the middle points of the second opposite edges are hinged to the fixed frame through third hinge shafts, one side surface of each second opposite edge is hinged to the fixed frame, sliding grooves are formed in the other sides of the second opposite edges, sliding pieces which are in sliding connection with the sliding grooves are arranged on the front rod and the rear rod, and the sliding grooves are formed along the side lengths of the second opposite edges.
In this scheme, the back pole is in during push-and-pull operation device slide in the mount, because back pole and second opposite side sliding connection, and the second opposite side is articulated with the mount, drives the limit rotation of the first opposite side of being connected with the back pole when the back pole slides, simultaneously, under the transmission of first opposite side, the drive front rod of the first opposite side of being connected with the front rod slides in the mount. The linear moving device skillfully utilizes the structure of the movable parallelogram to synchronize the linear motion of the linear moving device into the rotation of the side of the movable parallelogram, so that the angle sensor can be utilized to acquire the movement information of the operating device by identifying the rotation of the side, and the reading acquired by the angle sensor is more accurate than that acquired by the displacement sensor. And under the transmission of the movable parallelogram, the front rod and the rear rod are simultaneously close to or far away from each other, so that the gravity center of the guide rod, the rod head, the linear moving device, the operating device and the like after being connected can be kept unchanged, and the stability of operation of a doctor is not affected due to gravity center change along with the sliding of the guide rod.
Further, be equipped with the slide rail on the mount and with two sliders of slide rail sliding connection, the front and the one end that the back pole is close to each other respectively with slider fixed connection, the slider is located on the slider, the back pole with the slider rotates to be connected, the back pole rotates around self axis, be equipped with on the slider and be used for discernment back pole turned angle's fourth angle sensor.
Because the back pole can rotate around self axis and pass through the rotation angle of fourth angle sensor discernment back pole around self axis, then with back pole fixed connection's operating means also can rotate around the axis of guide bar, i.e. Z, angle sensor and surgical robot's controlling means communication connection. The guide rod is divided into a front rod and a rear rod, the front rod is connected with the rear rod through the transmission of the movable parallelogram, the guide rod can be slid and converted into rotation to be measured, and meanwhile, an angle sensor can be arranged on the sliding block to facilitate the measurement of the rotation of the rear rod around the axis of the sliding block.
Further, the operating device comprises a support and a pair of operating handles hinged with the support, one side of the support is fixedly connected with one end of the guide rod, the other side of the support is hinged with one end of the operating handles, two operating handles are hinged with the hinged ends of the support, gears meshed with each other are arranged on the hinged ends of the operating handles, the gears are fixedly connected with one end of the operating handles, and the axes of the gears are in the same straight line with the rotating shafts of the operating handles.
The doctor can hold the operating handles with hands and push and pull or rotate, and simultaneously, the doctor can hold the two operating handles with one hand and apply force to open or close the two operating handles, and the two operating handles can be simultaneously opened or closed under the transmission action of the gears.
Further, two fifth angle sensors for identifying the rotation angles of the two gears are arranged on the support.
The operating handle can be provided with a distance sensor or other ways for measuring the opening and closing degree of the operating handle, but the scheme utilizes the angle sensor to measure the rotating angle of the connecting part of the operating handle and the support, so that the opening and closing angle of the operating handle can be obtained more accurately, and meanwhile, the average value of the angle sensors can be obtained at the connecting parts of the two operating handles and the support, so that the numerical value is more accurate.
Further, a self-locking spring which enables the handles to be in an open state is arranged between the two operating handles.
When a doctor closes the operating handle by hand, the self-locking spring can be compressed, and the gear at the tail end of the operating handle rotates so that the cylindrical magnetic head of the angle sensor rotates, and the rotation information of the gear can be recorded by the angle sensor. The self-locking spring is arranged, so that the operating handle is kept in an open state when no force is applied, and the use is more convenient.
Compared with the prior art, the invention has the beneficial effects that:
(1) Through linear movement device and rotary device, operating device can realize linear movement and towards the rotation all around of linear movement direction to through the distance of first sensor discernment linear movement, through the second sensor discernment rotation action, realize operating device multi freedom motion and acquire operating device's gesture information, thereby operating robot's controlling means can obtain surgeon's operation action and change the operation of the surgical instrument who carries on the operating robot.
(2) The rotating support is provided with the first hinge shaft and the second hinge shaft, so that the operating device rotates around two axes which are perpendicular to each other, the two rotating directions are mutually independent, the operating device has no blind area of a rotating position, and meanwhile, the angle sensor with higher precision is convenient to set for measurement, and the rotating is more stable and convenient to operate.
(3) The linear moving device enables the operating device to move along the axis of the guide rod, and the linear movement of the guide rod is converted into the rotation of the movable parallelogram side, so that the moving distance of the linear moving device is identified by measuring the rotation angle, and the angle sensor is higher than the displacement sensor, and has the characteristics of high reliability, high tracking speed, high and low temperature resistance, water resistance, dust resistance, corrosive gas resistance, vibration resistance, long service life and the like.
(4) The guide rod is separated into a front rod and a rear rod, an angle sensor can be arranged on the sliding block to more conveniently measure the rotation of the rear rod around the axis of the sliding block, and the stability that the gravity center moves to influence the operation and control of a doctor can be avoided.
(5) The clamping degree is calculated through the angle sensor for measuring the operating handle, the sensing precision is high, and the control mode is simple and visual.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the whole structure of another view of the present invention;
FIG. 3 is a schematic diagram of the overall structure of the linear motion device of the present invention;
FIG. 4 is a schematic diagram of the internal structure of the linear motion device according to the present invention;
FIG. 5 is a schematic view of the internal structure of the linear motion device according to another aspect of the present invention;
FIG. 6 is a schematic view of the structure of the guide bar and slider of the present invention;
FIG. 7 is a schematic view of the structure of the movable parallelogram frame of the present invention;
fig. 8 is a schematic view of the structure of the operation device of the present invention.
The graphic indicia are illustrated as follows:
1-base, 2-guide bar, 21-club head, 22-front bar, 23-rear bar, 3-operating device, 31-support, 32-operating handle, 33-gear, 34-fifth angle sensor, 35-self-locking spring, 4-rotating device, 41-rotating bracket, 42-first hinge shaft, 43-first angle sensor, 44-second angle sensor, 45-second hinge shaft, 5-rectilinear motion device, 51-fixed frame, 511-third hinge shaft, 52-movable parallelogram frame, 53-first pair of edges, 54-second pair of edges, 541-chute, 55-slider, 56-third angle sensor, 57-slide rail, 58-slide, 59-fourth angle sensor.
Detailed Description
The invention is further described below in connection with the following detailed description. Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to be limiting of the present patent; for the purpose of better illustrating embodiments of the invention, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numbers in the drawings of embodiments of the invention correspond to the same or similar components; in the description of the present invention, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc., based on the azimuth or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus terms describing the positional relationship in the drawings are merely illustrative and should not be construed as limitations of the present patent, and specific meanings of the terms described above may be understood by those skilled in the art according to specific circumstances.
Example 1
As shown in fig. 1 and 2, a surgical robot control device for reading a surgical operation includes a base 1, a rotating device 4 and a linear moving device 5 are mounted on the base 1, the rotating device 4 and the linear moving device 5 are connected with an operating device 3 for driving the rotating device to move, a first sensor for detecting a moving distance of the base 1 or the linear moving device 5 is mounted on the base 1 or the rotating device 4, a second sensor for detecting a rotating angle of the base 1 or the rotating device 4 is mounted on the base 1 or the rotating device, and signal output ends of the first sensor and the second sensor are connected with a tele-surgical robot.
The rotating device 4 comprises a rotating bracket 41, the rotating bracket 41 is hinged on the linear moving device 5 through a first hinge shaft 42, the rotating bracket 41 is hinged on the base 1 through a second hinge shaft 45, and the first hinge shaft 42 and the second hinge shaft 45 are mutually perpendicular; the operating device 3 is movable in a straight line on the straight line moving device 5.
The operation device 3 is held by a hand of a surgeon and then pushed and pulled, and the linear movement device 5 enables the surgeon to push and pull the operation device 3 by hand on the linear movement device 5 along a straight line, and the first sensor recognizes the movement distance of the operation device 3 so as to judge the movement distance of the operation device 3. The rotating device 4 can enable a doctor to dial the operating device 3 by hand to rotate on the rotating device 4, so that the operating device 3 can rotate relative to the base 1, and the second sensor is used for identifying the rotation angle of the operating device 3. The first sensor and the second sensor recognize the operation of the operation device 3 by recognizing the operation of the operation device 3, the control device at the remote end on the operation robot receives the input signals of the first sensor and the second sensor, converts the input signals into the operation of the operation machine instrument, and then transmits the operation machine instrument to the operation end of the operation robot in the operation room, and the operation end controls the operation instrument, so that the surgeon performs remote operation through the operation robot.
In the rotating device 4 provided by the invention, in an initial state, the direction of the linear motion of the operating device 3 is perpendicular to the first hinge shaft 42 and the second hinge shaft 45, the direction of the linear motion of the operating device 3 in the initial state is taken as a Z axis, the first hinge shaft 42 is taken as an X axis, and the second hinge shaft 45 is taken as a Y axis. Since the operating device 3 is linearly movable on the linear-motion device 5, both sides of the linear-motion device 5 are hinged to the rotating bracket 41 by the first hinge shaft 42. Therefore, the operation device 3 can be shifted to rotate around the X axis and around the Y axis in the rotating device 4, so that the operation robot operation device provided by the invention can identify the depth change of the operation device 3 when moving on the linear movement device 5, and meanwhile, the operation device can be projected on any point of the X-Y plane, and therefore, the operation device 3 can be moved to any position in the space coordinate system XYZ and can read identification, and the blind area of the rotation position of the operation device 3 is eliminated.
The linear moving device 5 comprises a fixed frame 51 and a guide rod 2 which is in sliding connection with the fixed frame 51, the operating device 3 is fixedly connected with one end of the guide rod 2, the operating device 3 pushes the guide rod 2 to move, and the first sensor is arranged on the fixed frame 51 and used for identifying the moving distance of the operating device 3.
The doctor pulls and pulls the operating device 3 by hand so that the guide bar 2 slides on the fixing frame 51, and the first sensor may be a displacement sensor for recognizing the displacement of the guide bar 2 with respect to the fixing frame 51. The pivot of the guide rod 2 is located at the connection between the first hinge shaft 42 and the fixed frame 51, and in order to balance the weight at the two ends of the guide rod 2, the connection between the first hinge shaft 42 and the fixed frame 51 may be located at the center of gravity of the guide rod 2, the linear motion device 5, the operation device 3, and the like after connection.
The end of the guide rod 2 remote from the operating device 3 is provided with a head 21.
In the invention, the rod heads 21 and the operating devices 3 respectively arranged at the two ends of the guide rod 2 are mutually balanced, so that the weight of the operating devices 3 per se is prevented from influencing the operation of doctors, and the operating hand feeling of the operating devices 3 is better.
The rotating bracket 41 is hinged on the fixed bracket 51 through a first hinge shaft 42; the second sensor comprises a first angle sensor 43 and a second angle sensor 44 which are all in communication connection with the control device of the surgical robot, wherein the first angle sensor 43 is arranged on the base 1 and used for identifying the rotation angle of the second hinge shaft 45, and the second angle sensor 44 is arranged on the rotation bracket 41 and used for identifying the rotation angle of the first hinge shaft 42.
In the rotating device 4 provided by the invention, in an initial state, the axis of the guide rod 2 is the direction of the linear motion of the operating device 3, and the operating device 3 is pushed so that the guide rod 2 can rotate around the X axis and rotate around the Y axis, and the rotating fulcrum is the joint of the linear moving device 5 and the first hinge shaft 42 on the guide rod 2. Meanwhile, the rotation angles of the first hinge shaft 42 and the second hinge shaft 45 are detected through the two angle sensors, namely the first angle sensor 43 and the second angle sensor 44, the rotation gesture information of the whole rotation device 4 can be obtained after the control device of the surgical robot receives the data of the angle sensors, and the rotation gesture information is converted into the rotation gesture of the surgical instrument after the identified rotation angles are converted according to the relative positions of the guide rod 2 and the rotation bracket 41. According to the scheme, the angle sensor is used for directly identifying the rotation angle of the rotation joint, the obtained information is more accurate, and the operation robot can accurately feed back the operation input by the surgeon to the operation device 3.
In summary, compared with the structure of the rotating device 4 which is realized by using a universal shaft and other connection modes, the structure of the rotating device 4 provided by the embodiment ensures that the moving range of the operating device 3 is enough, the operating device 3 is more stable when moving and transmitting the movement of the operating device 3 to the guide rod 2, the operation is more convenient, and the pose information obtained by measuring by matching with an angle sensor is more accurate.
Some damping may exist when the first hinge shaft 42 and the second hinge shaft 45 rotate so that the rotation is more stable.
Example 2
The present embodiment differs from embodiment 1 on the basis of embodiment 1 in that it further includes:
as shown in fig. 3 to 7, a transmission structure is provided between the guide bar 2 and the fixing frame 51, the fixing frame 51 is provided with a third hinge shaft 511 rotatably connected with the fixing frame 51, the transmission structure converts the linear motion of the guide bar 2 into the rotational motion of the third hinge shaft 511, and the first sensor includes a third angle sensor 56 for measuring the rotational angle of the third hinge shaft 511.
The third angle sensor 56 is disposed on the fixing frame 51 and is used for identifying the rotation angle of the third hinge shaft 511, in this scheme, the linear motion of the linear motion device 5 is converted into the rotation of the third hinge shaft 511, so that the movement information of the operating device 3 can be obtained by using the angle sensor through the rotation of the identification edge, and the reading obtained by the angle sensor is more accurate than that obtained by using the displacement sensor.
The guide rod 2 comprises a front rod 22 and a rear rod 23 which are separated from each other or are connected with each other in a sliding way, one end of the front rod 22 and one end of the rear rod 23, which are close to each other, are connected with the fixed frame 51 in a sliding way, and the other end of the rear rod 23 is fixedly connected with the operating device 3;
the transmission structure comprises a movable parallelogram frame 52, two adjacent sides of the movable parallelogram frame 52 are hinged with each other, the movable parallelogram comprises a group of first opposite sides 53 parallel to the axis of the guide rod 2, the movable parallelogram also comprises another group of second opposite sides 54, the middle point of each second opposite side 54 is hinged with the fixing frame 51 through a third hinge shaft 511, one side surface of each second opposite side 54 is hinged with the fixing frame 51, the other side of each second opposite side 54 is provided with a sliding groove 541, the front rod 22 and the rear rod 23 are provided with sliding pieces 55 which are in sliding connection with the sliding grooves 541, and the sliding grooves 541 are arranged along the side lengths of the second opposite sides 54.
In this embodiment, when the operating device 3 is pushed or pulled, the rear rod 23 slides in the fixed frame 51, and since the rear rod 23 is slidably connected to the second opposite side 54, and the second opposite side 54 is hinged to the fixed frame 51, the rear rod 23 drives the side of the first opposite side 53 connected to the rear rod 23 to rotate, and simultaneously, the first opposite side 53 connected to the front rod 22 drives the front rod 22 to slide in the fixed frame 51 under the transmission of the first opposite side 53. The linear movement device 5 of the invention skillfully utilizes the structure of the movable parallelogram to synchronize the linear movement of the linear movement device 5 into the rotation of the side of the movable parallelogram, so that the movement information of the operation device 3 can be obtained by identifying the rotation of the side by utilizing the angle sensor, and the reading obtained by the angle sensor is more accurate than that of the displacement sensor. And, under the transmission of movable parallelogram, front rod 22 and back rod 23 are close to each other or keep away from each other simultaneously for the focus after guiding rod 2, pole head 21, rectilinear movement device 5, operating means 3 etc. part connection can keep unchanged, can not lead to the focus to change the stability that influences doctor's operation along with guiding rod 2's slip.
The fixing frame 51 is provided with a sliding rail 57 and two sliding blocks 58 which are in sliding connection with the sliding rail 57, one ends, close to each other, of the front rod 22 and the rear rod 23 are respectively fixedly connected with the sliding blocks 58, the sliding parts 55 are arranged on the sliding blocks 58, the rear rod 23 is rotationally connected with the sliding blocks 58, the rear rod 23 rotates around the axis of the sliding blocks 58, and a fourth angle sensor 59 for identifying the rotation angle of the rear rod 23 is arranged on the sliding blocks 58.
Since the rear rod 23 is rotatable about its own axis and the angle of rotation of the rear rod 23 about its own axis is recognized by the fourth angle sensor 59, the operating device 3 fixedly connected to the rear rod 23 can also be rotated about the axis of the guide rod 2, i.e. Z, the angle sensor being in communication with the control device of the surgical robot. The guide rod 2 is divided into a front rod 22 and a rear rod 23, the front rod 22 and the rear rod 23 are connected through the transmission of a movable parallelogram, the guide rod 2 can be slidingly converted into rotation for measurement, and meanwhile, an angle sensor can be arranged on the sliding block 58 so as to conveniently measure the rotation of the rear rod 23 around the axis of the sliding block.
The slide 58 may have a certain damping when sliding in the slide rail 57, and at the same time the rear rod 23 rotates around its own axis with respect to the slide 58, the damping being present to make the movement more stable, and at the same time to maintain the current position when the doctor releases the control of the operating device 3.
Example 3
The present embodiment differs from embodiment 1 or 2 in that it further includes:
as shown in fig. 8, the operating device 3 includes a support 31 and a pair of operating handles 32 hinged to the support 31, one side of the support 31 is fixedly connected with one end of the guide rod 2, the other side of the support 31 is hinged to one end of the operating handles 32, gears 33 meshed with each other are arranged on the hinged ends of the two operating handles 32 and the support 31, the gears 33 are fixedly connected with one end of the operating handles 32, and the axis of the gears 33 is in the same straight line with the rotating shaft of the operating handles 32.
The doctor can hold the operation handles 32 with hands and push and pull or rotate, and simultaneously, the doctor can hold the two operation handles 32 with one hand and apply force to open or close the two operation handles 32, and the two operation handles 32 are simultaneously opened or closed under the transmission action of the gear 33.
The support 31 is provided with two fifth angle sensors 34 for identifying the rotation angle of the two gears 33.
The operating handle 32 can be provided with a distance sensor or other ways for measuring the opening and closing degree of the operating handle 32, but the scheme utilizes the angle sensor to measure the rotation angle of the connecting position of the operating handle 32 and the support 31, so that the opening and closing angle of the operating handle 32 can be obtained more accurately, and meanwhile, the connecting positions of the two operating handles 32 and the support 31 can be provided with angle sensors for taking an average value, so that the numerical value is more accurate.
A self-locking spring 35 is provided between the two operating handles 32 to bring the handles into an open state.
When the doctor closes the operating handle 32 by hand, the self-locking spring 35 is compressed, the gear 33 at the end of the operating handle 32 rotates so that the cylindrical magnetic head of the angle sensor rotates, and the rotation information of the gear 33 can be recorded by the angle sensor. The self-locking spring 35 is arranged to enable the operating handle 32 to maintain an open state when no force is applied, so that the use is more convenient.
It is to be understood that the above examples of the present invention are provided by way of illustration only and not by way of limitation of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (10)
1. The surgical robot control device for reading the surgical operation is characterized by comprising a base (1), wherein a rotating device (4) and a linear moving device (5) are arranged on the base (1), the rotating device (4) and the linear moving device (5) are connected with an operating device (3) for driving the rotating device to move, a first sensor for detecting the moving distance of the base (1) or the linear moving device (5) is arranged on the base (1) or the rotating device (4), a second sensor for detecting the rotating angle of the base (1) or the rotating device (4) is arranged on the base, and signal output ends of the first sensor and the second sensor are connected with a remote surgical robot;
the rotating device (4) comprises a rotating bracket (41), the rotating bracket (41) is hinged on the linear moving device (5) through a first hinge shaft (42), the rotating bracket (41) is hinged on the base (1) through a second hinge shaft (45), and the first hinge shaft (42) and the second hinge shaft (45) are mutually perpendicular; the operating device (3) is movable in a straight line on the straight line moving device (5).
2. Surgical robot manipulator for reading surgical operations according to claim 1, characterized in that the linear movement device (5) comprises a fixed frame (51) and a guiding rod (2) slidingly connected with the fixed frame (51), the operating device (3) is fixedly connected with one end of the guiding rod (2), the operating device (3) pushes the guiding rod (2) to move, and the first sensor is arranged on the fixed frame (51) for identifying the movement distance of the operating device (3).
3. Surgical robotic manipulation apparatus for reading a surgical operation according to claim 2, characterized in that the end of the guiding rod (2) remote from the operating device (3) is provided with a head (21).
4. Surgical robotic manipulation apparatus for reading a surgical operation according to claim 2, characterized in that the rotating support (41) is hinged to the fixed frame (51) by a first hinge shaft (42); the second sensor comprises a first angle sensor (43) and a second angle sensor (44) which are in communication connection with a control device of the surgical robot, the first angle sensor (43) is arranged on the base (1) and used for identifying the rotation angle of the second hinge shaft (45), and the second angle sensor (44) is arranged on the rotation support (41) and used for identifying the rotation angle of the first hinge shaft (42).
5. Surgical robot manipulator for reading surgical operations according to any of claims 2 to 4, characterized in that a transmission structure is arranged between the guiding rod (2) and the fixing frame (51), a third hinge shaft (511) rotationally connected to the fixing frame (51) is arranged on the fixing frame (51), the transmission structure converts the linear movement of the guiding rod (2) into a rotational movement of the third hinge shaft (511), and the first sensor comprises a third angle sensor (56) for measuring the rotational angle of the third hinge shaft (511).
6. Surgical robotic manipulator for reading surgical operations according to claim 5, characterized in that the guiding bar (2) comprises a front bar (22) and a rear bar (23) separated from each other or slidingly connected to each other, one end of the front bar (22) and one end of the rear bar (23) close to each other being slidingly connected to the fixed frame (51), the other end of the rear bar (23) being fixedly connected to the operating device (3);
the transmission structure comprises a movable parallelogram frame (52), two adjacent edges of the movable parallelogram frame (52) are hinged to each other, the movable parallelogram comprises a group of first opposite edges (53) which are parallel to the axis of the guide rod (2), the movable parallelogram further comprises another group of second opposite edges (54), the middle points of the second opposite edges (54) are hinged to the fixed frame (51) through a third hinge shaft (511), one side surface of the second opposite edges (54) is hinged to the fixed frame (51), a sliding groove (541) is formed in the other side of the second opposite edges (54), sliding pieces (55) which are in sliding connection with the sliding grooves (541) are arranged on the front rod (22) and the rear rod (23), and the sliding grooves (541) are arranged along the side lengths of the second opposite edges (54).
7. Surgical robot control device for reading surgical operations according to claim 6, characterized in that the fixed frame (51) is provided with a sliding rail (57) and two sliding blocks (58) slidingly connected with the sliding rail (57), one ends of the front rod (22) and the rear rod (23) close to each other are fixedly connected with the sliding blocks (58) respectively, the sliding piece (55) is arranged on the sliding blocks (58), the rear rod (23) is rotationally connected with the sliding blocks (58), the rear rod (23) rotates around the axis of the sliding block (58) and a fourth angle sensor (59) for identifying the rotation angle of the rear rod (23) is arranged on the sliding blocks (58).
8. Surgical robot manipulator for reading surgical operations according to any one of claims 2 to 4, characterized in that said manipulator (3) comprises a support (31) and a pair of operating handles (32) hinged to said support (31), one side of said support (31) is fixedly connected to one end of said guide bar (2), the other side of said support (31) is hinged to one end of said operating handles (32), the hinged ends of two operating handles (32) and of said support (31) are provided with gears (33) which are engaged with each other, said gears (33) are fixedly connected to one end of said operating handles (32), the axis of said gears (33) being on the same straight line as the rotation axis of said operating handles (32).
9. Surgical robotic handling device for reading a surgical operation according to claim 8, characterized in that the support (31) is provided with two fifth angle sensors (34) for identifying the rotation angle of the two gears (33).
10. Surgical robotic manipulation apparatus for reading a surgical operation according to claim 9, characterized in that a self-locking spring (35) is provided between two of the operating handles (32) to bring the handles in an open state.
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| CN202311148348.0A CN116872170B (en) | 2023-09-07 | 2023-09-07 | Surgical robot control device for reading surgical operation |
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| CN202311148348.0A CN116872170B (en) | 2023-09-07 | 2023-09-07 | Surgical robot control device for reading surgical operation |
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| CN116872170B (en) | 2023-12-05 |
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