CN204033495U - The reluctance type force-feedback control system of telesurgery robot - Google Patents
The reluctance type force-feedback control system of telesurgery robot Download PDFInfo
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- CN204033495U CN204033495U CN201420459327.0U CN201420459327U CN204033495U CN 204033495 U CN204033495 U CN 204033495U CN 201420459327 U CN201420459327 U CN 201420459327U CN 204033495 U CN204033495 U CN 204033495U
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- solenoid
- force
- connecting rod
- straight line
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Abstract
The utility model discloses a kind of reluctance type force-feedback control system of telesurgery robot, belong to human-computer interaction technique field.This system comprises operation manipulation end and operation actuating station; Described operation manipulation end comprises connecting rod I, solenoid I, solenoid II, displacement transducer, straight line driving mechanism I, current source I and current source II; Described operation actuating station comprises straight line driving mechanism II, connecting rod II and force transducer; The input of institute's displacement sensors connects connecting rod I, and outfan connects straight line driving mechanism I; Described connecting rod II is fixedly installed on straight line driving mechanism II, and is connected with force transducer, and described force transducer exports current source I input to, and current source I exports solenoid I input to.This utility model feeds back the active force of operation actuating station by the interaction force that two solenoids produce, and the force-feedback control system structure that reluctance type force-feedback control method builds is simple, and degree of accuracy is high and be easy to realize.
Description
Technical field
This utility model relates to a kind of force feedback reconstruction and control technology, and particularly the reluctance type force-feedback control technology of telesurgery robot, belongs to human-computer interaction technique field.
Background technology
Remote operating minimally-invasive surgery robot system is the operating environment that surgeon provides traditional Minimally Invasive Surgery, but can assist a physician meticulousr surgical action, and the maloperation produced due to fatigue when reducing operation or hand tremble the damage caused.Meanwhile, Minimally Invasive Surgery is because damaging little, healing soon for patient brings more preferably surgical outcome and being widely used.Tactile force feedback plays extremely important effect in micro-wound surgical operation, and doctor is organized hardness by touch feeling, measured organizational attribution, assesses anatomical structure thus implement safe operation behavior.Leonardo da Vinci's surgical robot system (daVinciSystem) of the U.S. improves the manipulation ability of traditional Minimally Invasive Surgery, additionally provide automatic error correction function simultaneously, but owing to lacking power and haptic feedback functions, doctor relies on endoscopic images and experience to be difficult to obtain the dynamic mechanical information between end effector and tissue.The PHANTOM system of Sensable company of the U.S. has 6 degree of freedom, have good static characteristic and higher dynamic response capability, but the feedback force of this equipment is less, cannot meet the demand of micro-wound operation robot in power feels navigation.Omega and Delta series power/haptic apparatus of ForceDimension company adopts unique texture achieve larger work space, active force output and reproduce rigidity, but shortage space returns function and force feedback precision is lower, distance practical clinical also has distance.
Summary of the invention
In view of this, the purpose of this utility model is to overcome above-mentioned deficiency, a kind of reluctance type force-feedback control system of telesurgery robot is provided, pass through force feedback technique, improving operation safety and reliability, allowing doctor experience interaction force between far-end actuator and tissue when implementing telesurgery.
A kind of reluctance type force-feedback control system of telesurgery robot comprises operation manipulation end and operation actuating station; Described operation manipulation end comprises connecting rod I, solenoid I, solenoid II, displacement transducer, straight line driving mechanism I, current source I and current source II; Described operation actuating station comprises straight line driving mechanism II, connecting rod II and force transducer;
Described connecting rod I is arranged on operation control handle, and is fixedly installed with on solenoid I, and solenoid II is fixedly installed on straight line driving mechanism I, and the input of institute's displacement sensors connects connecting rod I, and outfan connects straight line driving mechanism I;
Described connecting rod II is fixedly installed on straight line driving mechanism II, and is connected with force transducer, and described force transducer exports current source I input to, and current source I exports solenoid I input to; Described current source II exports solenoid II input to, for providing constant current to solenoid II.
Advantageous Effects of the present utility model is: this utility model feeds back the active force of operation actuating station by the interaction force that two solenoids produce, the force-feedback control system structure that reluctance type force-feedback control method builds is simple, and degree of accuracy is high and be easy to realize; Can make doctor in the process implementing operation remote operating, experience the active force of performing the operation between actuating station and tissue, effectively improve the safety of operation.
Other advantage of the present utility model, target and feature will be set forth to a certain extent in the following description, and to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, or can be instructed from practice of the present utility model.Target of the present utility model and other advantage can by description below, claims, and in accompanying drawing, specifically noted structure realizes and obtains.
Accompanying drawing explanation
In order to make the purpose of this utility model, technical scheme and advantage clearly, below in conjunction with accompanying drawing, this utility model is described in further detail, wherein:
Fig. 1 is the result schematic diagram of the reluctance type force-feedback control system of this utility model telesurgery robot;
Fig. 2 is the flow chart of the reluctance type force-feedback control method of this utility model telesurgery robot.
Detailed description of the invention
Be below this utility model detailed description of preferred embodiment, should be appreciated that preferred embodiment only in order to this utility model is described, instead of in order to limit protection domain of the present utility model.
See accompanying drawing 1, the reluctance type force-feedback control system of a kind of telesurgery robot of this utility model, comprises operation manipulation end and operation actuating station; Described operation manipulation end comprises connecting rod I, solenoid I, solenoid II, displacement transducer, straight line driving mechanism I, current source I and current source II; Described operation actuating station comprises straight line driving mechanism II, connecting rod II and force transducer;
Described connecting rod I is arranged on operation control handle, and is fixedly installed with on solenoid I, and solenoid II is fixedly installed on straight line driving mechanism I, and the input of institute's displacement sensors connects connecting rod I, and outfan connects straight line driving mechanism I;
Described connecting rod II is fixedly installed on straight line driving mechanism II, and is connected with force transducer, and described force transducer exports current source I input to, and current source I exports solenoid I input to; Described current source II exports solenoid II input to, for providing constant current to solenoid II.
With reference to accompanying drawing 2, a kind of concrete operation method of remote operating micro-wound operation robot force-feedback control system, comprises the following steps:
1) displacement transducer obtains the operation connecting rod I of control handle and the straight-line displacement of solenoid I, and exports this signal to straight line driving mechanism I;
2) straight line driving mechanism I drives solenoid II to produce identical displacement, to keep the distance d between solenoid I and solenoid II according to the displacement signal obtained
0constant;
3) current source II is with constant current I
0stationary magnetic field is produced at solenoid II;
4) force transducer detects the mechanical signal F of operation actuating station by connecting rod II
c, current source I is according to this mechanical signal F
csolenoid I produces variable magnetic field;
5) magnetic field of solenoid I and the magnetic field of solenoid II produce interaction force F
m, its size and direction are equal to the directed force F that on actuator inside connecting rod II of performing the operation, force transducer is subject to
c;
6) straight line driving mechanism II is by the action of the Bit andits control operation actuating station of control link II.
Doctor carries out in the operation process of remote operating utilizing operating robot, usually the active force between operation actuating station and surgical tissue can not effectively be experienced, therefore cause doctor operation manipulation end active force can not be very accurate, but by this force feedback system and method, operation manipulation end can be fed back and obtain the active force of actuating station to tissue of performing the operation, doctor can the active force of reference feedback, regulates the position to the active force of surgical tissue or size further.
What finally illustrate is, above preferred embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail this utility model by above preferred embodiment, but those skilled in the art are to be understood that, various change can be made to it in the form and details, and not depart from this utility model claims limited range.
Claims (1)
1. a reluctance type force-feedback control system for telesurgery robot, is characterized in that: comprise operation manipulation end and operation actuating station; Described operation manipulation end comprises connecting rod I, solenoid I, solenoid II, displacement transducer, straight line driving mechanism I, current source I and current source II; Described operation actuating station comprises straight line driving mechanism II, connecting rod II and force transducer;
Described connecting rod I is arranged on operation control handle, and is fixedly installed with on solenoid I, and solenoid II is fixedly installed on straight line driving mechanism I, and the input of institute's displacement sensors connects connecting rod I, and outfan connects straight line driving mechanism I;
Described connecting rod II is fixedly installed on straight line driving mechanism II, and is connected with force transducer, and described force transducer exports current source I input to, and current source I exports solenoid I input to; Described current source II exports solenoid II input to, for providing constant current to solenoid II.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420459327.0U CN204033495U (en) | 2014-08-14 | 2014-08-14 | The reluctance type force-feedback control system of telesurgery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420459327.0U CN204033495U (en) | 2014-08-14 | 2014-08-14 | The reluctance type force-feedback control system of telesurgery robot |
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| CN204033495U true CN204033495U (en) | 2014-12-24 |
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| CN201420459327.0U Withdrawn - After Issue CN204033495U (en) | 2014-08-14 | 2014-08-14 | The reluctance type force-feedback control system of telesurgery robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104127245A (en) * | 2014-08-14 | 2014-11-05 | 中国科学院重庆绿色智能技术研究院 | Magnetic resistance type force feedback control system and method of teleoperation surgical robot |
| CN104739519A (en) * | 2015-04-17 | 2015-07-01 | 中国科学院重庆绿色智能技术研究院 | Force feedback surgical robot control system based on augmented reality |
| CN105534599A (en) * | 2016-01-27 | 2016-05-04 | 天津理工大学 | Vascular interventional operation robot main end force feedback device and working method thereof |
| CN109199588A (en) * | 2018-09-30 | 2019-01-15 | 上海奥朋医疗科技有限公司 | Blood vessel intervention electromagnetic damping precessing force feedback operation handle |
-
2014
- 2014-08-14 CN CN201420459327.0U patent/CN204033495U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104127245A (en) * | 2014-08-14 | 2014-11-05 | 中国科学院重庆绿色智能技术研究院 | Magnetic resistance type force feedback control system and method of teleoperation surgical robot |
| CN104127245B (en) * | 2014-08-14 | 2016-06-22 | 中国科学院重庆绿色智能技术研究院 | The reluctance type force-feedback control system and method for telesurgery robot |
| CN104739519A (en) * | 2015-04-17 | 2015-07-01 | 中国科学院重庆绿色智能技术研究院 | Force feedback surgical robot control system based on augmented reality |
| CN105534599A (en) * | 2016-01-27 | 2016-05-04 | 天津理工大学 | Vascular interventional operation robot main end force feedback device and working method thereof |
| CN105534599B (en) * | 2016-01-27 | 2018-01-16 | 天津理工大学 | Blood vessel intervention operation robot main side device for force feedback and its method of work |
| CN109199588A (en) * | 2018-09-30 | 2019-01-15 | 上海奥朋医疗科技有限公司 | Blood vessel intervention electromagnetic damping precessing force feedback operation handle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20141224 Effective date of abandoning: 20160622 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20141224 Effective date of abandoning: 20160622 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |