CN208640885U - Remote operation operating system with force feedback - Google Patents
Remote operation operating system with force feedback Download PDFInfo
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- CN208640885U CN208640885U CN201721227411.XU CN201721227411U CN208640885U CN 208640885 U CN208640885 U CN 208640885U CN 201721227411 U CN201721227411 U CN 201721227411U CN 208640885 U CN208640885 U CN 208640885U
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Abstract
The remote operation operating system with force feedback that the utility model discloses a kind of, a kind of remote operation operating system with force feedback, for controlling executive device of performing the operation, the operation executive device includes operation executive item, the operation executive item has the first rotational freedom, the second rotational freedom perpendicular to the determined plane of the first rotational freedom and the one-movement-freedom-degree perpendicular to the first rotational freedom and the determined plane of the second rotational freedom, the remote operation operating system with force feedback includes operating device, driving mechanism, spatial shape testing agency, damp measuring means and damping applying mechanism；The utility model is using damping applying mechanism and damps the mutual cooperation between measuring means, so that operating stick has force feedback function, to effectively prevent the generation for the case where doctor makes the power for acting on affected part of operation executive item be more than preset power and lead to the organ for destroying affected part when controlling operation executive item using operating stick.
Description
Technical field
The utility model relates to the field of medical instrument technology more particularly to a kind of remote operation with force feedback to operate system
System.
Background technique
Perform an operation by electronic equipment or high-accuracy mechanical hand is not strange thing, electronic equipment and new machinery already
The participation of auxiliary device can not only reduce operating difficulty, improve procedure efficiency can reduce to a greater extent risk allow operation at
Power is higher.By means of remote operation apparatus, even if doctor is not in operating room, doctor can carry out surgical operation as usual, from opening
Knife is completed by doctor by remote control " robot " (or operation executive device) to suture needle, performs the operation more accurate, risk more
It is low.
The operation device for being commonly used for remotely implementing operation includes operation executive device and surgical procedure system；Operation is held
Luggage sets the operation executive item including the affected part for directly acting on patient, for example, scalpel, the surgical procedure system packet
Operating device is included, the operating device includes operating stick, and the operating stick holds operation for controlling operation executive item movement
The movement of row part is consistent with operating stick, that is, the spatial shape moment for executive item of performing the operation is consistent with the spatial shape of operating stick.
It is above-mentioned for remotely implementing the operation device of operation the problem is that: although operating stick can control operation and hold
Row part so that operation executive item implements operation, but, when doctor's manipulation operations bar, can not experience suffered by operation executive item
Power (that is, operating stick does not have force feedback), that is to say, that when operation executive item is when acting on human body, operation executive item can not be kept away
The reaction force by human body exempted from, and doctor can not know the reaction force, be obtained so that doctor be made to lose traditional operation
The sense of touch obtained.Sometimes due to doctor can not know power suffered by operation executive item, mortal injury may be caused to affected part, for example,
When executive item needs of performing the operation, which act on patient with a certain preset power, can just successfully complete operation, being more than the preset power may
The organ at this of affected part can be destroyed, and the operation can not be implemented by being less than the preset power, at this point, due to doctor's manipulation operations
Bar not force feedback, and make doctor when controlling operation executive item using operating stick to perform the operation the affected part that acts on of executive item
Power is more than preset power and leads to the organ for destroying affected part.
Utility model content
For above-mentioned technical problem present in existing technology, implementing for the utility model provides a kind of band force feedback
Remote operation operating system.
In order to solve the above technical problems, the technical solution adopted in the utility model is:
A kind of remote operation operating system with force feedback, for controlling operation executive device, the operation executes dress
It sets including executive item of performing the operation, the operation executive item has the first rotational freedom, determined perpendicular to the first rotational freedom
Second rotational freedom of plane and movement perpendicular to the first rotational freedom and the determined plane of the second rotational freedom
Freedom degree, the remote operation operating system with force feedback include operating device, driving mechanism, spatial shape detection machine
Structure, damping measuring means and damping applying mechanism；
The operating device includes operating stick, and the operating stick has three freedom corresponding with the operation executive item
Degree；
The driving mechanism includes executing its first rotational freedom, for respectively corresponding the driving operation executive item
First driver of two rotational freedoms and one-movement-freedom-degree, the second driver and third driver；
The spatial shape testing agency includes executing its first rotation certainly for respectively corresponding the detection operating stick
The first detector, the second detector and the detection operating stick of rotational angle when by degree, the second rotational freedom are being held
The third detector of displacement when its one-movement-freedom-degree of row；Wherein, the first, second, third driver respectively correspond according to first,
Second, third detector result detected drives the operation executive item movement, so that the operation executive item and the behaviour
Make bar synchronization action；
The damping measuring means includes executing its first rotation certainly for respectively corresponding the detection operation executive item
The first analyzer of suffered torsion, the second analyzer and the detection operation executive item are being held when by degree, the second rotation
The third analyzer of suffered straight line resistance when its one-movement-freedom-degree of row；
The damping applying mechanism includes the first damper, the second damper and third damper；When the operation is held
When row part executes its first rotational freedom, first damper torsion according to detected by first analyzer is to institute
It states operating stick and applies torsion damping in the rotation direction when executing its first rotational freedom, second damper is according to institute
Torsion detected by the second analyzer is stated to apply in rotation direction when executing its second rotational freedom to the operating stick
Add torsion damp, the third damper according to clamped by the third analyzer to straight line resistance held to the operating stick
Apply straight line damping on moving direction when row one-movement-freedom-degree.
Preferably, the operating device further includes keeping body, is rotatably connected respectively by the first pivot and the second pivot
In the keeping body and the first arc batten and the second arc batten that pivot center is perpendicular, first arc panel with it is described
Second arc panel offers long guiding hole in its extending direction；The middle part of the operating stick joins the head on oscillating bearing
Portion wears the long guiding hole of first arc panel and the second arc panel, and can slide along long guiding hole.
Preferably, first damper and second damper are respectively used to first pivot and described second
Pivot applies torsion damping；First damper and second damper include two tiles being articulated；Described first
Friction plate is provided on pivot and second pivot；Two tiles are for coating first pivot or first pivot
Axis；Wherein:
It is connected with spring between two tiles, and is provided with the first permanent magnet on one of them described tile, another
It is provided on tile and heteropolar the first opposite electromagnet of first permanent magnet, first damper and second damping
The first electromagnet on device respectively corresponds logical to change according to the damping of torsion detected by the first analyzer and the second analyzer
The electric current of the coil on first electromagnet is crossed, to work as detected by first analyzer or second analyzer
When turning round torsion increase, the electric current of the coil on first electromagnet increases to increase first permanent magnet and first electricity
Gravitation between magnet, to increase first damper to the damping of first pivot or increase second damper
Damping to second pivot；And works as torsion detected by first analyzer or second analyzer and reduce
When, the electric current of the coil on first electromagnet reduces to reduce between first permanent magnet and first electromagnet
Gravitation, to reduce first damper to the damping of first pivot or second damper to second pivot
Damping.
Preferably, first detector and second detector are angular transducer, and the third detector is
Displacement sensor.
Preferably, first analyzer and second analyzer are torque sensor；The third analyzer is pressure
Force snesor.
Preferably, the tail portion of the operating stick is arranged with casing, and the third damper includes being set in described sleeve pipe
The second permanent magnet and be set to the second electromagnet in the operating stick and opposite with the second permanent magnet homopolarity；It is described
Second electromagnet of the first damper changes according to straight line resistance detected by the third analyzer by described second
The electric current of coil on electromagnet, when being increased with the straight line resistance detected by the third analyzer, second electromagnetism
The electric current of coil on body increases to increase the magnetic repulsion between second permanent magnet and the electromagnet, to work as the third
When straight line resistance detected by analyzer reduces, the electric current of the coil on second electromagnet reduces to reduce described second
Magnetic repulsion between permanent magnet and second electromagnet.
Compared with prior art, the beneficial effect of the remote operation operating system with force feedback of the utility model is:
The utility model is using damping applying mechanism and damps the mutual cooperation between measuring means, so that operating stick band force feedback function
Can, so that effectively preventing doctor makes the power for acting on affected part of operation executive item when controlling operation executive item using operating stick
The generation for the case where leading to the organ for destroying affected part more than preset power.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the control operation executive device that the utility model one embodiment provides；
Operating device in the remote operation operating system with force feedback that Fig. 2 provides for the utility model one embodiment
Structural schematic diagram (main view)；
Operating device in the remote operation operating system with force feedback that Fig. 3 provides for the utility model one embodiment
Structural schematic diagram (left view)；
First damping in the remote operation operating system with force feedback that Fig. 4 provides for the utility model one embodiment
The structural schematic diagram (left view) of device and the second damper；
For applying in the remote operation operating system with force feedback that Fig. 5 provides for another embodiment of the utility model
Add damping includes the system of hydraulic damping applicator (as the first damper or the second damper) and hydraulic controller
Control figure；
Fig. 6 is hydraulic in the remote operation operating system with force feedback that another embodiment of the utility model provides
The structural schematic diagram of controller；
Fig. 7 is hydraulic in the remote operation operating system with force feedback that another embodiment of the utility model provides
Damp the structural schematic diagram of applicator (as the first damper or the second damper)；
Fig. 8 is the control flow for the remote operation operating system with force feedback that the utility model one embodiment provides
Figure.
In figure:
100- operation executive device；200- operating device；101- first rotating shaft；The second shaft of 102- 102；103- is flexible
Bar；104- fixing body；105- operation executive item；200- operating device the first arc panel of 201-；The second arc panel of 202-；203- is protected
Hold body；204- long guiding hole；205- oscillating bearing；The first pivot of 206-；The second pivot of 207-；The first driver of 210-；220-
Second driver；230- third driver；231- stepper motor；232- lead screw；240- operating stick；241- casing；242- damping
Set；243- baffle；The first detector of 250-；The second detector of 260-；270- third detector；The first damper of 281-；282-
Second damper；290- third damper；The second electromagnet of 291-；The second permanent magnet of 292-；301- tile；302- friction plate；
The first permanent magnet of 303-；The first electromagnet of 304-；305- spring；330- first processing module；The first signal adapter of 331-；
The first controller of 332-；340- Second processing module；341- second signal converter；342- second controller；343- ratio is put
Big device；The first analyzer of 350-；The second analyzer of 360-；370- third analyzer；400- hydraulic damping applicator；401- sheet
Body；402- first chamber；403- second chamber；404- rotor；405- dividing body；406- check valve；The first fluid passage of 407-；
408- second liquid channel；500- hydraulic controller；501- valve body；The first valve chamber of 502-；The second valve chamber of 503-；The first valve of 504-
Core；The second spool of 505-；506- oil inlet passage；507- oil discharge passage；The first liquid-conveying ducts of 508-；The second liquid-conveying ducts of 509-；
510- third liquid-conveying ducts；511- spring；512- third electromagnet；513- third permanent magnet；514- spring；600- reversal valve；
700- fuel tank.
Specific embodiment
It is with reference to the accompanying drawing and specific real to make those skilled in the art better understand the technical solution of the utility model
Mode is applied to elaborate to the utility model.
As shown in Fig. 1 to Fig. 8 the embodiments of the present invention disclose a kind of remote operation operation system with force feedback
System, for controlling operation executive device 100, which includes operating device 200, driving
Mechanism, spatial shape testing agency, damping measuring means and damping applying mechanism.Specifically, operation executive device 100 includes
Operation executive item 105 and for make perform the operation executive item 105 space formed three degree of freedom multi-spindle machining hand；The operation is held
Row part 105 is the component for directly acting on patient body, and e.g., operation executive item 105 is scalpel, this is practical new for convenience of description
The technical solution of type might as well treat as a whole operation executive item, and ignore its internal actions and connection relationship, should
Operation executive item 105 is installed in multi-spindle machining on hand, which specifically makes to perform the operation first rotation of the realization of executive item 105 certainly
By degree, perpendicular to the second rotational freedom of the determined plane of the first rotational freedom and perpendicular to the first rotational freedom and
The one-movement-freedom-degree of the determined plane of second rotational freedom.The operation executive item 105, can by executing the three degree of freedom
Realize everything necessary to implementing to perform the operation.The multi-spindle machining hand specifically includes fixing body 104, is rotatablely connected with installation
First rotating shaft 101 on body, the second shaft 102 for being rotatablely connected with first rotating shaft 101, can be along the second shaft 102
The telescopic rod 103 of axial stretching；Wherein, first rotating shaft 101 is vertically arranged and around own axis, and the second shaft 102 is opposite
It is rotated in perpendicular in the first rotating shaft 101.In this way, holding operation executive item 105 when first rotating shaft 101 rotates
Its first rotational freedom of row makes its second rotational freedom of the execution of executive item 105 of performing the operation when the rotation of the second shaft 102, when
When telescopic rod 103 stretches, make its one-movement-freedom-degree of the execution of executive item 105 of performing the operation.
As shown in Figures 2 and 3, operating device 200 includes operating stick 240, keeping body 203, passes through the first pivot 206 respectively
It is rotatably connected in keeping body 203 with the second pivot 207 and the first arc batten and the second arc strip that pivot center is perpendicular
Plate, the first arc panel 201 and the second arc panel 202 offer long guiding hole 204 in its extending direction；In operating stick 240
Portion joins on oscillating bearing 205, and head wears the long guiding hole 204 of the first arc panel 201 and the second arc panel 202, and
It can be slided along long guiding hole 204, and turn in the first arc panel 201 and the 202 place center of circle of the second arc panel and oscillating bearing 205
Dynamic center is overlapped, in this way, operating stick 240 can be smoothly along the long guiding hole 204 of the first arc panel 201 and the second arc panel 202
Interaction.When the head of operating stick 240 is slided along the long guiding hole 204 of the second arc panel 202, operating stick 240 is actually being held
Row first rotational freedom corresponding with operation executive item 105, and the corner of the first arc panel 201 driven by operating stick 240
It is consistent with the execution corner of its first rotational freedom of operating stick 240, similarly, when the head of operating stick 240 is along the first arc
When the long guiding hole 204 of plate 201 slides, operating stick 240 is actually executing second rotation corresponding with operation executive item 105 certainly
By spending, and the corner of the second arc panel 202 driven by operating stick 240 and operating stick 240 execute its second rotational freedom
Corner is consistent.The tail portion of operating stick 240 is arranged with casing 241, and casing 241 can move axially in operating stick 240, to hold
Row one-movement-freedom-degree corresponding with operation executive item 105.That is, operating stick 240, which forms, to be had and operation executive item 105
Corresponding first rotational freedom of the first rotational freedom, corresponding with operation the second rotational freedom of executive item 105 the
Two rotational freedoms and one-movement-freedom-degree corresponding with the operation one-movement-freedom-degree of executive item 105.
As illustrated in figures 1 and 8, driving mechanism includes executing its first turn for respectively corresponding driving operation executive item 105
Dynamic freedom degree, the first driver 210 of the second rotational freedom and one-movement-freedom-degree, the second driver 220 and third are driven
Dynamic device 230；Specifically, which is the stepper motor for being set to first rotating shaft 101 Yu 104 junction of fixing body,
Second driver 220 is the stepper motor for being set to 102 junction of first rotating shaft 101 and the second shaft；Two stepper motor
By respectively corresponding driving first rotating shaft 101 and the second shaft 102 executive item 105 that makes to perform the operation executes the first rotational freedom and the
Two rotational freedoms；Third driver 230 includes the stepper motor 232 being arranged in the second shaft 102 and telescopic rod 103 1
It body formed screw and is installed on stepper motor and wears screw to form the lead screw 232 of worm drive, pass through stepping electricity
The rotation of machine is so that telescopic rod 103 is flexible so that operation executive item 105 executes its one-movement-freedom-degree.
As shown in Fig. 2, Fig. 3 and Fig. 8, spatial shape testing agency includes existing for respectively corresponding detection operating stick 240
The first detector 250, the second detector 260 of rotational angle when executing its first rotational freedom, the second rotational freedom
And the third detector 270 of displacement of the detection operating stick 240 when executing its one-movement-freedom-degree；Wherein, first, second,
Three drivers 230 respectively correspond dynamic according to the result driving operation executive item 105 detected of the first, second, third detector 270
Make, so that operation executive item 105 and 240 synchronization action of operating stick；Specifically, the first detector 250 is to be arranged in the first arc
The angular transducer on the first pivot 206 on plate 201, first pivot 206 make the first arc panel 201 and keeping body 203
Form rotatable connection；Second detector 260 is that the angle on the second pivot 207 being arranged on the second arc panel 202 passes
Sensor, second pivot 207 make the second arc panel 202 form rotatable connection, third detector 270 with keeping body 203
For the displacement sensor being set on casing 241, the gear that displacement sensor distance compares standard is provided as in operating stick 240
Plate 243, displacement sensor can realize the position of the casing 241 in operating stick 240 by measuring the distance between baffle 243
It moves.And the first detector 250, the second detector 260 and third detector 270 are right respectively by first processing module 330
It should be communicated with the first driver 210, the second driver 220 and third driver 230 to realize that operating stick 240 is executing
The movement of three of them freedom degree is executing keeping strokes for three of them freedom degree with operation executive item 105.The first processing module
330 include three the first signal adapters, 331, three the first controllers 332；Wherein, three the first controllers 332 are respectively used to
Control makes three stepper motors of three of them freedom degree of the operation execution of executive item 105, the first detector 250, the second detector 260
And third detector 270 respectively correspond measured two angle signals through three the first signal adapters 331 and
Displacement signal is converted to three first and controls the signal that can be identified, such as voltage signal, three the first controllers 332 are according to this turn
The signal changed controls the movement of three stepper motors respectively so that the movement in three degree of freedom of operation executive item 105 with it is corresponding
Operating stick 240 the movement in three degree of freedom it is fully synchronized, for example, when operating stick 240 is to execute it first rotatably mounted
Corner when spending is 3 °, and operation executive item 105 also rotates synchronously 3 ° in its first rotational freedom of execution.In this way, operation executes
Part 105 can be synchronized corresponding to operating stick 240.
As shown in Fig. 2, Fig. 3 and Fig. 8, damping measuring means includes existing for respectively corresponding detection operation executive item 105
First analyzer 350 of suffered torsion (or torque, similarly hereinafter) when executing its first rotational freedom, the second rotation, the
Two analyzers 360 and the third for detecting the operation executive item 105 straight line resistance suffered when executing its one-movement-freedom-degree are surveyed
Determine device 370；Specifically, the first analyzer 350 and the second analyzer 360 are to be respectively arranged in fixing body 104 and first rotating shaft 101
The torque sensor of 102 junction of torque sensor, first rotating shaft 101 and the second shaft of junction.Third analyzer 370 is
The pressure sensor that telescopic rod 103 is set between executive item 105 of performing the operation.It is held in this way, the first analyzer 350 can measure operation
The torsion (or torque, similarly hereinafter) that row part 105 is formed when executing the first rotational freedom by suffered resistance；Second surveys
The torsion that operation executive item 105 is formed when executing the second rotational freedom by suffered resistance can be measured by determining device 360
(or torque, similarly hereinafter)；It is suffered when executing its one-movement-freedom-degree that third analyzer 370 can measure operation executive item 105
The resistance on 102 axis direction of the second shaft.
As shown in Fig. 4, Fig. 8, damping applying mechanism includes the first damper 281, the second damper 282 and third damping
Device 290；When executive item 105 of performing the operation executes its first rotational freedom, the first damper 281 is according to 350 institute of the first analyzer
The torsion detected applies torsion damping to operating stick 240 in rotation direction when executing its first rotational freedom, and second
The torsion according to detected by the second analyzer 360 of damper 282 is to operating stick 240 when executing its second rotational freedom
Apply torsion damping in rotation direction, the straight line resistance that third damper 290 is arrived according to clamped by third analyzer 370 is to operation
Bar 240 applies straight line damping on the moving direction when executing one-movement-freedom-degree.Specifically, the first damper 281 and the second resistance
Buddhist nun's device 282 is respectively used to apply torsion damping to the first pivot 206 and the second pivot 207；First damper 281 and the second damping
Device 282 includes two tiles 301 of one end pivot joint；Friction plate 302 is provided on first pivot 206 and the second pivot 207；Two watts
Piece 301 is for coating the first pivot 206 or the first pivot 206；Wherein: being connected with spring between the other end of two tiles 301
305, and the first permanent magnet 303 is provided on one of tile 301, it is provided on another tile 301 and the first permanent magnet
303 heteropolar the first opposite electromagnets 304, the first electromagnet 304 difference on the first damper 281 and the second damper 282
It is corresponding to be damped according to torsion detected by the first analyzer 350 and the second analyzer 360 to change through the first electromagnet 304
On coil electric current, when being increased with the torsion torsion detected by the first analyzer 350 or the second analyzer 360, first
The electric current of coil on electromagnet 304 increases to increase the gravitation between the first permanent magnet 303 and the first electromagnet 304, to increase
Damping of big first damper 281 to the damping or the second damper 282 of increase of the first pivot 206 to the second pivot 207；And
When the torsion detected by the first analyzer 350 or the second analyzer 360 reduces, coil on the first electromagnet 304
Electric current reduces to reduce the gravitation between the first permanent magnet 303 and the first electromagnet 304, to reduce the first damper 281 to the
The damping of the damping of one pivot 206 or the second damper 282 to the second pivot 207.Third damper 290 includes being set to set
The second permanent magnet 292 on pipe 241 and it is set to the second electricity in operating stick 240 and opposite with 292 homopolarity of the second permanent magnet
Magnet 291；Second electromagnet 291 of the first damper 281 changes according to straight line resistance detected by third analyzer 370
By the electric current of the coil on the second electromagnet 291, when being increased with the straight line resistance detected by the third analyzer 370, the
The electric current of coil on two electromagnets 291 increases to increase the magnetic repulsion between the second permanent magnet 292 and electromagnet, to work as third
When straight line resistance detected by analyzer 370 reduces, the electric current of the coil on the second electromagnet 291 reduces to reduce second forever
Magnetic repulsion between magnet 292 and the second electromagnet 291.First analyzer 350, the second analyzer 360 and third analyzer
370 are respectively corresponded and the first damper 281, the second damper 282 and third damper 290 by Second processing module 340
It is communicated.This and processing module includes three second signal converters, 341, three second controllers 342 and two ratios
Example amplifier 343；Three second controllers 342 are respectively used to the first damper 281 of control, first in the second damper 282
The electric current on the second electromagnet 291 in the electric current and control third damper 290 on coil on electromagnet 304；First
Analyzer 350, the second analyzer 360 and third analyzer 370 are respectively corresponded institute through three second signal converters 341
Two torque signals and resistance signal of measurement are converted to the signal that three second controllers 342 can identify, for example, voltage
Signal or current signal, three second controllers 342 control two 304 Hes of the first electromagnet according to the signal of the conversion respectively
The electric current of coil on one the second electromagnet 291, to make torsion damping provided by the first damper 281 and the first measurement
The torque that device 350 is measured is corresponding, measures that torsion damping provided by the second damper 282 with the second analyzer 360
Torque is corresponding；Keep the damping of straight line provided by third damper 290 equal with the straight line resistance that third analyzer 370 is measured.
It should be noted that: described " makes torsion damping and 350 institute of the first analyzer provided by the first damper 281
The torque of measurement is corresponding, makes the torque pair that torsion damping is measured with the second analyzer 360 provided by the second damper 282
Answer " it specifically refers to:
Two controllers control the first damper 281 and the second damper 282 makes the torsion applied damping and first
Torque measured by analyzer 350 and the second analyzer 360 is only proportional correspondence, and be not it is equal, reason is:
Torque detected by first analyzer 350 and the second analyzer 360 corresponds to suffered by operation executive item 105 perpendicular to the
Resistance and first rotating shaft 101 on 102 direction of one shaft 101 and the second shaft are formed by 102 institute of resultant force arm and the second shaft
The product of the resultant force arm of formation, and the torsion damping that the first damper 281 and the second damper 282 are applied is operating stick 240
The feedback force and operating stick 240 of end are formed by product (both ends and joint shaft of the resultant force arm by operating stick 240 of resultant force arm
The distance for holding 205 centers obtains).That is, if measured torque is equal with the torsion damping applied, and perform the operation and execute
Part 105 is different from the respective resultant force arm of operating stick 240, and the hand positioned at the end of operating stick 240 is necessarily made to be felt anti-
Present power with operation executive item 105 suffered by generation the resistance of torque it is different, that is, the feedback force of 240 end opponent of operating stick and
The feedback force of operation 105 opponent of executive item of true directly operation executive item 105 is different, and the force feedback of operating stick 240 is lost
Very.However, if keeping the applied torque for reversing damping with being measured proportional, and the ratio is if operation executive item
105 with the resultant force arm ratio of operating stick 240, this makes the feedback force for going smoothly felt and true directly operation executive item
Feedback force suffered by 105 is identical, and the force feedback of operating stick 240 will not be distorted.
It should be explained that: so-called feedback force or so-called force feedback are actually produced due to provided with damper
It is raw, with the sense with direct operation executive item 105 when the feedback force or force feedback make doctor's manipulation operations bar 240
Feel.That is, it is generation when making doctor's manipulation operations bar 240 that damper, which directly or indirectly applies damping to operating stick 240,
Implement the true sense of touch of operation.
The utility model is by setting damping measuring means and damping applying mechanism, so that operating stick 240 is corresponding to operation
Executive item 105 when making doctor's manipulation operations bar 240, can feel that operation executes so that operating stick 240 produces force feedback
Resistance suffered by part 105, to and doctor be made to make executive item of performing the operation when controlling operation executive item 105 using operating stick 240
105 power for acting on affected part leads to the organ for destroying affected part without departing from preset power.
The effect of two above-mentioned proportional amplifiers 343 is: operation execute its be performed simultaneously the first rotational freedom and/
Or when the second rotational freedom, two proportional amplifiers 343 are used for the change of the effective length of the operation according to operating stick 240
Change (that is, length of the resultant force arm of operating stick 240) to change first by the first damper 281 and/or the second damper 282
The electric current of 304 coil of electromagnet.When the length of the resultant force arm of operating stick 240 increases, proportional amplifier 343 passes through for amplifying
The electric current of the coil of first magnet, so that the proportional increasing with resultant force arm of the magnetic repulsion between the first magnet and the first permanent magnet 303
Greatly (if not increasing electric current, since torsion damping is constant, and resultant force arm increases, and the force feedback of operating stick 240 is inevitable smaller, from
And be distorted), to keep the feedback force to operating stick 240 identical as the feedback force of direct operation executive item 105.Work as operating stick
When the length of 240 resultant force arm reduces, amplifier reduces electric current, and principle is identical.
As described above, proportional amplifier 343 makes no matter operating stick 240 is because performing one-movement-freedom-degree its length such as
What changes, and operating stick 240 is always that doctor provides true force feedback.
The first damper 281 and the second damper 282 in above-described embodiment is indeed through tile 301 and friction plate
Friction between 302 is damped to the first pivot 206 and the second pivot 207.Therefore, the friction between tile 301 and friction plate 302
Power decides the size for applying damping.On the other hand, torsion detected by the first analyzer 350 and the second analyzer 360 with
The damping that first damper 281 and the second damper 282 are applied needs to keep constant constant ratio, so that operation executive item
105 by constant resistance when, operating stick 240 generates identical force feedback.However, due to tile 301 and friction plate more than 302 times
It uses, the roughness on surface can become smaller, to make being continuously increased and constantly dropping for the friction coefficient access times on its surface
It is low.When constant torsion remains unchanged the power between the first electromagnet 304 and the first permanent magnet 303 still, that is, tile
When radial pressure between 301 and friction plate 302 still remains unchanged, due to the friction surface of tile 301 and friction plate 302
Coefficient of friction changes, so that frictional force between the two reduces, so that the first damper 281 and the second damper 282 be made to be applied
The torsion deattenuation added, this will certainly be such that the force feedback of operating stick 240 reduces, and be distorted the process of manipulation operations bar 240.
To make torsion detected by the first analyzer 350 and the second analyzer 360 and the first damper 281 and the second resistance
The damping that Buddhist nun's device 282 is applied keeps constant constant proportionate relationship to prevent the process of manipulation operations bar 240 to be distorted.Such as Fig. 5
To shown in Fig. 7, in a preferred embodiment of the utility model, two hydraulic damping applicators 400 are provided respectively as
One damper 281 and the second damper 282, and the hydraulic damping applicator 400 is controlled by hydraulic controller 500.Specifically,
The hydraulic damping applicator 400 includes an ontology 401 and rotor 404；The ontology 401 offers a fan-shaped chamber,
The rotor 404 can rotate in the ontology 401, be provided with fan-shaped dividing body 405 on the rotor 404, and described point
It cuts body 405 and the chamber is divided into first chamber 402 and second chamber 403, the rotor 404 and pivot (i.e. the first pivot
206 or second pivot 207) be fixedly and coaxially connected, offer the from the export-oriented first chamber 402 of ontology 401 and second chamber 403
One fluid passage 407 and the second hydraulic channel；Hydraulic controller 500, which includes one, has vertical the first valve chamber 502 and level
The second valve chamber 503 valve body 501 and the first vertical spool 504 for being set in the first valve chamber 502；From outside valve body 501
Feed pathway is opened up to the first valve chamber 502, opens up oil discharge passage 507, the first spool 504 from export-oriented first valve chamber 502 of valve body 501
Changed by moving up and down and flows to the passage section of liquid outlet channel from feed pathway so that fluid pressure in oil discharge passage 507
Less than the fluid pressure in feed pathway, liquid outlet channel is connected to the lower end of the first spool 504 by the first liquid-conveying ducts 508；
The second spool 505 is provided in second valve chamber 503, the upper end of the first spool 504 and the second valve chamber 503 pass through the second liquid-conveying ducts
509 are connected to and are provided with spring 511；The second spool 505 is provided in second valve chamber 503, one end of the second spool 505 is provided with
Third permanent magnet 513, the second valve chamber 503 position opposite with third permanent magnet 513 are provided with third electromagnet 512, third electricity
Magnet 512 is opposite with 513 homopolarity of third permanent magnet, and between be provided with spring 511, magnetic repulsion between the two makes the second valve
The other end of core 505 is for blocking the second liquid-conveying ducts 509；First spool 504 is offered for being connected to the first liquid-conveying ducts 508
With the third liquid-conveying ducts 510 of the second liquid-conveying ducts 509, the second valve chamber 503 is connected to fuel tank 700；Hydraulic controller 500 and liquid
It is additionally provided with reversal valve 600 between pressure drag Buddhist nun applicator 400, the reversal valve 600 is logical for making oil discharge passage 507 and the first liquid
Road 407 is connected to second liquid channel 408.Wherein, the electric current on third electromagnet 512 is according to 350 He of the first analyzer
The measured torsion of second measurement is changed.
It should be noted that: originally, the hydraulic medium in oil discharge passage 507 and the hydraulic medium in oil inlet passage 506
Pressure is equal, and the hydraulic medium in oil discharge passage 507 passes through the first liquid-conveying ducts 508, third liquid-conveying ducts 510, the second drain
Then channel 509 pushes against the second spool 505, open the second liquid-conveying ducts 509, at this point, the first spool 504 is from bottom
It moves, so that reducing for the passage section for the second valve chamber 503 that hydraulic fluid flow is crossed, the pressure of the hydraulic medium in oil discharge passage 507
Power p2 is less than the pressure p 1 (pressure of 504 lower end of the first spool is also p2) of the hydraulic medium in oil inlet passage 506, third drain
Channel 510 is equivalent to throttle orifice, and the pressure of the upper end of the second spool 505 is p3, is less than p2, when passage section constantly reduces
When, p2, p3 constantly reduce, so that the second spool 505 made blocks third liquid-conveying ducts 510 again, at this point, the first spool 504
Stopping moves up, and p3 and the sum of the pressure of spring 514 of 504 upper end of the first spool are equal with p2, at this point, in oil discharge passage 507
Pressure is maintained at p2, and the pressure value of p3 is determined by the closure power that the second spool 505 blocks third channel, that is to say, that by the
Magnetic repulsion decision between three permanent magnet 513 and third electromagnet 512, and since the elasticity of spring 514 will not be such that pressure has
Large change, therefore, p2 is determined by p3, and therefore, the magnetic repulsion between third permanent magnet 513 and third electromagnet 512 decides
The pressure of hydraulic medium in oil discharge passage 507.To finally make the electric current by third electromagnet 512 determine oil discharge passage
The pressure of hydraulic medium in 507.
Since hydraulic controller 500 is connect by reversal valve 600 with hydraulic damping applicator 400, when operation executive item 105
In the first rotational freedom of execution or the second rotational freedom and when a rotation direction rotates, passes through and change reversal valve
The spool of 600 (reversal valve 600 can be solenoid directional control valve 600, according to the rotation direction automatic reverse of operation executive item 105)
Movement, enters the hydraulic medium of oil discharge passage 507 in first chamber 402 or second chamber 403, for example, into the first chamber
In room 402, the hydraulic medium in first chamber 402 is equal with the pressure of hydraulic medium in oil discharge passage 507 at this time, the pressure
It exerts a force in the circumferential to the fan-shaped dividing body 405 of rotor 404, to generate damping (the first pivot 206 or the second to pivot
Pivot 207), and the pressure of the hydraulic medium in first chamber 402 determines the damping that hydraulic damping applicator 400 is applied,
In this way, by size of current-first chamber 402 of the torsion-by the coil of third electromagnetism suffered by operation executive item 105
Relationship determining correspondingly is established between the damping that the pressure-of hydraulic medium is applied, to make the first analyzer 350
Keep permanent with the damping that torsion detected by the second analyzer 360 and the first damper 281 and the second damper 282 are applied
Fixed constant proportionate relationship, to prevent the distortion of the process of manipulation operations bar 240.
It should be noted that: when the torsion detected by the first analyzer 350 and the second analyzer 360 increases, pass through
Increase the pressure for increasing the hydraulic medium of oil discharge passage 507 by the electric current of the coil of third electromagnet 512, thus corresponding
Increase the damping applied as the hydraulic damping applicator 400 of the first damper 281 and the second damper 282.
In a preferred embodiment of the utility model, the resistance made of nylon material is provided in casing 241
Buddhist nun's set 242, the damping sleeve 242 to generate opposite when operating stick 240 executes its one-movement-freedom-degree by the way that casing 241 is mobile
The upward damping of lesser damping shaft, the damping is so that doctor has more when manipulation operations bar 240 executes its one-movement-freedom-degree
The sense of reality of hand-held operation executive item 105.
In a preferred embodiment of the utility model, positive and negative setting is provided in the dividing body 405 of rotor 404
For connecting the check valve 406 of first chamber 402 and second chamber 403, which can open under smaller pressure,
When doctor's manipulation operations bar 240, rotor 404 is rotated, doctor executes its first rotational freedom and the making operating stick 240
When two rotational freedoms, with having lesser damping, to make doctor with more the hand-held operation executive item 105 of directly operation
The sense of reality.
It should be noted that: set damping sleeve 242 and individual event valve are used to be not affected by damping in operation executive item 105
In the case of, give doctor's sense of reality for operating operating stick 240.
Claims (6)
1. a kind of remote operation operating system with force feedback, for controlling operation executive device, the operation executive device
Including executive item of performing the operation, the operation executive item determines flat with the first rotational freedom, perpendicular to the first rotational freedom
Second rotational freedom in face and perpendicular to the first rotational freedom and the determined plane of the second rotational freedom movement from
By spending, which is characterized in that the remote operation operating system with force feedback includes operating device, driving mechanism, space shape
State testing agency, damping measuring means and damping applying mechanism；
The operating device includes operating stick, and the operating stick has three degree of freedom corresponding with the operation executive item；
The driving mechanism includes executing its first rotational freedom, second turn for respectively corresponding the driving operation executive item
The first driver, the second driver and the third driver of dynamic freedom degree and one-movement-freedom-degree；
The spatial shape testing agency include for respectively correspond the detection operating stick execute its first rotational freedom,
The first detector, the second detector and the detection operating stick of rotational angle when the second rotational freedom are executing its shifting
The third detector of displacement when dynamic freedom degree；Wherein, the first, second, third driver respectively correspond according to first, second,
Third detector result detected drives the operation executive item movement, so that the operation executive item and the operating stick are same
Step movement；
The damping measuring means include for respectively correspond the detection operation executive item execution its first rotational freedom,
The first analyzer of suffered torsion, the second analyzer and the detection operation executive item are executing its shifting when the second rotation
The third analyzer of suffered straight line resistance when dynamic freedom degree；
The damping applying mechanism includes the first damper, the second damper and third damper；When the operation executive item
When executing its first rotational freedom, first damper torsion according to detected by first analyzer is to the behaviour
Make bar and apply torsion damping in the rotation direction when executing its first rotational freedom, second damper is according to described the
Torsion detected by two analyzers applies in rotation direction when executing its second rotational freedom to the operating stick to be turned round
Turn damping, the straight line resistance that the third damper is arrived according to clamped by the third analyzer is executing shifting to the operating stick
Apply straight line damping on moving direction when dynamic freedom degree.
2. the remote operation operating system according to claim 1 with force feedback, which is characterized in that the operating device
Further include keeping body, be rotatably connected in the keeping body by the first pivot and the second pivot respectively and pivot center mutually hangs down
Straight the first arc batten and the second arc batten, the first arc batten and the second arc batten are in its extending direction
Offer long guiding hole；The middle part of the operating stick joins on oscillating bearing, and head wears the first arc batten
With the long guiding hole of the second arc batten, and can be slided along long guiding hole.
3. the remote operation operating system according to claim 2 with force feedback, which is characterized in that first damping
Device and second damper are respectively used to apply torsion damping to first pivot and second pivot；First resistance
Buddhist nun's device and second damper include two tiles being articulated；It is provided with and rubs on first pivot and second pivot
Pad；Two tiles are for coating first pivot or first pivot；Wherein:
It is connected with spring between two tiles, and is provided with the first permanent magnet on one of them described tile, another tile
On be provided with heteropolar the first opposite electromagnet of first permanent magnet, on first damper and second damper
The first electromagnet respectively correspond to be damped according to torsion detected by the first analyzer and the second analyzer and to change pass through institute
The electric current of the coil on the first electromagnet is stated, to work as torsion detected by first analyzer or second analyzer
When increase, the electric current of the coil on first electromagnet increase with increase first permanent magnet and first electromagnet it
Between gravitation, to increase first damper to the damping of first pivot or increase second damper to described
The damping of second pivot；And the torsion detected by first analyzer or second analyzer is when reducing, it is described
The electric current of coil on first electromagnet reduces to reduce the gravitation between first permanent magnet and first electromagnet, with
Reduce damping of first damper to the damping or second damper of first pivot to second pivot.
4. the remote operation operating system according to claim 1 with force feedback, which is characterized in that first detection
Device and second detector are angular transducer, and the third detector is displacement sensor.
5. the remote operation operating system according to claim 1 with force feedback, which is characterized in that first measurement
Device and second analyzer are torque sensor；The third analyzer is pressure sensor.
6. the remote operation operating system according to claim 2 with force feedback, which is characterized in that the operating stick
Tail portion is arranged with casing, and the third damper includes the second permanent magnet being set in described sleeve pipe and is set to the behaviour
Make the second electromagnet on bar and opposite with the second permanent magnet homopolarity；Second electromagnet of first damper is according to institute
Straight line resistance detected by third analyzer is stated to change the electric current by the coil on second electromagnet, when described
When straight line resistance detected by third analyzer increases, the electric current of the coil on second electromagnet increases described to increase
Magnetic repulsion between second permanent magnet and the electromagnet is reduced with working as straight line resistance detected by the third analyzer
When, the electric current of the coil on second electromagnet reduces to reduce between second permanent magnet and second electromagnet
Magnetic repulsion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721227411.XU CN208640885U (en) | 2017-09-22 | 2017-09-22 | Remote operation operating system with force feedback |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721227411.XU CN208640885U (en) | 2017-09-22 | 2017-09-22 | Remote operation operating system with force feedback |
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| CN208640885U true CN208640885U (en) | 2019-03-26 |
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| CN201721227411.XU Expired - Fee Related CN208640885U (en) | 2017-09-22 | 2017-09-22 | Remote operation operating system with force feedback |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107595395A (en) * | 2017-09-22 | 2018-01-19 | 山东电子职业技术学院 | Remote operation operating system with force feedback |
| CN110974423A (en) * | 2019-12-20 | 2020-04-10 | 郑州大学 | Two-degree-of-freedom master hand with force feedback for gastrointestinal endoscopic surgery |
| CN111281549A (en) * | 2020-03-27 | 2020-06-16 | 杨红伟 | Jaw stripper of cosmetic plastic surgery robot |
| CN113081275A (en) * | 2021-03-29 | 2021-07-09 | 深圳高性能医疗器械国家研究院有限公司 | Force feedback device and application thereof |
-
2017
- 2017-09-22 CN CN201721227411.XU patent/CN208640885U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107595395A (en) * | 2017-09-22 | 2018-01-19 | 山东电子职业技术学院 | Remote operation operating system with force feedback |
| CN110974423A (en) * | 2019-12-20 | 2020-04-10 | 郑州大学 | Two-degree-of-freedom master hand with force feedback for gastrointestinal endoscopic surgery |
| CN110974423B (en) * | 2019-12-20 | 2022-02-15 | 郑州大学 | Two-degree-of-freedom master hand with force feedback for gastrointestinal endoscopic surgery |
| CN111281549A (en) * | 2020-03-27 | 2020-06-16 | 杨红伟 | Jaw stripper of cosmetic plastic surgery robot |
| CN113081275A (en) * | 2021-03-29 | 2021-07-09 | 深圳高性能医疗器械国家研究院有限公司 | Force feedback device and application thereof |
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