CN208851635U - Endoscopic surgery tow-armed robot and robot system - Google Patents
Endoscopic surgery tow-armed robot and robot system Download PDFInfo
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- CN208851635U CN208851635U CN201820901026.7U CN201820901026U CN208851635U CN 208851635 U CN208851635 U CN 208851635U CN 201820901026 U CN201820901026 U CN 201820901026U CN 208851635 U CN208851635 U CN 208851635U
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Abstract
The utility model discloses endoscopic surgery tow-armed robot and robot systems, are related to the field of medical instrument technology.Endoscopic surgery tow-armed robot provided by the utility model includes robot body, the first multi-degree-of-freemechanical mechanical arm, the second multi-degree-of-freemechanical mechanical arm, send mirror structure and hold mirror structure.Robot body includes supportive body and mounting body, mounting body and supportive body are rotatablely connected, first multi-degree-of-freemechanical mechanical arm and the second multi-degree-of-freemechanical mechanical arm are installed in mounting body, send mirror structure setting in end of first multi-degree-of-freemechanical mechanical arm far from mounting body, it holds mirror structure and is installed on the second multi-degree-of-freemechanical mechanical arm, mirror structure is held for fixing digestive endoscopy, send mirror structure for driving the intervention pipe of digestive endoscopy to move.The utility model also provides a kind of robot system.Endoscopic surgery tow-armed robot provided by the utility model and robot system are able to carry out a variety of endoscopic surgeries, and can be avoided and cause unnecessary damage to patient.
Description
Technical field
The utility model relates to the field of medical instrument technology, in particular to endoscopic surgery tow-armed robot and machine
People's system.
Background technique
This part intends to provides for the embodiments of the present invention stated in claims and specific embodiment
Background or context.Description herein recognizes it is the prior art not because not being included in this section.
The utility model of digestive endoscopy and clinical application are the important breakthroughs in modern age gastroenterology development history, by one
The development in more centuries, digestive endoscopy experienced rigid endoscope, half can bend formula scope, fiber endoscope (soft mirror) and video image dendoscope and
Four Dai Biange of endoscopic ultrasonography enter from the initial stage diagnosed merely and melt diagnosis, treatment in integrated minimally invasive interventional technique
Advanced stage.Recently as the development of medical robot technology, digestive endoscopy interventional procedure robot system achieves prominent fly suddenly
Into development.But traditional endoscopic interventional treatment technology has the disadvantage in that 1. need doctor to connect for a long time in diagnoses and treatment process
Saliva, gastro-intestinal Fluid, secretion and the blood of pollution etc. of patient are touched, professional risk is big；2. manpower during diagnosing and treating
Slight jitter easily cause unnecessary bleeding etc., increase Operative risk.
Although existing medical robotic system can improve some drawbacks of traditional endoscopic interventional treatment technology, also it is easy
Unnecessary damage is caused to patient；Meanwhile current robot system can only realize simple endoscopy, be unable to complete abdomen
The endoscopic surgeries such as chamber detects, peritoneal biopsy, liver biopsy, stomach and intestine and intestines Surgical healing, appendectomy, gallbladder removal.
Utility model content
The purpose of this utility model is to provide a kind of endoscopic surgery tow-armed robots, and structure is simple, easy to use, energy
A variety of endoscopic surgeries are enough carried out, and can be avoided and unnecessary damage is caused to patient.
The utility model provides a kind of technical solution about endoscopic surgery tow-armed robot:
A kind of endoscopic surgery tow-armed robot is used for robot system, and the robot system includes controlling terminal.It is described
Endoscopic surgery tow-armed robot includes robot body, the first multi-degree-of-freemechanical mechanical arm, the second multi-degree-of-freemechanical mechanical arm, send mirror knot
Structure and hold mirror structure.The robot body includes supportive body and mounting body, the mounting body and the supportive body
Rotation connection, first multi-degree-of-freemechanical mechanical arm and second multi-degree-of-freemechanical mechanical arm are respectively arranged in the mounting body
On, it is described to send mirror structure setting in the end of first multi-degree-of-freemechanical mechanical arm far from the mounting body, it is described to hold mirror knot
Structure is installed on the end of second multi-degree-of-freemechanical mechanical arm far from the mounting body, and the mirror structure of holding is for fixed digestion
Scope, it is described to send mirror structure for driving the intervention pipe of the digestive endoscopy to move.First multi-degree-of-freemechanical mechanical arm and institute
It states the second multi-degree-of-freemechanical mechanical arm to be used to communicate to connect with the controlling terminal, to control institute respectively by the controlling terminal
State the first multi-degree-of-freemechanical mechanical arm and second multi-degree-of-freemechanical mechanical arm movement.The mounting body is used for the control eventually
End communication connection is rotated with controlling the mounting body by the controlling terminal relative to the supportive body.
Further, the endoscopic surgery tow-armed robot further includes force snesor, and the force snesor is set to described
It intervenes the end of pipe and is electrically connected with the controlling terminal；The force snesor is used to detect the stress of the intervention tube end,
And by the stress transfer to the controlling terminal.
Further, the endoscopic surgery tow-armed robot further includes vision module, and the vision module is installed on described
In mounting body and for being communicated to connect with the controlling terminal；The vision module is for detecting the first multiple degrees of freedom machine
The action message of tool arm and second multi-degree-of-freemechanical mechanical arm, and the action message is transmitted to the controlling terminal.
The another object of the utility model is to provide a kind of robot system, and structure is simple, easy to use, Neng Goujin
The a variety of endoscopic surgeries of row, and can be avoided and unnecessary damage is caused to patient.
The utility model also provides a kind of technical solution about robot system:
A kind of robot system is used for digestive endoscopy interventional procedure, and the robot system includes controlling terminal and scope hand
Art tow-armed robot.The endoscopic surgery tow-armed robot include robot body, the first multi-degree-of-freemechanical mechanical arm, more than second from
By degree mechanical arm, send mirror structure and hold mirror structure.The robot body includes supportive body and mounting body, the installation master
Body and the supportive body are rotatablely connected, and first multi-degree-of-freemechanical mechanical arm and second multi-degree-of-freemechanical mechanical arm are pacified respectively
It is described to send mirror structure setting in first multi-degree-of-freemechanical mechanical arm far from the mounting body loaded in the mounting body
End, the mirror structure of holding is installed on the end of second multi-degree-of-freemechanical mechanical arm far from the mounting body, described to hold mirror
Structure is described to send mirror structure for driving the intervention pipe of the digestive endoscopy to move for fixing digestive endoscopy.More than described first
Degree-of-freedom manipulator and second multi-degree-of-freemechanical mechanical arm are used to communicate to connect with the controlling terminal, to pass through the control
Terminal processed controls first multi-degree-of-freemechanical mechanical arm and second multi-degree-of-freemechanical mechanical arm movement respectively.The mounting body
For being communicated to connect with the controlling terminal, to control the relatively described supportive body of mounting body by the controlling terminal
Rotation.The controlling terminal respectively with first multi-degree-of-freemechanical mechanical arm, second multi-degree-of-freemechanical mechanical arm and the peace
Fill main body communication connection.
Further, the controlling terminal includes terminal body, display equipment, control handle, control pedal and control mould
Block.The display equipment includes the first display and second display, first display and the second display with
The terminal body is flexibly connected, and first display and the second display are electrically connected with the control module；
The endoscopic surgery tow-armed robot further includes vision module, the vision module be installed in the mounting body and for
The controlling terminal communication connection；The vision module is for detecting first multi-degree-of-freemechanical mechanical arm and described more than second certainly
It is transmitted to the control module by the action message of degree mechanical arm, and by the action message, the control module is used for basis
The action message controls the display content of first display and the second display.The control handle includes first
Handleset and second handle component, the first handle component and the second handle component are connect with the terminal body
And be electrically connected with the control module, the first handle component is for generating the first control instruction and controlling described first
Instruction is transmitted to the control module, and the second handle component is for generating the second control instruction and referring to second control
Order is transmitted to the control module.The control pedal connect with the terminal body and is electrically connected with the control module, institute
Control pedal is stated for generating third control instruction and the third control instruction being transmitted to the control module.The control
For connect with the robot communication, the control module is also used to according to first control instruction control described the module
The movement of one multi-degree-of-freemechanical mechanical arm, the control module are also used to control described more than second freely according to second control instruction
Manipulator motion is spent, the control module is also used to control the relatively described branch of mounting body according to the third control instruction
Support body rotation.
Further, the endoscopic surgery tow-armed robot further includes force snesor, and the force snesor is set to described
It intervenes the end of pipe and is electrically connected with the controlling terminal；The force snesor is used to detect the stress of the intervention tube end,
And by the stress transfer to the control module, the control module is also used to that the first handle is arranged according to the stress
The feedback force of component and the second handle component.
Further, the first handle component includes installation chassis, position adjustment structure, intermediate connector, posture tune
Section structure and operating parts, the both ends of the position adjustment structure connect with the installation chassis and intermediate connector rotation respectively
It connects, the both ends of the attitude regulation structure are connect with the intermediate connector and the operating parts respectively.
Further, the position adjustment structure includes the first linking arm, the first control motor, the second linking arm, second
It controls motor, third linking arm and third and controls motor；The first control motor, the second control motor and the third
Control motor be installed on the installation chassis spaced reciprocally, and it is described first control motor, it is described second control motor and
The third control motor is electrically connected with the control module；One end of first linking arm and the first control motor
Rotation connection, the other end and the intermediate connector are rotatablely connected；One end of second linking arm and the second control electricity
Machine rotation connection, the other end are connect with the intermediate connector rotating member；One end of the third linking arm and the third control
Motor rotation connection processed, the other end and the intermediate connector are rotatablely connected；The control module is also used to according to the stress
The torque size of the first control motor, the second control motor and third control motor is set.
Further, first linking arm includes the first arm body, first rotating shaft, the second arm body and the second shaft, described
First rotating shaft and it is described first control motor rotation connection and the first rotating shaft both ends respectively with the first arm body and institute
State the connection of the second arm body, second shaft and the intermediate connector be rotatablely connected and the both ends of second shaft respectively with
The first arm body is connected with the other end of the second arm body.
Further, the attitude regulation structure include the first connector, first motor, the second connector, the second motor,
Third connector and third motor；One end of first connector is connect with the intermediate connector, the other end and described the
The connection of one motor；One end of second connector is connect with the output end of the first motor, the other end and second electricity
Machine connection；One end of the third connector is connect with the output end of second motor, and the other end and the third motor connect
It connects, the operating parts is connect with the output end of the third motor；The control module is also used to that institute is arranged according to the stress
State the torque size of first motor, second motor and the third motor.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described.It should be appreciated that the following drawings illustrates only some embodiments of the utility model, therefore should not be by
Regard the restriction to range as.For those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 is the structural schematic diagram for the robot system that the embodiments of the present invention provide；
Fig. 2 is the structural schematic diagram of the robot system that provides of the embodiments of the present invention at work；
Fig. 3 is the structural schematic diagram for the endoscopic surgery tow-armed robot that the embodiments of the present invention provide；
Fig. 4 is the structural schematic diagram for the controlling terminal that the embodiments of the present invention provide；
Fig. 5 is structural schematic diagram of the first handle component that provides of the embodiments of the present invention under the first visual angle；
Fig. 6 is structural schematic diagram of the first handle component that provides of the embodiments of the present invention under the second visual angle；
Fig. 7 is the enlarged structure schematic diagram in Fig. 6 at VII；
Fig. 8 is the structural schematic diagram for the attitude regulation structure that the embodiments of the present invention provide.
Icon: 10- robot system；11- intervention pipe；100- controlling terminal；110- terminal body；112- support frame；
113- space；120- shows equipment；The first display of 121-；122- second display；130- controls handle；131- first
Handleset；132- second handle component；133- installation chassis；134- position adjustment structure；The first linking arm of 1341-；1342-
First control motor；The second linking arm of 1343-；1344- second controls motor；1345- third linking arm；The control of 1346- third
Motor；1347- the first arm body；1348- first rotating shaft；1349- the second arm body；The second shaft of 1340-；135- intermediate connector；
136- attitude regulation structure；The first connector of 1361-；1362- first motor；The second connector of 1363-；The second motor of 1364-；
1365- third connector；1367- third motor；137- operating parts；140- control pedal；200- endoscopic surgery tow-armed robot；
210- robot body；211- mounting body；212- supportive body；The first multi-degree-of-freemechanical mechanical arm of 220-；230- more than second is certainly
By degree mechanical arm；240- send mirror structure；250- holds mirror structure；260- vision module.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described.Obviously, it is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Usually here in attached drawing description and
The component of the utility model embodiment shown can be arranged and be designed with a variety of different configurations.
Therefore, requirement is not intended to limit to the detailed description of the embodiments of the present invention provided in the accompanying drawings below
The scope of the utility model of protection, but it is merely representative of the selected embodiment of the utility model.Based in the utility model
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, all
Belong to the range of the utility model protection.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be understood that term " on ", "lower", "inner", "outside", "left", "right" etc.
The orientation or positional relationship of instruction be based on the orientation or positional relationship shown in the drawings or the utility model product use when
The orientation or positional relationship that the orientation or positional relationship or those skilled in the art usually put usually understand, be only for
Convenient for description the utility model and simplify description, rather than the equipment of indication or suggestion meaning or element must have specifically
Orientation is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
In addition, term " first ", " second " etc. are only used for distinguishing description, it is not understood to indicate or imply relatively important
Property.
In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, " setting ",
Terms such as " connections " shall be understood in a broad sense, for example, " connection " may be a fixed connection, may be a detachable connection, or one
Ground connection；It can be mechanical connection, be also possible to be electrically connected；Can be and be directly connected to, can also by between intermediary in succession
It connects, can be the connection inside two elements.For the ordinary skill in the art, can understand as the case may be
The concrete meaning of above-mentioned term in the present invention.
With reference to the accompanying drawing, specific embodiment of the present utility model is described in detail.
Specific embodiment
Fig. 1 to Fig. 8 is please referred to, present embodiments provides a kind of robot system 10, structure is simple, user
Just, a variety of endoscopic surgeries are able to carry out, and can be avoided and unnecessary damage is caused to patient.
Robot system 10 provided in this embodiment is for implementing digestive endoscopy interventional procedure comprising the scope for execution
Operation tow-armed robot 200 and the controlling terminal 100 acted for controlling endoscopic surgery tow-armed robot 200.
Endoscopic surgery tow-armed robot 200 provided in this embodiment includes robot body 210, the first multi freedom degree mechanical
Arm 220, the second multi-degree-of-freemechanical mechanical arm 230 send mirror structure 240 and hold mirror structure 250.Robot body 210 includes support master
Body 212 and mounting body 211, mounting body 211 and supportive body 212 are rotatablely connected, the first multi-degree-of-freemechanical mechanical arm 220 and the
Two multi-degree-of-freemechanical mechanical arms 230 are respectively arranged in mounting body 211, and mirror structure 240 is sent to be set to the first multi freedom degree mechanical
End of the arm 220 far from mounting body 211 holds mirror structure 250 and is installed on the second multi-degree-of-freemechanical mechanical arm 230 far from mounting body
211 end holds mirror structure 250 for fixing digestive endoscopy, send mirror structure 240 for driving the intervention pipe 11 of digestive endoscopy to transport
It is dynamic.First multi-degree-of-freemechanical mechanical arm 220 and the second multi-degree-of-freemechanical mechanical arm 230 are used to communicate to connect with controlling terminal 100, with
The first multi-degree-of-freemechanical mechanical arm 220 and the movement of the second multi-degree-of-freemechanical mechanical arm 230 are controlled respectively by controlling terminal 100.Installation
Main body 211 is used to communicate to connect with controlling terminal 100, to control mounting body 211 with respect to supportive body by controlling terminal 100
212 rotations.
In the present embodiment, mounting body 211 is set as humanoid, to reduce patient to mechanical rejection feeling, promotes patient
Medical treatment experience.Mounting body 211 is rotatablely arranged on supportive body 212 by shaft.Optionally, supportive body 212
Castor or other driving equipments can be set, in order to carry.
When in use, the second multi-degree-of-freemechanical mechanical arm 230 is used to fix the main body of digestive endoscopy, the first multi freedom degree mechanical
Arm 220 is used to the intervention pipe 11 of digestive endoscopy being sent into human body.When work, hold mirror structure 250 with to send mirror structure 240 be synchronous dynamic
Make.It holds mirror structure 250 and is accomplished that fixed digestive endoscopy, the specific structure of mirror structure 240 is sent to be referred to current single armed machine
Device people, details are not described herein.
In addition, the first multi-degree-of-freemechanical mechanical arm 220 and the second multi-degree-of-freemechanical mechanical arm 230 be mechanical arm mechanical structure and
Driving device is provided with decelerating motor or servo motor etc. in each multi-degree-of-freemechanical mechanical arm.Optionally, more than first certainly
It is the mechanical arm of seven freedom by degree mechanical arm 220 and the second multi-degree-of-freemechanical mechanical arm 230.It is appreciated that above-mentioned control is whole
End 100 and the first multi-degree-of-freemechanical mechanical arm 220 and the communication connection of the second multi-degree-of-freemechanical mechanical arm 230 refer to and its driving device
Communication connection holds mirror according to actual requirement realization and send mirror function to control the state of mechanical arm by driving device.
In the present embodiment, endoscopic surgery tow-armed robot 200 further includes force snesor, and force snesor is set to intervention pipe
11 end is simultaneously electrically connected with controlling terminal 100；Force snesor is used to detect the stress for intervening 11 end of pipe, and by stress transfer
To controlling terminal 100.
It is appreciated that the effect of force snesor is the active force between detection intervention pipe 11 and human body, and by the active force
Controlling terminal 100 is fed back in real time, in order to which operator can operate in operation according to feedback dynamics suitable control treatment,
Reduce unexpected occur.
In the present embodiment, endoscopic surgery tow-armed robot 200 further includes vision module 260, and vision module 260 is installed on
In mounting body 211 and for being communicated to connect with controlling terminal 100；Vision module 260 is for detecting the first multi freedom degree mechanical
The action message of arm 220 and the second multi-degree-of-freemechanical mechanical arm 230, and action message is transmitted to controlling terminal 100.
It is appreciated that long-range operation may be implemented by vision system doctor, and then avoid direct contact with the saliva of patient
Liquid, gastro-intestinal Fluid, secretion and blood of pollution etc., are effectively reduced professional risk.The vision module 260 can be using camera etc.
Equipment, and two cameras can be respectively set respectively to the first multi-degree-of-freemechanical mechanical arm 220 and the second multi freedom degree mechanical
The action message of arm 230 is acquired, to improve efficiency.
Controlling terminal 100 provided in this embodiment includes terminal body 110, display equipment 120, control handle 130, control
Pedal 140 and control module.
In this example it is shown that equipment 120 includes the first display 121 and second display 122, the first display
121 and second display 122 be flexibly connected with terminal body 110, so that operator can be adjusted as needed when in use
First display 121 and second display 122；First display 121 and second display 122 electrically connect with control module
It connects, when in use, the first display 121 is used to show the image information of vision module 260, and second display 122 is for showing
The image information of digestive endoscopy.Vision module 260 is for detecting the first multi-degree-of-freemechanical mechanical arm 220 and the second multi freedom degree mechanical
The action message of arm 230, and action message is transmitted to control module, control module is used for aobvious according to action message control first
Show the display content of device 121 and second display 122.
In the present embodiment, control handle 130 includes first handle component 131 and second handle component 132, first handle
Component 131 and second handle component 132 connect with terminal body 110 and are electrically connected with control module, first handle component
131 for generating the first control instruction and the first control instruction being transmitted to control module, and second handle component 132 is for generating
Second control instruction is simultaneously transmitted to control module by the second control instruction.Control pedal 140 connect with terminal body 110 and with control
The electrical connection of molding block, control pedal 140 is for generating third control instruction and third control instruction being transmitted to control module.Control
Molding block is used to communicate to connect with endoscopic surgery tow-armed robot 200, and control module is also used to be controlled according to the first control instruction
The movement of first multi-degree-of-freemechanical mechanical arm 220, control module are also used to control the second multi freedom degree mechanical according to the second control instruction
Arm 230 moves, and control module is also used to control mounting body 211 according to third control instruction and rotate relative to supportive body 212.
First handle component 131 and second handle component 132 can be respectively to the first multi-degree-of-freemechanical mechanical arms 220 and second
Multi-degree-of-freemechanical mechanical arm 230 carries out control manipulation, while the stress of force snesor detection intervention 11 end of pipe can also be fed back to
First handle component 131 and second handle component 132, and to first handle component 131 and the setting feedback of second handle component 132
Power.It can be between the stress that first handle component 131 and the feedback force on second handle component 132 and force snesor detect
It is configured according to preset ratio, which can be configured according to the actual conditions of surgical environments and operator.
It is appreciated that can be behaviour by the cooperation of force snesor and first handle component 131 and second handle component 132
Author experiences the dynamics of digestive endoscopy, and then the operation treated according to force feedback in real time, with reduce to patient need not
Damage and avoid accident.
Meanwhile it is to be appreciated that in the present embodiment, the structure one of first handle component 131 and second handle component 132
It causes, first handle component 131 is illustrated below, second handle component 132 is referred to following explanation and is configured.
In the present embodiment, first handle component 131 includes installation chassis 133, position adjustment structure 134, intermediate connection
Part 135, attitude regulation structure 136 and operating parts 137, the both ends of position adjustment structure 134 respectively with installation chassis 133 and centre
Connector 135 is rotatablely connected, and the both ends of attitude regulation structure 136 are connect with intermediate connector 135 and operating parts 137 respectively.
Further, in the present embodiment, position adjustment structure 134 includes that the first linking arm 1341, first controls motor
1342, the second linking arm 1343, second control motor 1344, third linking arm 1345 and third control motor 1346；First control
Motor 1342, second processed controls motor 1344 and third control motor 1346 is installed on spaced reciprocally on installation chassis 133, and
First control motor 1342, second controls motor 1344 and third control motor 1346 is electrically connected with control module；First connects
The one end and the first control motor 1342 for connecing arm 1341 are rotatablely connected, and the other end and intermediate connector 135 are rotatablely connected；Second connects
The one end and the second control motor 1344 for connecing arm 1343 are rotatablely connected, and the other end is connect with 135 rotating member of intermediate connector；Third
One end of linking arm 1345 and third control motor 1346 are rotatablely connected, and the other end and intermediate connector 135 are rotatablely connected；Control
Module is also used to be arranged according to stress the power that the first control motor 1342, second controls motor 1344 and third control motor 1346
Square size.
Further, in the present embodiment, the first linking arm 1341 include the first arm body 1347, first rotating shaft 1348,
Second arm body 1349 and the second shaft 1340, first rotating shaft 1348 and the first control motor 1342 rotation connection and first rotating shaft
1348 both ends are connect with the first arm body 1347 and the second arm body 1349 respectively, the second shaft 1340 with 135 turns of intermediate connector
The both ends of dynamic connection and the second shaft 1340 are connect with the other end of the first arm body 1347 and the second arm body 1349 respectively.
In the present embodiment, attitude regulation structure 136 includes the first connector 1361, the connection of first motor 1362, second
Part 1363, the second motor 1364, third connector 1365 and third motor 1367；One end and centre of first connector 1361 connect
Fitting 135 connects, and the other end is connect with first motor 1362；One end of second connector 1363 and the output of first motor 1362
End connection, the other end are connect with the second motor 1364；The output end of one end of third connector 1365 and the second motor 1364 connects
It connects, the other end is connect with third motor 1367, and operating parts 137 is connect with the output end of third motor 1367；Control module is also used
According to stress setting first motor 1362, the torque size of the second motor 1364 and third motor 1367.
It is appreciated that the first linking arm 1341, the second linking arm 1343 and third linking arm 1345 are parallel with one another three
A freedom degree can be realized the adjustment to mechanical arm position；First connector 1361, the second connector 1363 and third connector
1365 be the three degree of freedom being serially connected, and can be realized the adjustment to mechanical arm posture and position.
In the present embodiment, first motor 1362, the second motor 1364, third motor 1367, first control motor 1342,
Second control motor 1344 and third control motor 1346 are torque motor, while being configured to torque motor and can make to grasp
Author has prestressing force when in use, and then the stress that force snesor detects is fed back to operator.
In the present embodiment, the rotation direction of the output end of first motor 1362, the second motor 1364 output end turn
The rotation direction three of the output end of dynamic direction and third motor 1367 is mutually perpendicular to.
In the present embodiment, terminal body 110 is provided with support frame 112, and between support frame 112 and terminal body 110
It is provided with space 113, control handle 130 is located in space 113.
In the present embodiment, terminal body 110 is additionally provided with multiple castors.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of endoscopic surgery tow-armed robot is used for robot system, the robot system includes controlling terminal, feature
It is, the endoscopic surgery tow-armed robot includes robot body, the first multi-degree-of-freemechanical mechanical arm, the second multi freedom degree mechanical
Arm send mirror structure and holds mirror structure；
The robot body includes supportive body and mounting body, and the mounting body and the supportive body are rotatablely connected,
First multi-degree-of-freemechanical mechanical arm and second multi-degree-of-freemechanical mechanical arm are respectively arranged in the mounting body, described to send
Mirror structure setting is installed on institute in the end of first multi-degree-of-freemechanical mechanical arm far from the mounting body, the mirror structure of holding
End of second multi-degree-of-freemechanical mechanical arm far from the mounting body is stated, the mirror structure of holding is described for fixing digestive endoscopy
Send mirror structure for driving the intervention pipe of the digestive endoscopy to move；
First multi-degree-of-freemechanical mechanical arm and second multi-degree-of-freemechanical mechanical arm are used to and the controlling terminal communication link
It connects, to control first multi-degree-of-freemechanical mechanical arm and second multi-degree-of-freemechanical mechanical arm fortune respectively by the controlling terminal
It is dynamic；
The mounting body is used to communicate to connect with the controlling terminal, to control the mounting body by the controlling terminal
It is rotated relative to the supportive body.
2. endoscopic surgery tow-armed robot according to claim 1, which is characterized in that the endoscopic surgery tow-armed robot
It further include force snesor, the force snesor is set to the end of the intervention pipe and is electrically connected with the controlling terminal；It is described
Force snesor is used to detect the stress of the intervention tube end, and by the stress transfer to the controlling terminal.
3. endoscopic surgery tow-armed robot according to claim 1, which is characterized in that the endoscopic surgery tow-armed robot
It further include vision module, the vision module is installed in the mounting body and for communicating to connect with the controlling terminal；
The vision module is used to detect the action message of first multi-degree-of-freemechanical mechanical arm and second multi-degree-of-freemechanical mechanical arm,
And the action message is transmitted to the controlling terminal.
4. a kind of robot system is used for digestive endoscopy interventional procedure, which is characterized in that the robot system includes controlling terminal
With the endoscopic surgery tow-armed robot as described in any one of claim 1-3, the controlling terminal is respectively with described first
Multi-degree-of-freemechanical mechanical arm, second multi-degree-of-freemechanical mechanical arm and mounting body communication connection.
5. robot system according to claim 4, which is characterized in that the controlling terminal includes terminal body, display
Equipment, control handle, control pedal and control module；
The display equipment includes the first display and second display, first display and the second display with
The terminal body is flexibly connected, and first display and the second display are electrically connected with the control module；
The endoscopic surgery tow-armed robot further includes vision module, the vision module be installed in the mounting body and for
The controlling terminal communication connection；The vision module is for detecting first multi-degree-of-freemechanical mechanical arm and described more than second certainly
It is transmitted to the control module by the action message of degree mechanical arm, and by the action message, the control module is used for basis
The action message controls the display content of first display and the second display；
The control handle includes first handle component and second handle component, the first handle component and the second handle
Component connect with the terminal body and is electrically connected with the control module, and the first handle component is for generating first
First control instruction is simultaneously transmitted to the control module by control instruction, and the second handle component is for generating the second control
System instructs and second control instruction is transmitted to the control module；
The control pedal connect with the terminal body and is electrically connected with the control module, and the control pedal is for generating
The third control instruction is simultaneously transmitted to the control module by third control instruction；
For connecting with the robot communication, the control module is also used to be referred to according to first control control module
It enables and controls the first multi-degree-of-freemechanical mechanical arm movement, the control module is also used to control institute according to second control instruction
The movement of the second multi-degree-of-freemechanical mechanical arm is stated, the control module is also used to control the installation master according to the third control instruction
Body is rotated relative to the supportive body.
6. robot system according to claim 5, which is characterized in that the endoscopic surgery tow-armed robot further includes power
Sensor, the force snesor are set to the end of the intervention pipe and are electrically connected with the controlling terminal；The force snesor
For detecting the stress of the intervention tube end, and by the stress transfer to the control module, the control module is also used
In the feedback force that the first handle component and the second handle component are arranged according to the stress.
7. robot system according to claim 6, which is characterized in that the first handle component include installation chassis,
Position adjustment structure, intermediate connector, attitude regulation structure and operating parts, the both ends of the position adjustment structure respectively with it is described
Installation chassis and the intermediate connector rotation connection, the both ends of the attitude regulation structure respectively with the intermediate connector and
The operating parts connection.
8. robot system according to claim 7, which is characterized in that the position adjustment structure includes the first connection
Arm, the first control motor, the second linking arm, the second control motor, third linking arm and third control motor；First control
Motor, the second control motor and third control motor are installed on spaced reciprocally on the installation chassis, and described
First control motor, the second control motor and third control motor are electrically connected with the control module；Described
One end of one linking arm and the first control motor rotation connection, the other end and the intermediate connector are rotatablely connected；It is described
One end of second linking arm and the second control motor rotation connection, the other end are connect with the intermediate connector rotating member；
One end of the third linking arm and third control motor rotation connection, the other end and intermediate connector rotation connect
It connects；The control module is also used to be arranged according to the stress the first control motor, the second control motor and described
The torque size of third control motor.
9. robot system according to claim 8, which is characterized in that first linking arm includes the first arm body, the
One shaft, the second arm body and the second shaft, the first rotating shaft and it is described first control motor rotation connection and it is first turn described
The both ends of axis are connect with the first arm body and the second arm body respectively, and second shaft and the intermediate connector rotate
The both ends of connection and second shaft are connect with the other end of the first arm body and the second arm body respectively.
10. robot system according to claim 7, which is characterized in that the attitude regulation structure includes the first connection
Part, first motor, the second connector, the second motor, third connector and third motor；One end of first connector and institute
Intermediate connector connection is stated, the other end is connect with the first motor；One end of second connector and the first motor
Output end connection, the other end connect with second motor；One end of the third connector is defeated with second motor
Outlet connection, the other end are connect with the third motor, and the operating parts is connect with the output end of the third motor；The control
The torque that molding block is also used to be arranged according to the stress first motor, second motor and the third motor is big
It is small.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820901026.7U CN208851635U (en) | 2018-06-11 | 2018-06-11 | Endoscopic surgery tow-armed robot and robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820901026.7U CN208851635U (en) | 2018-06-11 | 2018-06-11 | Endoscopic surgery tow-armed robot and robot system |
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| CN208851635U true CN208851635U (en) | 2019-05-14 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108670415A (en) * | 2018-06-11 | 2018-10-19 | 沈阳尚贤微创医疗器械股份有限公司 | Endoscopic surgery tow-armed robot and robot system |
| CN111281649A (en) * | 2020-03-03 | 2020-06-16 | 西安交通大学 | Ophthalmic surgery robot system and control method thereof |
| CN115919475A (en) * | 2023-03-10 | 2023-04-07 | 北京云力境安科技有限公司 | Split type soft endoscope operation robot system |
-
2018
- 2018-06-11 CN CN201820901026.7U patent/CN208851635U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108670415A (en) * | 2018-06-11 | 2018-10-19 | 沈阳尚贤微创医疗器械股份有限公司 | Endoscopic surgery tow-armed robot and robot system |
| CN111281649A (en) * | 2020-03-03 | 2020-06-16 | 西安交通大学 | Ophthalmic surgery robot system and control method thereof |
| CN115919475A (en) * | 2023-03-10 | 2023-04-07 | 北京云力境安科技有限公司 | Split type soft endoscope operation robot system |
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Effective date of registration: 20200327 Address after: 215123 a326, the second teaching building, No. 150, Renai Road, Dushu Lake Higher Education Zone, Suzhou Industrial Park, Suzhou City, Jiangsu Province Patentee after: SUZHOU SHANGXIAN MEDICAL ROBOT TECHNOLOGY Co.,Ltd. Address before: The innovation road of Shenyang city Liaoning province 110000 Hunnan District No. 153-5 (1) Patentee before: SHENYANG SHANGXIAN MINIMAL INVASIVE Inc. |
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