CN208851636U - Endoscopic surgery robot control terminal and robot system - Google Patents
Endoscopic surgery robot control terminal and robot system Download PDFInfo
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- CN208851636U CN208851636U CN201820902057.4U CN201820902057U CN208851636U CN 208851636 U CN208851636 U CN 208851636U CN 201820902057 U CN201820902057 U CN 201820902057U CN 208851636 U CN208851636 U CN 208851636U
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Abstract
The utility model discloses endoscopic surgery robot control terminal and robot systems, are related to the field of medical instrument technology.Endoscopic surgery robot control terminal provided by the utility model includes terminal body, display equipment, control handle, control pedal and control module.Show that equipment includes the first display and second display, controlling handle includes first handle component and second handle component, for generating the first control instruction and the first control instruction being transmitted to control module, second handle component generates and the second control instruction is transmitted to control module first handle component.Control pedal is for generating and third control instruction being transmitted to control module.The utility model also provides a kind of robot system including endoscopic surgery robot control terminal.The structure of endoscopic surgery robot control terminal and robot system provided by the utility model is simple, easy to use, is 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 robot control terminal and
Robot 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 be avoided some drawbacks of traditional endoscopic interventional treatment technology, but be also 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 robot control terminal, 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.
The utility model provides a kind of technical solution about endoscopic surgery robot control terminal:
A kind of endoscopic surgery robot control terminal is used for robot system, and the robot system includes robot.Institute
Stating endoscopic surgery robot control terminal includes terminal body, display equipment, control handle, control pedal and control module.Institute
Stating display equipment includes the first display and second display, first display and the second display with the end
Subject activity connection is held, first display and the second display are electrically connected with the control module, with control
The display content of first display and the second display.The control handle includes first handle component and second-hand
Handle component, the first handle component and the second handle component connect with the terminal body and with the control mould
Block electrical connection, the first handle component is for generating the first control instruction and first control instruction being transmitted to the control
Molding block, the second handle component is for generating the second control instruction and second control instruction being 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 giving birth to
The control module is transmitted at third control instruction and by the third control instruction.The control module is used for and the machine
Device people communication connection, the control module are also used to according to first control instruction, second control instruction and described the
Three control instructions send control instruction to the robot.
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.
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, in the first control motor, the second control motor and third control motor three
Angle arbitrarily between the two is equal.
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.
Further, the rotation direction of the output end of the first motor, second motor output end rotation side
To and the rotation direction three of output end of the third motor be mutually perpendicular to.
Further, the terminal body is provided with support frame, and is arranged between support frame as described above and the terminal body
There is space, the control handle is located in the space.
Further, the terminal body is additionally provided with multiple castors.
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, including robot and endoscopic surgery robot control terminal.The endoscopic surgery robot
Controlling terminal includes terminal body, display equipment, control handle, control pedal and control module.The display equipment includes the
One display and second display, first display and the second display are flexibly connected with the terminal body,
First display and the second display are electrically connected with the control module, with control first display and
The display content of the second display.The control handle includes first handle component and second handle component, and described first
Handleset and the second handle component connect with the terminal body and are electrically connected with the control module, and described
One handle component is for generating the first control instruction and first control instruction being transmitted to the control module, and described second
Handleset is for generating the second control instruction and second control instruction being transmitted to the control module.The control is stepped on
Plate connect with the terminal body and is electrically connected with the control module, and the control pedal is for generating third control instruction simultaneously
The third control instruction is transmitted to the control module.The control module with the robot communication for connecting, institute
Control module is stated to be also used to according to first control instruction, second control instruction and the third control instruction to described
Robot sends control instruction, and the control module is connect with the robot communication.
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 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- tow-armed robot；210- machine
Human agent；211- mounting body；212- supportive body；The first multi-degree-of-freemechanical mechanical arm of 220-；The second multi freedom degree mechanical of 230-
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.
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 both arms for execution
Robot 200 and the endoscopic surgery robot control terminal 100 acted for controlling tow-armed robot 200.
Tow-armed robot 200 provided in this embodiment includes robot body 210, the first multi-degree-of-freemechanical mechanical arm 220, the
Two multi-degree-of-freemechanical mechanical arms 230 send mirror structure 240 and hold mirror structure 250.Robot body 210 includes supportive body 212 and peace
Main body 211 is filled, mounting body 211 and supportive body 212 are rotatablely connected, and the first multi-degree-of-freemechanical mechanical arm more than 220 and second is freely
Degree mechanical arm 230 is respectively arranged in mounting body 211, send mirror structure 240 to be set to the first multi-degree-of-freemechanical mechanical arm 220 separate
The end of mounting body 211 holds mirror structure 250 and is installed on the second end of the multi-degree-of-freemechanical mechanical arm 230 far from mounting body 211
Portion holds mirror structure 250 for fixing digestive endoscopy, send mirror structure 240 for driving the intervention pipe 11 of digestive endoscopy to move.First
Multi-degree-of-freemechanical mechanical arm 220 and the second multi-degree-of-freemechanical mechanical arm 230 are used to communicate with endoscopic surgery robot control terminal 100
Connection, to control the first multi-degree-of-freemechanical mechanical arm more than 220 and second respectively freely by endoscopic surgery robot control terminal 100
Mechanical arm 230 is spent to move.Mounting body 211 is used to communicate to connect with endoscopic surgery robot control terminal 100, to pass through scope
Operating robot controlling terminal 100 controls mounting body 211 and rotates relative to supportive body 212.
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 scope hand
What art robot control terminal 100 and the communication connection of the first multi-degree-of-freemechanical mechanical arm 220 and the second multi-degree-of-freemechanical mechanical arm 230 referred to
Be with its driving device communicate to connect, with by driving device control mechanical arm state, according to actual requirement realization hold mirror with
Send mirror function.
In the present embodiment, tow-armed robot 200 further includes force snesor, and force snesor is set to the end of intervention pipe 11
And it is electrically connected with endoscopic surgery robot control terminal 100；Force snesor is used to detect the stress of intervention 11 end of pipe, and will answer
Power is transmitted to endoscopic surgery robot control 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
Endoscopic surgery robot control terminal 100 is fed back to, in real time in order to which operator in operation can be suitable according to feedback dynamics
When control treatment operation, unexpected occur is reduced.
In the present embodiment, tow-armed robot 200 further includes vision module 260, and vision module 260 is installed on mounting body
On 211 and for being communicated to connect with endoscopic surgery robot control terminal 100；Vision module 260 is for detecting more than first freely
The action message of mechanical arm 220 and the second multi-degree-of-freemechanical mechanical arm 230 is spent, and action message is transmitted to endoscopic surgery robot
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.
Endoscopic surgery robot control terminal 100 provided in this embodiment includes terminal body 110, display equipment 120, control
Handle 130, control pedal 140 and control module processed.
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 tow-armed robot 200, and control module is also used to control more than first certainly according to the first control instruction
It is moved by degree mechanical arm 220, control module is also used to control the second multi-degree-of-freemechanical mechanical arm 230 fortune according to the second control instruction
Dynamic, 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 robot control terminal is used for robot system, the robot system includes robot, special
Sign is that the endoscopic surgery robot control terminal includes terminal body, display equipment, control handle, control pedal and control
Molding 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,
To control 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, second control instruction and the third control instruction to the robot send control instruction.
2. endoscopic surgery robot control terminal according to claim 1, which is characterized in that the first handle component packet
Include installation chassis, position adjustment structure, intermediate connector, attitude regulation structure and operating parts, the two of the position adjustment structure
End is rotatablely connected with the installation chassis and the intermediate connector respectively, the both ends of the attitude regulation structure respectively with it is described
Intermediate connector is connected with the operating parts.
3. endoscopic surgery robot control terminal according to claim 2, which is characterized in that the position adjustment structure packet
Include the first linking arm, the first control motor, the second linking arm, the second control motor, third linking arm and third control motor；Institute
It states the first control motor, the second control motor and third control motor and is installed on the installation chassis spaced reciprocally
On, and the first control motor, the second control motor and third control motor are electrically connected with the control module
It connects；One end of first linking arm and the first control motor rotation connection, the other end and the intermediate connector rotate
Connection；One end of second linking arm and the second control motor rotation connection, the other end and the intermediate connector turn
Moving part connection；One end of the third linking arm and third control motor rotation connection, the other end and the intermediate connection
Part rotation connection.
4. endoscopic surgery robot control terminal according to claim 3, which is characterized in that first linking arm includes
First arm body, first rotating shaft, the second arm body and the second shaft, the first rotating shaft and it is described first control motor rotation connection and
The both ends of the first rotating shaft are connect with the first arm body and the second arm body respectively, second shaft and the centre
The both ends of connector rotation connection and second shaft connect with the other end of the first arm body and the second arm body respectively
It connects.
5. endoscopic surgery robot control terminal according to claim 3, which is characterized in that the first control motor,
It is equal that the second control motor and the third control any angle between the two in motor three.
6. endoscopic surgery robot control terminal according to claim 2, which is characterized in that the attitude regulation structure packet
Include the first connector, first motor, the second connector, the second motor, third connector and third motor；First connector
One end connect with the intermediate connector, the other end is connect with the first motor；One end of second connector and institute
The output end connection of first motor is stated, the other end is connect with second motor；One end of the third connector and described the
The output end of two motors connects, and the other end is connect with the third motor, the output end of the operating parts and the third motor
Connection.
7. endoscopic surgery robot control terminal according to claim 6, which is characterized in that the output of the first motor
The rotation direction at end, second motor output end rotation direction and the third motor output end rotation direction three
Person is mutually perpendicular to.
8. endoscopic surgery robot control terminal according to any one of claims 1-7, which is characterized in that the end
End main body is provided with support frame, and space is provided between support frame as described above and the terminal body, the control handle
In the space.
9. endoscopic surgery robot control terminal according to any one of claims 1-7, which is characterized in that the end
End main body is additionally provided with multiple castors.
10. a kind of robot system is used for digestive endoscopy interventional procedure, which is characterized in that the robot system includes robot
With the endoscopic surgery robot control terminal as described in any one of claim 1-9, the control module and the machine
People's communication connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820902057.4U CN208851636U (en) | 2018-06-11 | 2018-06-11 | Endoscopic surgery robot control terminal and robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820902057.4U CN208851636U (en) | 2018-06-11 | 2018-06-11 | Endoscopic surgery robot control terminal and robot system |
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| CN208851636U true CN208851636U (en) | 2019-05-14 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108514447A (en) * | 2018-06-11 | 2018-09-11 | 沈阳尚贤微创医疗器械股份有限公司 | Endoscopic surgery robot control terminal 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 |
-
2018
- 2018-06-11 CN CN201820902057.4U patent/CN208851636U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108514447A (en) * | 2018-06-11 | 2018-09-11 | 沈阳尚贤微创医疗器械股份有限公司 | Endoscopic surgery robot control terminal 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 |
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