CN209377746U - A kind of cup-and-ball joint operating robot and its control device - Google Patents

Abstract

The utility model provides a kind of cup-and-ball joint operating robot and control device, with the cup-and-ball joint being made of ball-type part and socket joint, have in socket joint for driving ball-type part in the first driving assembly and the second driving assembly of wherein three-dimensional rotation, the surgical instrument movement that the center of ball-type part can be driven jointly to wear.Ball-type part center can also be equipped with third driving assembly, increase the freedom degree of surgical instrument.The utility model provides the control device based on identical structural principle simultaneously.The utility model simplifies the structure of operating robot and control device using the three-dimensional rotation ability of cup-and-ball joint, and control device is identical with executive device structure, improves the portability and operability of operating robot.

Description

A kind of cup-and-ball joint operating robot and its control device

Technical field

The utility model relates to a kind of surgical robot systems, and in particular to a kind of cup-and-ball joint operating robot and its control Device processed.

Background technique

With the development of science and technology more and more micro-wound surgical operations start to popularize.Minimally Invasive Surgery small, patient with wound It is easier to the advantages that restoring, with the development of medical endoscope technology, Minimally Invasive Surgery is increasingly widely used.But it is micro- The field of view of invasive procedures is narrow, operative region is not flexible, therefore its operating difficulty is than general general surgery difficulty bigger It is more.It needs an operator doctor and one is held mirror operation Shi Jinhang and perfectly cooperated, an operation can just be made to reach ideal effect Fruit.And tacit agreement between the two needs operator doctor and holds mirror operation teacher's phase cooperate and could be formed, and there is also much not for centre Stable factor.Endoscope is entered by the fixed small notch of body surface in micro-wound surgical operation completes operation in vivo, in view of body surface The constraint of notch and the operation safety of patient, it is desirable that endoscope does fixed-point motion in incision.

Leonardo da Vinci robot is that commercialization and the most successful minimally invasive robot of clinicization, the robot use in the world at present Open loop parallelogram telecentricity positioning mechanism, parallel four sides mechanism is realized by synchronous steel belt constraint, the shortcomings that the mechanism It is to need to find telecentricity anchor point by device in assembly.Passive arm is integrated using the mechanical arm based on mobile platform, this The shortcomings that mode is that entire mechanical system volume is larger, and needing passive arm tool for the ease of preoperative adjustment, there are four freedom degrees, is led Cause cantilever beam longer, so that robot overall stiffness reduces.Patent wall for Leonardo da Vinci's minimally invasive robot in this respect simultaneously It builds and considers, and the driving of most of Surgical instrument is often to make to drive in this way by motor direct-drive now Motor is arranged in the top of platform, causes top-heavy, the driving moment in joint is increased, so that mechanical arm system is easy to produce Vibration, most endoscopes driving device uses the nut screw kind of drive, but this mode is not easy to manually implemented preoperative tune Whole, vertically movable device drives nut screw mode to move up and down to realize using motor, and overall volume is bigger.Therefore it researches and develops A kind of novel minimally invasive robot mechanical arm system is of great significance to the development of China minimally invasive robot field.

Summary of the invention

Goal of the invention: in order to overcome the deficiencies in the prior art, the utility model provides a kind of cup-and-ball joint operation Robot and its control device.

Technical solution: in order to solve the above technical problems, cup-and-ball joint operating robot provided by the utility model, have by The cup-and-ball joint of ball-type part and socket joint composition, the socket joint have locating part, in the socket joint there are at least two groups to drive Dynamic component, the driving component is for driving ball-type part to move；The ball-type part is equipped with surgical instrument.It is preferred that the ball-type There is through-hole at the center of part, is equipped with surgical instrument in the through-hole.It is preferred that surgical instrument is laparoscope.It is preferred that socket joint passes through Spring is mounted in joint motion frame, and the joint motion frame is connect with the fixed bracket of operating robot.

Specifically, two groups of driving assemblies are the same or similar first driving assembly of structure and the second driving assembly. It is preferred that first driving assembly and the second driving assembly installation site is mutually perpendicular to.

Specifically, third driving assembly is installed, the third driving assembly is for driving surgical instrument in the through-hole Movement.It is preferred that the third driving assembly is engaged with the surgical instrument.

Specifically, the driving component includes actuator and driving motor, and actuator and driving motor are directly connected to or lead to Cross transmission device connection.

Specifically, the locating part is the through-hole on socket joint shell, and the through-hole diameter is less than ball-type part diameter.

Specifically, the locating part is the highlight bar on the strip groove and ball-type part in socket joint.

Specifically, the ball-type part and locating part are located at the eccentric position of cup-and-ball joint seat shell.

Specifically, the ball-type part is equipped with telescopic rod, and the telescopic rod is equipped with surgical instrument.It is preferred that can stretch Contracting bar is driven flexible by servo motor.

It specifically, further include remote control device.Preferred wireless remote control device.It is also equipped with battery on cup-and-ball joint, can and control Platform processed mutually sends and receivees control signal.

The utility model provides a kind of control device of cup-and-ball joint operating robot simultaneously, it is characterised in that: be with In the structure basis of the upper cup-and-ball joint operating robot, using the driving of inductive component replacement cup-and-ball joint operating robot Component, the inductive component is for incuding movement of the ball-type part with respect to cup-and-ball joint shell.It is preferred that cup-and-ball joint operating robot Control device is mounted on hand-held surgical instrument or mask.

The utility model provides a kind of cup-and-ball joint operating robot of tactile feedback simultaneously, it is characterised in that: be It further include inductor, actuator and sense in the driving component in the structure basis of cup-and-ball joint operating robot described above Device is answered to be directly connected to or couple by transmission device, the rotary motion of the inductor induction actuator.

Operator executes left and right, pitching, rotation or advance etc. by control device remote control ball-and-socket operation on joint robot and moves Make.Can be just like under type: 1, assistant controls the movement of cup-and-ball joint operating robot by remote control device under operating table. 2, on operating table, oneself is controlled with hand by the remote-control lever on hand-held apparatus operating doctor.3, operating doctor is on operating table, Oneself is controlled by the remote-control lever on mask.

The utility model has the advantages that

1. Simple portable.Single cup-and-ball joint replaces complicated mechanical arm.Each cup-and-ball joint can individually pack fortune It is defeated, small in size, light-weight, easy to carry and assembling.It can also be applied in field rescue, space flight and aviation.

2. convenient for batch production.Since the control device under operating table is identical with executive device structure, when use, can be mutual Mutually replace.Same production line can be shared when production, same packaging and same storage.New portion can be replaced after damage at any time Part can also be used as medical disposable material use.

3. reducing surgical staff configuration.The system can allow operating doctor in both hands operation, moreover it is possible to by words and foot Other mechanical arms are freely controlled, several hands has been equivalent to mostly, has reduced a lifting-mirror doctor or assistant doctor, be also avoided that two people The obstacle occurred when communication.

4. structure is simple, installation, debugging are simple.The component for needing to control is few, and system is simple, breaks down few, maintenance is held Easily.Good economy performance reduces the financial burden of patient.

5. possessing haptic feedback system.

The technical issues of except the solution of above-described the utility model, constitutes the technical characteristic of technical solution and by these Outside advantage brought by the technical characteristic of technical solution.To keep the utility model aim, technical scheme and beneficial effects more clear Chu, other technologies problem, the technology that the following will be combined with the drawings in the embodiments of the present invention, can solve the utility model The advantages of other technical characteristics for including in scheme and these technical characteristics are brought does apparent, complete description, it is clear that The embodiments are a part of the embodiments of the present invention rather than all of the embodiments.Usually retouched in attached drawing here The component of the utility model embodiment stated and shown can be arranged and be designed with a variety of different configurations.Therefore, right below The detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit claimed invention Range, but it is merely representative of the selected embodiment of the utility model.Based on the embodiments of the present invention, the common skill in this field Art personnel every other embodiment obtained without creative efforts belongs to the utility model protection Range.

Detailed description of the invention

Fig. 1 is the schematic diagram of cup-and-ball joint operating robot；

Fig. 2 is cup-and-ball joint operating robot schematic diagram of internal structure；

Fig. 3 is the structural schematic diagram of driving assembly；

Fig. 4 is cup-and-ball joint operating robot scheme of installation during surgery in embodiment one

Fig. 5 is the structural schematic diagram of joint support device；

Fig. 6 is the schematic illustration that cup-and-ball joint deflects in joint support device；

Fig. 7 is console overall structure diagram；

Fig. 8 is the structural schematic diagram of inductive component component；

Fig. 9 is that have driving assembly overall structure diagram in embodiment two in ball-type part；

Figure 10 is the structural schematic diagram of anti-deflection fixed frame in embodiment three；

Figure 11 is that have driving assembly overall structure diagram in example IV in ball-type part；

It is structural schematic diagram that socket joint is oval-shaped shell that Figure 12, which is in embodiment five,；

Wherein: wherein: 1- ball-type part, 2- cup-and-ball joint, 3- joint support device, 4- laparoscope, 5- driving assembly, 6- sense Answer component, 7- control device, 8- hand-held apparatus；

11- ball-type part shell, 12- ball-type part through-hole, 13- third driving assembly

21- socket joint, the anti-rotational crossbeam of 22-, the anti-rotational fixed frame of 23-, 24- battery, 25- signal receive generator,

31- joint motion frame, 32- pendulum spring, 33- support rod, 34- support frame,

51- actuator, 52- driving motor, 53- transmission device, 54- actuator fixed frame, the first driving assembly of 55-, 56- Second driving assembly,

61- induction pieces, 62- rotary encoder, 63- transmission device, 64- induction pieces fixed frame,

71- manual control socket joint, 72- manual control ball-type part, 73- hand lever, 74- display, 75- console bracket, 76- control Platform strut.

Specific embodiment

Embodiment one

The present embodiment is used for laparoscopic surgery, and the cup-and-ball joint operating robot of the utility model, which is used as, holds handel, substitutes One assistant.As shown in Figure 1, ball-and-socket robot is made of ball-type part 1 and socket joint 21, there is circle to open in socket joint 21 Mouthful, opening circular diameter is less than 1 diameter of ball-type part, and ball-type part 1 is limited in socket joint 21 as locating part.

As shown in Fig. 2, socket joint 21 is two symmetric parts to being combined into, ball-type part 1 is positioned in socket joint 21 after pairing It is interior, it is clamped jointly by 4 fixed driving assemblies 5 of inside.Driving assembly 5 is fixed on by Fixing clamp-seat and actuator fixed frame 54 In socket joint 21, be symmetric with the contact point of ball-type part 1 around 1 central point of ball-type part, and all with socket joint 21 In the parallel plane in bottom surface.The driving direction of two the first driving assemblies 55 and two the second driving assemblies 56 is respectively vertical In two planes, there are mark in the type of driving assembly and position on institute, corresponding joint shell surface, installation position.In a non-limit In embodiment processed, joint shell is made of transparent material, can be with the position of visible directly internal different components.

As shown in figure 3, driving assembly 5 is driven by driving motor 52, power is reached by actuator 51 by transmission device 53. Actuator 51 is roller bearing spline structure in the present embodiment, is also possible to ball spline structure in another embodiment.It is solid by actuator Determine frame 54 to be fixed in socket joint 21.Cup-and-ball joint operating robot can drive laparoscope 4 to realize pitching, wave, with manpower Operation laparoscopic instrument progress pitching, the movement waved are identical.

As shown in Figure 4 and Figure 5, cup-and-ball joint operating robot is by 32 elastic connection of pendulum spring in joint motion frame 31 Interior, joint motion frame 31 is erected at patients surgery overlying regions by the support rod 33 and support frame 34 being fixed on operating bed. The through-hole 12 that laparoscope 4 passes through the ball-type part 1 in cup-and-ball joint operating robot center enters intraperitoneal, operating doctor both hands difference Operation hand-held apparatus 8 is performed the operation.The movement that mirror doctor is remotely controlled ball-and-socket robot under platform is held, without being clipped in operating doctor two again Its movement is interfered between hand.

Laparoscope 4 enters body cavity by the puncture orifice on patient skin, and using this puncture orifice as center rotary moveable.Therefore It is required that laparoscope 4 will also rotate while rotating around 1 center of ball-type part centered on skin penetrating mouth, two central points Spacing distance is at least the radius size of ball-type part 1.When laparoscope 4 is rotated, there may be the unnecessary of the skin to patient Damage, and the tension of skin also will affect the precision of the rotation of ball-type part 1.In order to solve this problem, by cup-and-ball joint surgical machine People is coupled by pendulum spring 32 with joint motion frame 31, and cup-and-ball joint operating robot can live in joint motion frame 31 It is dynamic, so that laparoscope 4 be allow easily to rotate around skin penetrating mouth.

As shown in fig. 6, the central point of the rotation of imaginary laparoscope 4 can be preset in stomach wall in non-limiting embodiment Specific position O point in puncture sheath, when 1 deflection angle of ball-type part is 0 degree, cup-and-ball joint operating robot is pulled by spring around, The center of ball-type part 1 is set to be located at the central point A point of joint motion frame 31, straight line AO is the axis of laparoscope 4 at this time.When ball-and-socket closes After section operating robot starts rotation by motor drive, 4 axis AO of laparoscope deflects into BO using O point as the point of rotation, forces ball Type part 1 is moved to B point.Joint motion frame 31 is rectangular parallelepiped structure, 3 points of ABO one right angle trigonometries of composition in one embodiment Shape, AO ratio BO is short, and AO deflects into the generated displacement of BO can be by giving bit shift compensation after Framework computing.In another embodiment In, joint motion frame 31 is semiglobe, and AO is identical as BO length or differs very little, and it is 0 that AO, which deflects into displacement caused by BO, Or very little, compensation displacement can not had to.

Cup-and-ball joint operating robot is used for open surgery in one embodiment, due in open surgery without skin Drawing limitation, cup-and-ball joint operating robot can not need joint motion frame 31, directly be coupled with support rod 33.Long-range meeting The doctor examined can control the surgical instrument passed through from ball-type part through-hole 12 with long-distance remote control cup-and-ball joint operating robot, Surgical procedure is participated in jointly with the doctor of local hand-held apparatus.

As shown in fig. 7, the control device 7 of ball-and-socket robot is mounted on console strut 76, control device 7 and ball-and-socket are closed It is essentially identical to save operating robot structure, manual socket joint 71 and manual ball-type part 72 and 1 structure of socket joint 21 and ball-type part Identical, hand lever 73 is similar with the shape of laparoscope 4.Difference is that each of control device 7 driving assembly 5 is executing The corresponding position of device is inductive component 6, and the inductive component 6 of each of control device 7 is in the correspondence position of executive device Setting is driving assembly 5.

In another embodiment, manual joint is installed on the handle of hand-held apparatus, operating doctor thumb control The pitching and oscillating motion of hand lever 73 processed.

As shown in figure 8, inductive component 6 is identical as 5 structure of driving assembly, difference is that driving motor 52 is changing rotation into Encoder 62.

Laparoscope 4 in the executive device identical position in control device is hand lever 73.Operator operates hand lever 73 movement drives manual ball-type part 72 to move, and is broken down into pitching, oscillating motion, drives different positions in manual socket joint 71 The induction pieces 61 set rotate, and drive rotary encoder 62 also proportionally to rotate through transmission device 63, generate electric signal.Electric signal It is transmitted to ball-and-socket robot through signal processing, the driving assembly 5 for controlling corresponding position moves, and drive laparoscope 4 is done and operator Hand similarly moves.

In another embodiment, driving assembly 5 and induction are all installed simultaneously in ball-and-socket robot and its control device Component 6, each of control device driving assembly 5 are inductive component in the corresponding position of cup-and-ball joint operating robot 6, the inductive component 6 of each of control device is driving assembly 5 in the corresponding position of cup-and-ball joint operating robot.

When the movement of the synchronous execution operator of cup-and-ball joint operating robot, ball-type part 1 is acquired also by inductive component 6 Moving displacement is transmitted to control device through signal processing, and the internal corresponding driving assembly 5 of control moves, and drives manual ball-type part 72 and hand lever 73 move.Since hand lever 73 is held in the hand by operator at this time, can be generated to operator with force feedback The tactile of true touching tissue and the size for experiencing reaction force.

In another embodiment, same driving assembly 5 all is installed simultaneously in ball-and-socket robot and its control device, Inductive component is installed in the driving assembly, can recorde the movement of the driving assembly.Cup-and-ball joint operating robot and control Driving assembly in device control by the signal that the inductive component of other side acquires mutually, the size using software adjustment signal with prolong Chi Du.Make cup-and-ball joint operating robot and control device structure even more like in this way, simplifies production, use and maintenance process.

Cup-and-ball joint operating robot may need to meet conflicting needs.It is, working as cup-and-ball joint surgical engine When device human action, it is necessary to be placed close to patient, while making medical staff again etc. can be close to patient without obstacle, and when dynamic When making, cup-and-ball joint operating robot must above the body of patient, while guarantee again it is sterile, so as to eliminate patient infection Danger.In addition, cup-and-ball joint operating robot must be provided for the intensity of enough ranks of movement, accuracy and flexibly Property, while characteristic small and exquisite, that size is very thin and light-weight is provided, and cup-and-ball joint operating robot must be in a stable manner It is mounted, while the area that can be moved freely and occupy is small.In addition, cup-and-ball joint operating robot must before surgery It is provided freely in preparation to patient and medical staff.

Present embodiments provide the ideal feature set of such as above-mentioned cup-and-ball joint operating robot.Different from traditional The construction of cup-and-ball joint operating robot, each robots arm is coupled with main body in the construction of traditional operating robot, so that Robot volume is big, and mobility is low, and acts complexity, and the present embodiment cup-and-ball joint operating robot passes through against patient's Joint support device 3 is fixed, above laparoscope length can be limited within 50cm, joint support device 3 can distinguish It connect, is connect again with a fixed bracket after can also being connected with each other with several fixed frames, to realize cup-and-ball joint with fixed bracket The area for moving freely and occupying of operating robot is small.

The various instruments that operation needs, laparoscopic camera, clamper, suction tube, actuator etc. can be with this realities Apply the mounting means installation of laparoscope 4 in example.

Embodiment two

The present embodiment is as shown in figure 9, be improvement on the basis of embodiment one, theing improvement is that has in ball-type part 1 Three driving assemblies 13, increase one degree of freedom, can carry out rotation driving to laparoscope 4.The structure of third driving assembly with First or second driving assembly structure is similar, is fixed on the inner wall of ball-type part shell 11, the outer wall of actuator and laparoscope 4 Engagement.Third driving assembly 13 passes through wired or wireless reception signal by the way that wired, wirelessly or electrically pond powers.Other structures with Embodiment one is identical.

Embodiment three

The present embodiment is as shown in Figure 10, is improvement on the basis of embodiment two.When cup-and-ball joint operating robot is used for When driving instrument, the change of team of tissue back spin is clamped by resistance.Ball-type part is in driving surgical instrument rotation in order to prevent While, it may be reversely rotated in socket joint along the axis of surgical instrument.To theing improvement is that in joint for embodiment two It is increased in seat 21 and puts swing bolster 22 and anti-rotational fixed frame 23 as locating part.The bar shaped that anti-rotational fixed frame is is recessed Slot embeds and rod-shaped puts swing bolster 22.Anti-rotational 22 one end of crossbeam is fixed on ball-type part shell 11, and the other end is free in anti- In the groove of rotary fixing frame 23.The groove of anti-rotational fixed frame 23 and the plane perpendicular of socket joint 21.In addition in socket joint also It increases battery 24 and signal receives generator 25, ball-and-socket robot is made to accomplish wireless remote control.

Example IV

The present embodiment is as shown in figure 11, similar to the structure of embodiment two, and difference is the driving direction of third actuator It is the advance and retreat for driving laparoscope 4.Other structures are identical as embodiment two.

Embodiment five

The present embodiment is as shown in figure 12, similar to the structure of embodiment three, and difference is that socket joint is ellipse shell, outside Shape is smaller, more convenient to use on operating table.Ball-type part and locating part are located at the eccentric position of cup-and-ball joint seat shell.

Embodiment six

The present embodiment is improvement on the basis of embodiment two, thes improvement is that wear in ball-type part 1 is not abdominal cavity The electronic strut of mirror 4 but front end installation drag hook.Electronic strut includes screw rod, screw rod outer tube, spring, inner sleeve and outer sleeve, Each sleeve is fixedly connected with one end of one end of screw rod or screw rod outer tube respectively, and spring pocket is set to outside screw rod and screw rod outer tube, The both ends of spring are individually fixed in the end in two sleeves, and screw rod is matched with screw rod outer tube, chamber of the screw rod in screw rod outer tube Straight reciprocating motion, two sleeve one end sockets are done in rotation in vivo, and screw rod does straight reciprocating motion and drives inner sleeve in outer sleeve Middle sliding.Outer sleeve penetrates in the ball-type part 1 of driving rotation, while being driven to rotate, front end drag hook can also be driven to advance And retrogressing.Other structures are identical as embodiment one.

Embodiment seven

The robot control of the station control device and control cup-and-ball joint operating robot running that are connect with station Device, and station control device is connect with robot controller.In use, cup-and-ball joint operating robot is by station control System, the instruction of station are assigned by station control device, are reached by RTC instant messaging from end robot controller, machine It would be communicated to cup-and-ball joint operating robot after the reception instruction of device people's control device to be acted accordingly.Cup-and-ball joint surgical engine The status summary of device people is communicated by RTC by robot controller to robot controller and reaches station control device, The status information of station control device and the status information aggregation process of cup-and-ball joint operating robot reach station simultaneously, And feed back to staff.

Be provided on station control device for monitoring personnel whether monitoring device in place and for showing behaviour Make the display of the status information of platform and robot.Monitoring device, then can be according to monitoring result when monitoring abnormal condition Braking or power operation are carried out, is carried out with the safety for ensuring to perform the operation.Preferably, above-mentioned monitoring device includes the photography of 3D body-sensing Machine (Kinect) and floor push can carry out cup-and-ball joint hand when 3D body-sensing video camera monitors staff in place The partial function of art robot operates, and when staff steps on floor push at this time, cup-and-ball joint operating robot just can be opened Begin to operate；Staff not in place when, and do not step on floor push, the braking of cup-and-ball joint operating robot, to avoid it is non-just Cup-and-ball joint operating robot is mobile caused by the running of operation interface caused by Chang Yinsu.

The inductive component 6 for recording laparoscope 4 is provided on robot controller, inductive component 6 is able to record abdomen The displacement of hysteroscope 4, to record the motion profile of laparoscope 4.The information recorded by inductive component 6 can judge automatically abdomen Whether the motion path of hysteroscope 4 meets operation demand, when with multiple cup-and-ball joint operating robots, can monitor each Whether the motion path of surgical instrument can interfere, to plan new motion path again, guarantee the movement of surgical instrument Safety.

The motor driver and reaction machine for obtaining motor status information are also provided on robot controller The dynamic braking device of people's state, when monitoring danger signal, dynamic braking device automatic braking.Above-mentioned motor driver It can be used cooperatively with encoder, deposit when abnormal, compile in the motion path of encoders monitor to cup-and-ball joint operating robot Information can be fed back to motor driver by code device, and motor driver driving motor is made to start new operating path.

Further include having motor communication device on above-mentioned robot controller, is filled with real-time monitoring motor and motor driven It sets, the feedback states between motor driver and cup-and-ball joint operating robot, and monitoring information is fed back into staff, In case of a failure, motor communication device can carry out Brake lamp operation according to monitoring information, to guarantee surgical machine The normal operation of people, or fault message is fed back into staff, enable the quick handling failure of staff.

In addition, station control device is for recording cup-and-ball joint operating robot parameter information and/or station parameter The data recordin module of information, in order to search fault message.Specifically, the data recordin module includes running log and control Hand data, for example in control hand data, staff's operation handle is passed to cup-and-ball joint operation by station controller Robotic end, makes cup-and-ball joint surgical machine human action, and information when cup-and-ball joint surgical machine human action passes through encoder, electricity Machine actuating device feedback forms feedback mechanism to station controller, if operation data and encoder or motor data occur not Unanimously, then system adjust automatically breaks down if not adjusting, and needs to check data in control hand data and looks for event Hinder place.

Preferably, being provided with the emergency stop switch for emergency braking on station control device with right in the event of a failure Robot carries out emergency braking, and then reduces loss caused by failure.

In one embodiment of the application, monitoring is also respectively provided on robot controller and station control device Voltage and the first ups power (uninterruptible power supply) and the second ups power for protecting circuit.Size and power grid for monitoring voltage Stable case enable above-mentioned ups power and in the event of a power failure, guarantee the smooth progress of operation, and will monitor resulting Information feeds back to staff by station controller.

Each position circuit shape of monitor controller is also respectively provided on robot controller and station control device The the first power monitor and second source power monitor of state, the voltage of circuit, current values are in preset parameter range It is then worked normally when interior, when being more than parameter preset, then faulty presence is braked immediately or powered off.

It is artificial that display cup-and-ball joint surgical machine is also respectively provided on robot controller and station control device Make the first state indicator light of state and the second status indicator lamp of display operation platform working condition.Above-mentioned indicator light can be by machine The working condition of device people end and station is most intuitively presented to staff, staff according to the display situation of indicator light, By checking error code, guilty culprit can be quickly found out.Specifically, above-mentioned indicator light can specifically be provided with it is normal, It awaits orders, alert, the instruction situation such as danger, so as to the use state of personnel monitoring robot.

Control device provided by the embodiment of the utility model specifically includes station control device and robot control dress It sets, is controlled with the state respectively to station and cup-and-ball joint operating robot, and station control device and robot Control device connection enables staff in operation end to ball-and-socket to realize information connection and feedback between the two Operation on joint robot is operated to implement to perform the operation.In surgical procedure, monitoring device can real-time monitoring staff whether In place, to judge whether to brake, the running of cup-and-ball joint operating robot under the maloperation of part is effectively avoided；It is aobvious Show that device can show all status informations of station and robot and be presented directly to staff, keeps staff fast Fast accurately discovery system there are the problem of, and then quickly solve the problems, such as, guarantee the safety of operation；In addition, robot control dress The encoder set is able to record the turnning circle of motor, to record the motion profile of mechanical arm, passes through encoder feedback Information system can judge automatically motion path with the presence or absence of problem, and when judging the movement of multiple cup-and-ball joint operating robots Whether interfere, the more accurate trouble free service of each cup-and-ball joint operating robot can be ensured according to its feedback information, into And improve the safety of operation.

The control device provided based on the above embodiment, the utility model embodiment also provide a kind of operating robot, packet Station, cup-and-ball joint operating robot are included, and the control device connecting respectively with station and cup-and-ball joint operating robot； And control device is the control device of any of the above-described.For the structure of the rest part of above-mentioned operating robot, refer to existing There is technology, repeats no more herein.

Since the operating robot has above-mentioned control device, to a certain extent, which also has Higher safety in utilization.

In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, term " is set Set ", " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, Or it is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, intermediary can also be passed through It is indirectly connected, can be the connection inside two elements.For the ordinary skill in the art, it can be managed with concrete condition Solve the concrete meaning of above-mentioned term in the present invention.

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.

It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, or The utility model product using when the orientation or positional relationship usually put, be merely for convenience of description the utility model and letter Change description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construct and Operation, therefore should not be understood as limiting the present invention.In addition, term " first ", " second ", " third " etc. are only used for area Divide description, is not understood to indicate or imply relative importance.

Above description is merely a prefered embodiment of the utility model, is not intended to limit the utility model, for For those skilled in the art, various modifications and changes may be made to the present invention, in the principles of the present invention and technology In the range of thought, a variety of variations, modifications, equivalent substitutions and improvements etc. are carried out to these embodiments, should be included in this reality Within novel protection scope.

Claims (10)

1. a kind of cup-and-ball joint operating robot has the cup-and-ball joint being made of ball-type part and socket joint, it is characterised in that: institute Socket joint is stated with locating part, the socket joint is interior to have at least two groups driving assembly, and the driving component is for driving ball-type Part movement；The ball-type part is equipped with surgical instrument.

2. cup-and-ball joint operating robot according to claim 1, it is characterised in that: two groups of driving assemblies are structures The same or similar first driving assembly and the second driving assembly.

3. cup-and-ball joint operating robot according to claim 1, it is characterised in that: the center of the ball-type part has logical Hole is equipped with surgical instrument in the through-hole.

4. cup-and-ball joint operating robot according to claim 3, it is characterised in that: be equipped with third drive in the through-hole Dynamic component, the third driving assembly is for driving surgical instrument movement.

5. cup-and-ball joint operating robot according to claim 1, it is characterised in that: the ball-type part is equipped with scalable Bar, the telescopic rod are equipped with surgical instrument.

6. cup-and-ball joint operating robot according to claim 1, it is characterised in that: the locating part is socket joint shell On through-hole, the through-hole diameter be less than ball-type part diameter.

7. cup-and-ball joint operating robot according to claim 1, it is characterised in that: the driving component includes actuator And driving motor, actuator and driving motor are directly connected to or are coupled by transmission device.

8. cup-and-ball joint operating robot according to claim 1, it is characterised in that: the ball-type part and locating part are located at The eccentric position of cup-and-ball joint seat shell.

9. cup-and-ball joint operating robot according to claim 1, it is characterised in that: further include sense in the driving component Device is answered, actuator and inductor are directly connected to or couple by transmission device, the movement of the inductor induction actuator.

10. a kind of control device of cup-and-ball joint operating robot, it is characterised in that: be in any described of claim 1-7 In the structure basis of cup-and-ball joint operating robot, the driving assembly of cup-and-ball joint operating robot is replaced using inductive component, The inductive component is used to incude the movement of ball-type part opposed articulation seat.