CN209490097U - Operating robot - Google Patents

Abstract

The utility model provides a kind of operating robot, has cup-and-ball joint and driving assembly, and cup-and-ball joint includes ball-type part and socket joint, and the center of ball-type part is equipped with tube channel, is used to wear surgical instrument in tube channel；Driving assembly includes the first driving assembly and the second driving assembly, wherein the first driving assembly is mounted in socket joint, for driving ball-type part to rotate relative to socket joint；Second driving assembly is mounted in tube channel, for driving surgical instrument to retreat relative to tube channel or rotating.Control device based on identical structural principle is provided 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 can improve the portability and operability of operating robot by touch feedback to operator.

Description

Operating robot

Technical field

The utility model relates to a kind of operating robots, and in particular to a kind of operation based on cup-and-ball joint and touch feedback Robot.

Background technique

With the development of science and technology more and more micro-wound surgical operations begin to use operating robot.Micro-wound surgical operation Middle surgical instrument is entered by the fixed small notch of body surface completes operation, the operation of constraint and patient in view of body surface notch in vivo Safety, it is desirable that surgical instrument does fixed-point motion in incision.Currently, realizing the fixed point of surgical instrument using following three kinds of schemes Movement.

One, passive type joint: realize that surgical instrument around the movement of notch, is being transported indirectly by the joint motions of kinematic chain front end Guarantee fixed-point motion by reaction force of the body surface to surgical instrument during dynamic.This method can guarantee the safety of patient But it is not easy to adjustment surgical instrument posture.

Two, mechanical structure: fixed-point motion is realized by the movement characteristic of mechanical structure, it is ensured that the mechanism of fixed-point motion Have: 1, arc orbit mechanism, as long as the center point that the body surface notch of guarantee patient is located at arc orbit ensures that surgical device The fixed-point motion of tool, but the driving problems of this mechanism are not easy to solve.

2, axis direct drive mechanism can realize fixed-point motion as long as being located at body surface notch on driving axis, but only The fixed-point motion being able to achieve on a swaying direction.

3, compound parallelogram lindage realizes fixed-point motion using the superimposed motion of two parallel four-bars, and this mechanism adds Work required precision is higher, implements relatively difficult, and volume is larger, is unfavorable for surgical procedure.

Three, active control: being realized by the software control to joint of robot, only when joint of robot number is greater than It is possible to realize fixed-point motion, the driving joint that this control mode requires the kinematic chain of medical robot longer, required when 4 Number is more, controls joint motions by algorithm to realize the fixed-point motion of incision.

By taking most popular Leonardo da Vinci's operating robot as an example, as at present in the world state-of-the-art operating robot it One, there are still certain defects.

1, volume is excessively huge, install, debug it is more complicated.Complete equipment consists of three parts: surgeon console, Bed other mechanical arm system, imaging system.Wherein mechanical arm system has 4 mechanical arms for being fixed on movable base, bottom by bed Seat is connected by cable with console.Center mechanical arm is to hold handel, is responsible for holding camera chain.Remaining mechanical arm is armed Arm is responsible for holding special surgical operating instrument.The a height of 2m of entire trolley, length and width are each close to 1.5m, the weight various Leonardo da Vinci of 544kg( The above index is slightly different).Other two piece volumes and weight are also similar.Complete equipment is more than 1 ton, and volume will account for nearly half Operating room.

2, lack touch feedback.

3, the technology of system is complicated, various mechanical breakdowns may occur in use, such as crash on the way.

4, the operations such as instrument are replaced in preoperative preparation and operation to take a long time.

5, complicated system also causes use cost expensive, shows several aspects: 1. acquisition expenses is high, and domestic at present the The overall acquisition expenses of four arm Leonardo da Vinci's operating robot of three generations is 20,000,000 or more.2. second is that operation is at high cost, robot Dedicated operation instrument is every in art just needs mandatory replacement with 10 times, and need to be spent by replacing an operation instrument by about 2000 dollars. 3. operating robot need to periodically carry out preventative maintenance third is that maintenance cost is high, annual maintenance expense is also one not small Spending.

6, the center mechanical arm of Leonardo da Vinci's operating robot is to hold handel, and when adjusting its direction, operating doctor needs stop Only all armed arm operations, are switched to and hold handel control system, adjust the position for holding handel jointly with two hands, adjustment finishes Afterwards, then switch armed arm control system, restart the operation interrupted.Switching wastes time repeatedly, can not be as conventional abdominal cavity Lens direction and angle are neatly controlled by assistant in videoendoscopic surgery.

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 hand of brand new Art robot.

Technical solution: in order to solve the above technical problems, operating robot provided by the utility model, have cup-and-ball joint and Driving assembly, the cup-and-ball joint include ball-type part and socket joint, and the center of the ball-type part is equipped with tube channel, the channel For wearing surgical instrument in pipe；The driving component includes the first driving assembly and the second driving assembly, first driving Component is mounted in socket joint, and second driving assembly is mounted in tube channel；First driving assembly is for driving ball Type part is rotated relative to socket joint；Second driving assembly is for driving surgical instrument to retreat or rotate relative to tube channel.

Specifically, second driving assembly is installed in ball-type part.

Specifically, the tube channel is rotating channel pipe, is equipped on the rotating channel pipe for being driven across object edge The third driving assembly of channel inside pipe wall rotation.

Specifically, advance and retreat tube channel is worn in the tube channel, is equipped in the advance and retreat tube channel for being driven across The 4th driving assembly that the surgical instrument of advance and retreat tube channel is retreated along advance and retreat channel inside pipe wall.

Specifically, the cup-and-ball joint is mounted in joint motion frame by spring, the joint motion frame and surgical engine The fixed bracket connection of device people.

Specifically, it is also equipped with the first inductor for incuding rotary motion in first driving assembly, described The second inductor for incuding rotary motion is also equipped in two driving assemblies

It specifically, further include sterile sleeve, the cup-and-ball joint is sheathed in sterile sleeve, sterile tube is worn in ball-type part, The both ends of sterile tube and the both ends of sterile sleeve closely connect, and the sterile channel entered and left for surgical instrument is formed in sterile tube.

Above-mentioned robot can be used based on the control device of same principle (cup-and-ball joint) and control, and there is the first ball-and-socket to close Section and the second cup-and-ball joint, first cup-and-ball joint include the first ball-type part and the first socket joint, second cup-and-ball joint Including the second ball-type part and second joint seat；It is connected with pull rod and tube channel between the first ball-type part and the second ball-type part, Be equipped on the pull rod and tube channel advance inductor for acquiring the first ball-type part and the second ball-type part relative displacement and Rotary inductor；Trace ball for acquiring second joint seat with respect to its three-dimensional rotation, institute are installed on the second ball-type part The induction pedestal for stating trace ball is located in the first ball-type part, is equipped in first socket joint for acquiring the first ball-type part phase To the roller bearing and rotary encoder of its three-dimensional rotation.

Operator executes the movement such as rotation, advance, pitching by control device robot arm.It holds and is located at control-rod top Second cup-and-ball joint at end, to control the rotation for the working end wrist for installing surgical instrument on the robotic arm.Second ball-and-socket closes There are finger-stall and pressoreceptor on section.The closure of fingerstall causes spring deformation, and drag-line is driven to generate electric signal, controls surgical device The closure of tool end.

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 control device is identical with executive device structure, when use, can be replaced mutually.Production When can share same production line, same packaging and same storage.New component can be replaced after damage at any time, can also be made For medical disposable material use.

3. 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.

4. flexible layout.Traditional operation robot only has 4 mechanical arms below, and the utility model can according to need cloth The more cup-and-ball joint operating robots of office, the operation at multiple positions is completed at the same time by multiple doctors.

5. possessing haptic feedback system.Touch feedback allows operative doctor to distinguish tissue, " touch " to infected or By the delicate tissue of inflammatory effect, and more careful carry out diagnostic analysis.There is touch feedback, doctor is in Minimally Invasive Surgery It is middle more perfect, more accurately to sew up a wound.

Detailed description of the invention

Schematic diagram when Fig. 1 is the use of the cup-and-ball joint robot of the utility model embodiment one；

Fig. 2 is the structural schematic diagram of cup-and-ball joint；

Fig. 3 is the structural schematic diagram of actuator

Fig. 4 is the structural schematic diagram of induction pieces；

Fig. 5 is the tube channel structural schematic diagram for being driven across object and moving forward and backward；

Fig. 6 is the tube channel structural schematic diagram for being driven across object rotation；

Fig. 7 is the structural schematic diagram after two kinds of different purposes tube channel combinations；

Fig. 8 is the structural schematic diagram after two kinds of different purposes tube channels and cup-and-ball joint combination；

Fig. 9 is the structural schematic diagram of joint support device；

Figure 10 is the schematic illustration that cup-and-ball joint deflects in joint support device.

Figure 11 is console overall structure diagram.

Figure 12 is the structural schematic diagram for having driving assembly in embodiment two in ball-type part.

Figure 13 is that have driving assembly overall structure diagram in embodiment two in ball-type part.

Wherein: 1- cup-and-ball joint, 2- tube channel, 3- joint support device, 4- execute instrument arm, 5- driving assembly, 6- sense Answer component, 7- control device, 8- executive device；11- ball-type part, 12- ball-type part through-hole, 13- socket joint shell, 14- are anti-rotational Crossbeam, the anti-rotational fixed frame of 15-；21- screw channel pipe, 22- tube channel notch, the channel 23- tube faucet, 24- tube channel socket, 25- conical pipeline neck, 26- coupling tube, 27- drive seat, 28- pipeline fixture nut；31- joint motion frame, 32- pendulum spring, 33- support rod, 34- support frame, 35- fixed frame, 36- drive seat fixing piece；51- actuator, 52- driving motor, 53- transmission dress It sets and circuit board, 54- actuator fixed frame, 61- induction pieces, 62- inductor, 63- incudes roller bearing, 64- reaction magnetic ring, 65- is suddenly That sensor and circuit board, 66- shell；71- hand controller, 72-3D display, 74- elbow rest object, 75- seat；91- Foot controller, 92- foot support object.

Specific embodiment

Embodiment one

The structure of the cup-and-ball joint robot of the present embodiment is as shown in Figure 1, joint motion frame 31 is fixed on patient top, use Enter intraperitoneal, the execution instrument of robot in the ball-type part 11 that the tube channel 2 for wearing surgical instrument passes through 1 center of cup-and-ball joint Arm 4 passes through tube channel 2 and enters abdominal cavity.Cup-and-ball joint 1 is by supporting spring 32 to be fixed in joint motion frame 31, joint motion Frame 31 is supported on the fixed frame 35 that bar 33 and support frame 34 are fixed on by operating bed again.Fixed frame 35 is mounted on the ground of operating room On plate.Other installation forms can also be used, including are formed with cross bar, upright bar and operating bed along fixed sliding block, operation is mounted on On bed, and it is mounted on the ceiling above patient in the form of furred ceiling.The stomach wall that inflation has got up is smooth and scarce Few elasticity, cup-and-ball joint robot can also paste on stomach wall strong at this moment.The link model is not limited to when use.

In cup-and-ball joint robot, cup-and-ball joint 1 and joint support device 3 can sequentially be coupled with support rod 33, And multiple cup-and-ball joints 1 are coupled after being connected with each other with support rod 33, thus robot can be configured on the whole it is compact With it is small and exquisite.

As shown in Fig. 2, cup-and-ball joint 1 is made of ball-type part 11 and joint shell 13, there is circular open on joint shell 13, is open Circular diameter is less than 11 diameter of ball-type part.Joint shell 13 is two symmetric parts to being combined into, and ball-type part 11 is positioned in pass after pairing It saves in shell, is clamped jointly by two fixed orthogonal driving assemblies 5 of inside and mutually perpendicular inductive component 6.Driving Component 5 and inductive component 6 have Fixing clamp-seat to be fixed in joint shell 13, and the contact point with ball-type part 11 is in ball-type part 11 Heart point is symmetric, and all in the plane parallel with the bottom surface of joint shell 13.6 type of driving assembly 5 and inductive component There is mark on institute, corresponding joint shell surface, installation position with position.In a non-limiting embodiments, joint shell is transparent material Material is made, can be with the position of visible directly internal different components.

There is symmetrical swing bolster 14 on ball-type part 11, is stuck in the groove in anti-rotational fixed frame 15.It is anti-rotational The plane perpendicular of groove and joint shell 13 in fixed frame 15, can prevent long axis side of the ball-type part 11 during exercise along tube channel 2 To rotating.

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 fixed on joint shell 13 by actuator fixed frame 54.In a non-limit In embodiment processed, driving assembly 5 is increased again on the basis of example 1, to increase driving force, while also in opposite ball-type The symmetrical position of part 11 increases inductive component 6, to incude the movement that newly-increased driving assembly 5 drives ball-type part 11 to generate.It is newly-increased The contact point of component and ball-type part and contact point in embodiment one are in the same plane.

Inductive component 6 is contacted with ball-type part 11, also incudes its movement while providing support for ball-type part 11.Ball-type part 11 Rotation the induction pieces 61 on inductive component 6 can be driven to rotate with it.As shown in figure 4, induction pieces are general in the present embodiment Track-ball structure, the rotations of induction pieces 61 can dynamic answer roller bearing 63 to rotate, the reaction magnetic ring 64 being mounted on induction roller bearing 63 It can rotate with it.The Hall sensor 65 of installation on circuit boards senses the variation of 64 upper magnetic pole of reaction magnetic ring, generates pulse Signal is sent in cup-and-ball joint robot controller 7 by signal transmission system.

In a non-limiting embodiments, inductive component 6 is identical as 5 structure of driving assembly, and difference is driving motor 52 Changing rotary encoder into.When driving motor 52 rotates in driving assembly 5, the rotary coding of corresponding position in inductive component 6 Device also proportionally rotates.

As shown in Figure 5 and Figure 6, it is equipped in drive seat 27 and driving assembly 5 identical in cup-and-ball joint 1 and inductive component 6, there is Fixing clamp-seat to fix.As shown in figure 5, this is to lead to for being driven across object along what the inner wall of tube channel 2 moved forward or back Deferent is all referred to as advance and retreat tube channel below.In drive seat the driving direction of all actuators 51 all with the length of tube channel Axis direction is parallel.As shown in fig. 6, this is the tube channel rotated for being driven across object along the inner wall of tube channel 2, below all Referred to as rotating channel pipe.The driving direction of all actuators 51 in drive seat is all vertical with the long axis direction of tube channel.

Tube channel 2 passes through drive seat 27 and is firmly connected with it, and the duct wall that tube channel 2 is located in drive seat 27 has channel Pipe notch 22, actuator 51 pass through pass through object of the tube channel notch 22 inside tube channel 2 and contact and drive its movement, induction pieces 61, which pass through pass through object of the tube channel notch 22 inside tube channel 2, contacts and incudes its movement.The shape of tube channel notch 22 with Need across actuator 51 and the shapes of induction pieces 61 be consistent.

2 both ends of tube channel are respectively threaded bellmouth 23 and socket 24.The internal diameter and socket 23 of 23 inner thread of bellmouth The outer diameter of the screw thread of outer wall is identical.The bellmouth 24 of one tube channel 2 can be connect with the socket 23 of another tube channel 2.? In one embodiment, the both ends of tube channel 2 are respectively the socket of band clasp and the bellmouth with card slot, the internal diameter of bellmouth inner wall card slot It is identical as the outer diameter of the snap ring of receptacle wall.

As shown in Figure 7 and Figure 8, multiple screw channel pipes 21 can tandem be driven across its internal object that passes through jointly and transport It is dynamic.The identical tube channel of driving direction can be directly connected to, and the different tube channel of driving direction needs to be connected with coupling tube 26.It crosses The outer diameter for crossing 26 pipe shaft of pipe is slightly less than the internal diameter of rotating channel pipe, rotating channel pipe can be inserted and under the driving of actuator 51 Rotation.There is 25 transition of conical pipeline neck between the bellmouth and pipe shaft of coupling tube 26, the socket conduit connectable of coupling tube 26 is fixed Nut 28.Conical pipeline neck 25 and the outer diameter of pipeline fixture nut 28 be respectively greater than screw channel pipe 21 bellmouth and socket it is interior Diameter, therefore limit can be played the role of, limitation coupling tube 26 can only be rotated and cannot be moved forward and backward.

The bellmouth of coupling tube 26 is connected on the socket of advance and retreat tube channel, can drive advance and retreat tube channel and drive seat 27 1 Play rotation.Since actuator 51 closely connect and generate certain frictional force with object is passed through, can also carry secretly across object one Play rotation.In one embodiment, in order to reinforce it is this carry the strength that rotates together across object secretly, be equipped in tube channel 21 with The parallel limiting slot of long axis direction is equipped with the prominent item of the limit parallel with long axis direction and above-mentioned limiting slot contract on passing through object It closes, also can accurately be rotated with being ensured through object while retreating.

As shown in figure 8, there is ball-type part through-hole 12 in 11 center of ball-type part, ball-type part 11 connects drive seat fixed frame 36.Driving Seat fixed frame 36 is conical pipeline, communicates with ball-type part through-hole 12, can hold tube channel or surgical instrument passes through.Drive seat fixed frame The internal diameter of 36 bellmouths is identical as 27 outer diameter of drive seat, can tightly block drive seat 27.Ball-type part 11 is fixed by drive seat Frame 36 drives drive seat 27 to do pitching and oscillating motion.

The executive device of cup-and-ball joint 1, advance and retreat tube channel and rotating channel pipe composition cup-and-ball joint robot, can drive Instrument arm 4 is executed to realize advance, retrogressing, rotation, pitching, wave, it is identical as the laparoscopic instrument movement of manpower operation.

As shown in figure 9, in endoscope-assistant surgery, instrument arm 4 is executed by the puncture orifice on patient skin and enters body cavity, and with This puncture orifice is center rotary moveable.Therefore endoscope-assistant surgery requires to execute instrument arm 4 around the same of 11 center of ball-type part rotation When also to rotate centered on the skin penetrating mouth, two central point spacing distances are at least the radius size of ball-type part 11.When There may be the unnecessary damages of the skin to patient when execution instrument arm 4 rotates, and the tension of skin also will affect ball-type The precision that part 11 rotates.In order to solve this problem, cup-and-ball joint 1 is coupled by pendulum spring 32 with joint motion frame 31, ball Nest joint 1 can be movable in joint motion frame 31, to allow to execute instrument arm 4 easily around the rotation of skin penetrating mouth.

As shown in Figure 10, in non-limiting embodiment, the central point that imagination executes the rotation of instrument arm 4 can be preset in Specific position O point on abdomen wall puncture sheath, when 11 deflection angle of ball-type part is 0 degree, cup-and-ball joint 1 is pulled by spring around, makes ball The center of type part 11 is located at the central point A point of joint motion frame 31, and straight line AO is the axis for executing instrument arm 4 at this time.Work as ball-and-socket After joint 1 starts rotation by motor drive, 4 axis AO of instrument arm is executed using O point as the point of rotation and deflects into BO, forces ball-type part 11 are moved to B point.Joint motion frame 31 is rectangular parallelepiped structure, 3 points of ABO one right angled triangles of composition, AO in one embodiment Shorter than BO, AO deflects into the generated displacement of BO can be by giving bit shift compensation after Framework computing.In another embodiment, it closes Section activity box 31 is semiglobe, and AO is identical with BO length or difference very little, and it is 0 or very that AO, which deflects into displacement caused by BO, It is small, compensation displacement can not had to.

Cup-and-ball joint robot is used for open surgery in one embodiment, due to the leading without skin in open surgery Limitation is drawn, cup-and-ball joint 1 can not need joint support device 3 and directly be coupled with fixed bracket.

As shown in figure 11, the console of ball-and-socket robot includes hand controller 71,3D display device 72, mask controller 81, controller support frame, elbow rest object 74, seat 75 and foot controller 91 and foot support object 92, these controllers by Both hands, oral area and the foot operation of operator.Control device and executive device structure are essentially identical, including similar ball-and-socket closes Section, tube channel, drive seat and joint support device.Difference is that each of control device driving assembly is in executive device Corresponding position be inductive component, the inductive component of each of control device is to drive in the corresponding position of executive device Dynamic component.Execution instrument arm in the executive device identical position in control device is to execute instrument arm controller bar.

The movement of operator's hand is decomposed into advance, retrogressing, rotation, pitching, oscillating motion by hand controller 71, and divides It is not acquired by inductive component 6, is transmitted to executive device through signal processing, the driving assembly 5 for controlling corresponding position moves, and drive is held Row instrument arm 4 is done similarly to be moved with operator's hand.The movement for being performed simultaneously instrument arm 4 is also carried out sense group in device Part 6 acquires, and is transmitted to hand controller 71 through signal processing, controls corresponding driving assembly 5 and moves, drives and execute the control of instrument arm Bar movement processed.It is held in the hand, can generate to operator with force feedback by operator due to executing instrument arm control-rod at this time The tactile of true touching tissue and the size for experiencing reaction force.

Cup-and-ball joint robot may need to meet conflicting needs.It is, working as cup-and-ball joint robot motion When, it is necessary to it is placed close to patient, while making medical staff again etc. can be close to patient without obstacle, and when movement, ball Nest articulated robot must above the body of patient, while guarantee again it is sterile, so as to eliminate patient infection danger.This Outside, cup-and-ball joint robot must be provided for intensity, accuracy and the flexibility of enough ranks of movement, while provide small Ingeniously, the very thin and light-weight characteristic of size, and cup-and-ball joint robot must be mounted in a stable manner, while can be certainly It is small by the area for moving and occupying.In addition, cup-and-ball joint robot must give patient and medical staff in preparation before surgery It provides freely.

Present embodiments provide the ideal feature set of such as above-mentioned cup-and-ball joint robot.Different from traditional ball-and-socket The construction of articulated robot, each robots arm is coupled with main body in the construction of traditional operating robot, so that machine human body Product is big, and mobility is low, and acts complexity, and the present embodiment cup-and-ball joint robot passes through the joint support device against patient 3 fix, above execution instrument arm 4 length can be limited within 30cm, joint support device 3 can respectively with fixed branch Frame connection is connect, to realize cup-and-ball joint robot again with a fixed bracket after can also being connected with each other with several fixed frames The area for moving freely and occupying is small.

The various instruments that operation needs, laparoscopic camera, clamper, suction tube, actuator etc. may be mounted at The terminal part of execution instrument arm 4 for being operated.

Embodiment two

The present embodiment is as shown in Figure 12 and Figure 13, is improvement on the basis of embodiment one, thes improvement is that ball-type part Driving assembly 5, inductive component 6 and the coupling tube 26 for having driving to rotate in 11 are provided with the function of drive seat 27, cancel embodiment party 27, tube channels 21 of drive seat and drive seat fixing piece 36 of a driving rotation in case one.Other structures and embodiment party Case one is identical.

Embodiment three

The present embodiment is similar to one structure of embodiment, and difference is there was only driving assembly 5, control device 7 in executive device In only inductive component 6, operator operate when there is no the feeling of force feedback.But more driving groups can be installed in executive device Part 5 is to reinforce driving force.

Example IV

The robot controller of the station control device and control robot arm running that are connect with station, and grasp Make platform control device to connect with robot controller.In use, robot arm is controlled by station, the instruction of station by Station control device is assigned, and is reached by RTC instant messaging from end robot controller, robot controller reception refers to It would be communicated to robot arm after order to be acted accordingly.The status summary of robot arm to robot controller, by Robot controller is communicated by RTC reaches station control device, while the status information and machine of station control device The status information aggregation process of device human arm reaches station, and feeds 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 robot arm when 3D body-sensing video camera monitors staff in place Partial function operation, when staff steps on floor push at this time, robot arm just can start operation；In staff When not in place, and floor push is not stepped on, robot arm braking, to avoid the running of operation interface caused by improper factor Caused by robot arm it is mobile.

It is provided on robot controller for recording the inductive component 6 for executing instrument arm 4, inductive component 6 can be remembered Record executes the displacement of instrument arm 4, to record the motion profile for executing instrument arm 4.It can by the information that inductive component 6 records It, can when with multiple execution instrument arms 4 to judge automatically whether the motion path of execution instrument arm 4 meets operation demand It monitors whether each motion path for executing instrument arm 4 can interfere, to plan new motion path again, guarantees to hold The safety of the movement of row instrument arm 4.

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, be deposited when abnormal in the motion path of encoders monitor to robot arm, encoder can with encoder Information is fed back into motor driver, 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 robot arm, and monitoring information is fed back into staff, event occurring In the case where barrier, motor communication device can carry out Brake lamp operation according to monitoring information, to guarantee the normal of operating robot Running, or fault message is fed back into staff, enable the quick handling failure of staff.

In addition, station control device is for recorder human arm parameter information and/or the number of station parameter information According to logging modle, in order to search fault message.Specifically, the data recordin module include running log and control hand data, For example in control hand data, staff's operation handle is passed to robot arm end by station controller, makes machine Human arm movement, information when robot arm acts pass through encoder, motor driver feedback to station controller, shape At feedback mechanism, if there is inconsistent, system adjust automatically with encoder or motor data in operation data, if not adjusting, It then breaks down, needs to check data and tracing for troubles place in control hand data.

The emergency stop switch for emergency braking can be set on station control device in the event of a failure to robot Emergency braking is carried out, 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.

Display robot arm working condition is also respectively provided on robot controller and station control device Second status indicator lamp of first state indicator light and display operation platform working condition.Above-mentioned indicator light can by robotic end and The working condition of station is most intuitively presented to staff, and staff passes through inspection according to the display situation of indicator light Error code can quickly find out guilty culprit.Specifically, above-mentioned indicator light can specifically be provided with it is normal, await orders, warn Announcement, danger etc. indicate situation, so as to the use state of personnel monitoring robot.

Control device provided in this embodiment specifically includes station control device and robot controller, with respectively The state of station and robot arm is controlled, and station control device is connect with robot controller, thus It realizes information connection and feedback between the two, staff is enable to be operated robot arm with reality in operation end It operates on.In surgical procedure, monitoring device can real-time monitoring staff whether in place, to judge whether to brake, Effectively avoid the running of robot arm under the maloperation of part；Display can be stateful by the institute of station and robot Information, which is shown, is presented directly to staff, enable staff fast and accurately find system there are the problem of, and then it is fast It is fast to solve the problems, such as, guarantee the safety of operation；In addition, the inductor (such as encoder) on robot controller is able to record motor Turnning circle fortune can be judged automatically by the information system of encoder feedback to record the motion profile of mechanical arm Dynamic path whether there is problem, and judge whether interfere when the movement of multiple robot arms, can according to its feedback information Ensure the more accurate trouble free service of each robot arm, and then improves the safety of operation.

The control device provided based on the above embodiment, the present embodiment also provide a kind of operating robot, including station, Robot arm, and the control device being connect respectively with station and robot arm；And control device is any of the above-described Control device.For the structure of the rest part of above-mentioned operating robot, the prior art is referred to, repeats no more herein.Due to The operating robot has above-mentioned control device, therefore to a certain extent, and the operating robot is also with higher to use peace Quan Xing.

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.

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 model of the utility model technical idea In enclosing, a variety of variations, modifications, equivalent substitutions and improvements etc. are carried out to these embodiments, should be included in the utility model Within protection scope.

Claims (7)

1. a kind of operating robot, it is characterised in that: there is cup-and-ball joint and driving assembly, the cup-and-ball joint includes ball-type part And socket joint, the center of the ball-type part are equipped with tube channel, are used to wear surgical instrument in the tube channel；The driving group Part includes the first driving assembly and the second driving assembly, and first driving assembly is mounted in socket joint, second driving Component is mounted in tube channel；First driving assembly is for driving ball-type part to rotate relative to socket joint；Described second drives Dynamic component is for driving surgical instrument to retreat or rotate relative to tube channel.

2. operating robot according to claim 1, it is characterised in that: second driving assembly is installed on ball-type part It is interior.

3. operating robot according to claim 1, it is characterised in that: the tube channel is rotating channel pipe, the rotation Turn to be equipped with the third driving assembly rotated for being driven across object along channel inside pipe wall in tube channel.

4. operating robot according to claim 1 or 3, it is characterised in that: advance and retreat tube channel is worn in the tube channel, It is equipped with what the surgical instrument for being driven across advance and retreat tube channel was retreated along advance and retreat channel inside pipe wall in the advance and retreat tube channel 4th driving assembly.

5. operating robot according to claim 4, it is characterised in that: the cup-and-ball joint is mounted on joint by spring In activity box, the joint motion frame couples with the fixed bracket of operating robot.

6. operating robot according to claim 1, it is characterised in that: be also equipped with and be used in first driving assembly Incude the first inductor of rotary motion, the second induction for incuding rotary motion is also equipped in second driving assembly Device.

7. operating robot according to claim 1, it is characterised in that: further include controller, the controller has the One cup-and-ball joint and the second cup-and-ball joint, first cup-and-ball joint include the first ball-type part and the first socket joint, described second Cup-and-ball joint includes the second ball-type part and second joint seat；Be connected between the first ball-type part and the second ball-type part pull rod and Tube channel is equipped with the advance sense for acquiring the first ball-type part and the second ball-type part relative displacement on the pull rod and tube channel Answer device and rotary inductor；Track for acquiring second joint seat with respect to its three-dimensional rotation is installed on the second ball-type part The induction pedestal of ball, the trace ball is located in the first ball-type part, is equipped in first socket joint for acquiring the first ball Roller bearing and rotary encoder of the type part with respect to its three-dimensional rotation.