CN209790011U - multi-axis manipulator for remote operation and remote operation device - Google Patents
multi-axis manipulator for remote operation and remote operation device Download PDFInfo
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- CN209790011U CN209790011U CN201721227082.9U CN201721227082U CN209790011U CN 209790011 U CN209790011 U CN 209790011U CN 201721227082 U CN201721227082 U CN 201721227082U CN 209790011 U CN209790011 U CN 209790011U
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Abstract
the utility model discloses a multi-axis manipulator and teleoperation device for teleoperation, this multi-axis manipulator for teleoperation for make operation executive component carry out the operation action, multi-axis manipulator for teleoperation include the installation body, rotatable connect in first pivot, rotatable connect in on the installation body second pivot on the first pivot, can follow the flexible telescopic link of axial of second pivot, wherein, the vertical setting of first pivot just rotates around self, the second pivot for first pivot is at vertical in-plane rotation. The utility model discloses a multi-axis manipulator only has two pivots and a telescopic link and just makes the operation executive can carry out three degree of freedom to satisfy the required various actions of operation executive operation, because the driving chain is less, make the space form and the action of operation executive confirm easily.
Description
Technical Field
the utility model relates to the technical field of medical equipment, especially, relate to a multi-axis manipulator and remote operation device for remote operation.
Background
the operation by means of the electronic equipment or the high-precision manipulator is not a new thing, and the participation of the electronic equipment and the new mechanical auxiliary device can not only reduce the operation difficulty, improve the operation efficiency, but also reduce the risk to a greater extent and ensure higher operation success rate. By means of the remote operation equipment, even if a doctor is not in an operating room, the doctor can perform a surgical operation as usual, the operation is completed by the doctor through remote control of a 'robot' (or operation execution device) from the operation to the suture needle, and the operation is more accurate and has lower risk.
Generally, surgical devices for remotely performing surgery include surgical performance devices and surgical operating systems; the operation executing device comprises an operation executing part which is directly acted on an affected part of a patient, the operation operating system comprises an operating device, the operating device comprises an operating rod, and the operating rod is used for controlling the operation of the operation executing part and enabling the operation of the operation executing part to be consistent with the operating rod, namely, the space form of the operation executing part is consistent with the space form of the operating rod at any moment.
on one hand, the surgical executing part needs to have a plurality of degrees of freedom to meet surgical actions, and a manipulator used for driving the surgical executing part to execute the plurality of degrees of freedom in the prior art has more transmission chains, so that the spatial form of the surgical executing part is not easy to control, or the spatial form of the surgical executing part is not easy to determine.
on the other hand, the surgical apparatus for remotely performing the surgery has problems in that: although the operating lever can control the surgical operation executing member to make the surgical operation executing member perform the surgical operation, the surgeon cannot feel the force applied to the surgical operation executing member when manipulating the operating lever (i.e., the operating lever has no force feedback), that is, when the surgical operation executing member acts on the human body, the surgical operation executing member inevitably receives the reaction force of the human body, and the surgeon cannot know the reaction force, so that the surgeon loses the tactile sensation obtained by the conventional surgical operation. Sometimes, the doctor cannot know the force applied to the surgical executing component, and may cause fatal injury to the affected part, for example, when the surgical executing component needs to be applied to the patient with a certain preset force to successfully complete the surgery, the organ at the affected part may be damaged if the force exceeds the preset force, but the surgery cannot be performed if the force is less than the preset force, at this time, because the doctor operates the operating rod and does not have force feedback, the doctor makes the force applied to the affected part of the surgical executing component exceed the preset force when controlling the surgical executing component with the operating rod, and the organ at the affected part is damaged.
SUMMERY OF THE UTILITY MODEL
To the above technical problem that exists among the prior art, the utility model discloses an implement and provide a multi-axis manipulator for tele-operation.
In order to solve the technical problem, the utility model discloses a technical scheme is:
The utility model provides a multiaxis manipulator for tele-operation for make operation executive component carry out the operation action, multiaxis manipulator for tele-operation includes the installation body, rotatable connect in first pivot on the installation body, rotatable connect in second pivot on the first pivot, can follow the telescopic link that the axial of second pivot is flexible, wherein, the vertical setting of first pivot just rotates around self, the second pivot for first pivot is at vertical plane internal rotation.
The utility model also discloses a tele-operation device, including operation final controlling element and tele-operation operating system operation final controlling element includes operation executive component and the multi-axis manipulator for tele-operation, the operation executive component is installed on the telescopic link of the multi-axis manipulator for tele-operation, first pivot is rotated and is made the operation executive component has first rotational degree of freedom, the second pivot is rotated and is made the operation executive component has the planar second rotational degree of freedom of the first rotational degree of freedom of perpendicular to confirmed, the telescopic link is flexible to make the operation executive component have the planar degree of freedom of the first rotational degree of freedom of perpendicular to and the planar removal degree of freedom of second rotational degree of freedom confirmed.
Preferably, the telesurgical operation system includes an operation device, a driving mechanism, a spatial form detection mechanism, a damping determination mechanism, and a damping application mechanism;
The operating device comprises an operating rod which has three degrees of freedom corresponding to the operation executing piece;
the driving mechanism comprises a first driver, a second driver and a third driver which are used for respectively driving the surgical executing part to execute a first rotational degree of freedom, a second rotational degree of freedom and a moving degree of freedom;
The space form detection mechanism comprises a first detector, a second detector and a third detector, wherein the first detector and the second detector are used for correspondingly detecting the rotation angles of the operating rod when executing the first rotation degree of freedom and the second rotation degree of freedom of the operating rod respectively, and the third detector is used for detecting the displacement of the operating rod when executing the movement degree of freedom of the operating rod; the first driver, the second driver and the third driver respectively drive the operation executive component to act correspondingly according to the results detected by the first detector, the second detector and the third detector, so that the operation executive component and the operating rod act synchronously;
The damping measuring mechanism comprises a first measuring device, a second measuring device and a third measuring device, wherein the first measuring device and the second measuring device are used for correspondingly detecting torsion received by the surgical executing part when the surgical executing part executes the first rotational degree of freedom and the second rotational degree of freedom, and the third measuring device is used for detecting linear resistance received by the surgical executing part when the surgical executing part executes the moving degree of freedom;
The damping applying mechanism comprises a first damper, a second damper and a third damper; when the surgical executing member executes the first rotational degree of freedom, the first damper applies torsional damping to the rotational direction of the operating lever when executing the first rotational degree of freedom thereof in accordance with the torsional force detected by the first determiner, the second damper applies torsional damping to the rotational direction of the operating lever when executing the second rotational degree of freedom thereof in accordance with the torsional force detected by the second determiner, and the third damper applies linear damping to the moving direction of the operating lever when executing the moving degree of freedom in accordance with the linear resistance force clamped by the third determiner.
preferably, the operating device further comprises a retaining body, a first arc-shaped strip plate and a second arc-shaped strip plate which are respectively rotatably connected to the retaining body through a first pivot and a second pivot, the rotation axes of the first arc-shaped strip plate and the second arc-shaped strip plate are perpendicular to each other, and the first arc-shaped strip plate and the second arc-shaped strip plate are provided with long guide holes in the extending direction; the middle part of the operating rod is jointed on the joint bearing, and the head parts of the operating rod penetrate through the guide long holes of the first arc-shaped plate and the second arc-shaped plate and can slide along the guide long holes.
Preferably, the first and second dampers are for applying torsional damping to the first and second pivots respectively; the first damper and the second damper both comprise two tiles which are pivoted; friction plates are arranged on the first pivot and the second pivot; the two tiles are used for wrapping the first pivot or the first pivot; wherein:
A spring is connected between the two tiles, a first permanent magnet is arranged on one tile, a first electromagnet opposite to the heteropolar pole of the first permanent magnet is arranged on the other tile, the first electromagnet on the first damper and the second damper respectively changes the current passing through the coil on the first electromagnet according to the torsional damping detected by the first detector and the second detector, so that when the torsional damping detected by the first detector or the second detector is increased, the current of the coil on the first electromagnet is increased to increase the attractive force between the first permanent magnet and the first electromagnet, so as to increase the damping of the first damper on the first pivot or increase the damping of the second damper on the second pivot; and when the torsion force detected by the first gauge or the second gauge is reduced, the current of the coil on the first electromagnet is reduced to reduce the attractive force between the first permanent magnet and the first electromagnet to reduce the damping of the first pivot by the first damper or the damping of the second pivot by the second damper.
Preferably, the first detector and the second detector are both angle sensors, and the third detector is a displacement sensor.
Preferably, the first and second gauges are torque sensors; the third determinator is a pressure sensor.
Preferably, a sleeve is sleeved at the tail of the operating rod, and the third damper comprises a second permanent magnet arranged on the sleeve and a second electromagnet arranged on the operating rod and opposite to the second permanent magnet in the same polarity; the second electromagnet of the first damper changes a current passing through a coil on the second electromagnet according to the linear resistance detected by the third determiner, such that when the linear resistance detected by the third determiner increases, the current of the coil on the second electromagnet increases to increase a magnetic repulsive force between the second permanent magnet and the electromagnet, and such that when the linear resistance detected by the third determiner decreases, the current of the coil on the second electromagnet decreases to decrease the magnetic repulsive force between the second permanent magnet and the second electromagnet.
compared with the prior art, the utility model discloses a multiaxis manipulator and remote operation device for remote operation's beneficial effect is: the utility model discloses a multi-axis manipulator only has two pivots and a telescopic link and just makes the operation executive can carry out three degree of freedom to satisfy the required various actions of operation executive operation, because the driving chain is less, make the space form and the action of operation executive confirm easily.
Drawings
Fig. 1 is a schematic structural view of a multi-axis manipulator for remote surgery according to an embodiment of the present invention;
Fig. 2 is a schematic structural view (front view) of an operating device in a telesurgical operating system of a telesurgical device according to an embodiment of the present invention;
Fig. 3 is a schematic structural diagram (left side view) of a telesurgical operating system of a telesurgical device according to an embodiment of the present invention;
FIG. 4 is a schematic view (left side view) of the first damper and the second damper in the telesurgical operating system of the telesurgical device according to one embodiment of the present invention;
FIG. 5 is a system control diagram including a hydraulic damping applicator (as either the first damper or the second damper) and a hydraulic controller for applying damping in a telesurgical operating system of a telesurgical device according to another embodiment of the present invention;
Fig. 6 is a schematic structural diagram of a hydraulic controller in a telesurgical operating system of a telesurgical device according to another embodiment of the present invention;
FIG. 7 is a schematic view of a hydraulic damping applicator (as either the first damper or the second damper) in a telesurgical operating system of a telesurgical device according to another embodiment of the present invention;
fig. 8 is a control flow diagram of a telesurgical operating system in a telesurgical device according to an embodiment of the present invention.
In the figure:
100-surgical execution apparatus 100; 200-operating means 101-first shaft 101; 102-a second shaft 102; 103-a telescopic rod; 104-a mounting body; 105-a surgical implement; 201-a first arcuate plate; 202-a second arcuate plate; 203-a holding body; 204-guiding long holes; 205-knuckle bearing; 206-a first pivot; 207-a second pivot; 210-a first driver; 220-a second driver; 230-a third driver; 231-a stepper motor; 232-lead screw; 240-operating lever; 241-a sleeve; 242-damping sleeve; 243-baffle; 250-a first detector; 260-a second detector; 270-a third detector; 281-a first damper; 282-a second damper; 290-a third damper; 291-a second electromagnet; 292-a second permanent magnet; 301-tiles; 302-friction plate; 303-a first permanent magnet; 304-a first electromagnet; 305-a spring; 330-a first processing module; 331-a first signal converter; 332-a first controller; 340-a second processing module; 341-a second signal converter; 342-a second controller; 343-a proportional amplifier; 350-a first determinator; 360-a second determinator; 370-a third determinator; 400-a hydraulic damping applicator; 401-a body; 402-a first chamber; 403-a second chamber; 404-a rotor; 405-a partition; 406-a one-way valve; 407-a first liquid channel; 408-a second liquid channel; 500-a hydraulic controller; 501-a valve body; 502-a first valve chamber; 503-a second valve chamber; 504-a first valve spool; 505-a second spool; 506-an oil inlet channel; 507-an oil outlet channel; 508-a first drainage channel; 509-a second drainage channel; 510-a third drainage channel; 511-spring; 512-a third electromagnet; 513-a third permanent magnet; 514-a spring; 600-a reversing valve; 700-oil tank.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the present invention will be described in detail with reference to the accompanying drawings and the detailed description.
as shown in fig. 1, an embodiment of the present invention discloses a multi-axis manipulator for remote operation, which specifically includes an installation body 104, a first rotating shaft 101 rotatably connected to the installation body 104, a second rotating shaft 102 rotatably connected to the first rotating shaft, and a telescopic rod 103 capable of extending and retracting along the axial direction of the second rotating shaft 102; the first rotating shaft 101 is vertically arranged and rotates around its own axis, and the second rotating shaft 102 rotates in a vertical plane relative to the first rotating shaft 101.
the utility model also discloses a remote operation device, which comprises an operation executing device 100 and a remote operation system, the surgical implement 100 includes a surgical implement 105 and a multi-axis manipulator as described above, and in particular, the operation executing component 105 is a component directly acting on the body of the patient, for example, the operation executing component 105 is a scalpel, and for the convenience of explaining the technical scheme of the utility model, the operation executing component 105 is not regarded as a whole, and the internal action and the connection relation are ignored, the surgical implement 105 is mounted on a telescoping rod 103 of a multi-axis robot that enables the surgical implement 105 to achieve a first degree of rotational freedom, a second degree of rotational freedom perpendicular to a plane defined by the first degree of rotational freedom, and a degree of translational freedom perpendicular to a plane defined by the first degree of rotational freedom and the second degree of rotational freedom. Specifically, when the first rotating shaft 101 rotates, the surgical executing member 105 is made to perform its first rotational degree of freedom, when the second rotating shaft 102 rotates, the surgical executing member 105 is made to perform its second rotational degree of freedom, and when the telescopic rod 103 is extended and retracted, the surgical executing member 105 is made to perform its translational degree of freedom. The remote operation system includes an operation device 200, a drive mechanism, a spatial form detection mechanism, a damping measurement mechanism, and a damping application mechanism.
According to the above, the multi-axis manipulator of the present invention has only two rotating shafts and one telescopic rod 103 to enable the operation performing member 105 to perform three degrees of freedom, so as to satisfy various actions required by the operation of the operation performing member 105, and the space shape and the actions of the operation performing member 105 are easily determined due to the small number of transmission chains.
As shown in fig. 2 and 3, the operating device 200 includes an operating rod 240, a holding body 203, a first arc-shaped strip plate and a second arc-shaped strip plate which are rotatably connected to the holding body 203 through a first pivot 206 and a second pivot 207 respectively and have perpendicular rotation axes, and the first arc-shaped plate 201 and the second arc-shaped plate 202 are both provided with long guide holes 204 in the extending direction thereof; the middle part of the operating rod 240 is jointed on the knuckle bearing 205, the head part of the operating rod passes through the guide long hole 204 of the first arc-shaped plate 201 and the second arc-shaped plate 202 and can slide along the guide long hole 204, and the circle center of the first arc-shaped plate 201 and the second arc-shaped plate 202 is superposed with the rotation center of the knuckle bearing 205, so that the operating rod 240 can smoothly interact along the guide long hole 204 of the first arc-shaped plate 201 and the second arc-shaped plate 202. When the head of the operating rod 240 slides along the guiding long hole 204 of the second arc-shaped plate 202, the operating rod 240 actually performs the first rotational degree of freedom corresponding to the operation performing member 105, and the rotation angle of the first arc-shaped plate 201 driven by the operating rod 240 coincides with the rotation angle of the operating rod 240 performing the first rotational degree of freedom thereof, and similarly, when the head of the operating rod 240 slides along the guiding long hole 204 of the first arc-shaped plate 201, the operating rod 240 actually performs the second rotational degree of freedom corresponding to the operation performing member 105, and the rotation angle of the second arc-shaped plate 202 driven by the operating rod 240 coincides with the rotation angle of the operating rod 240 performing the second rotational degree of freedom thereof. The operating rod 240 is sleeved with a sleeve 241 at the tail, and the sleeve 241 can axially move on the operating rod 240, so that the moving freedom corresponding to the operation executing element 105 is executed. That is, the lever 240 is formed to have a first rotational degree of freedom corresponding to the first rotational degree of freedom of the surgical implement 105, a second rotational degree of freedom corresponding to the second rotational degree of freedom of the surgical implement 105, and a translational degree of freedom corresponding to the translational degree of freedom of the surgical implement 105.
As shown in fig. 1 and 8, the driving mechanism includes a first driver 210, a second driver 220, and a third driver 230 for driving the surgical implement 105 to perform a first rotational degree of freedom, a second rotational degree of freedom, and a translational degree of freedom thereof, respectively; specifically, the first driver 210 is a stepping motor disposed at a connection position of the first rotating shaft 101 and the mounting body 104, and the second driver 220 is a stepping motor disposed at a connection position of the first rotating shaft 101 and the second rotating shaft 102; the two-step motor drives the first rotating shaft 101 and the second rotating shaft 102 respectively to enable the operation executing part 105 to execute a first degree of freedom and a second degree of freedom; the third driver 230 includes a stepping motor 232 disposed in the second rotating shaft 102, a nut integrally formed with the telescopic rod 103, and a lead screw 232 mounted on the stepping motor and passing through the nut to form a screw drive, and the telescopic rod 103 is extended and contracted by the rotation of the stepping motor to enable the surgical implement 105 to execute its freedom of movement.
As shown in fig. 2, 3 and 8, the spatial form detection mechanism includes a first detector 250, a second detector 260 and a third detector 270 for detecting the displacement of the operation lever 240 when executing the degree of freedom of movement thereof, respectively corresponding to the rotation angles of the operation lever 240 when executing the first degree of freedom of rotation and the second degree of freedom of rotation thereof; the first, second and third drivers 230 respectively drive the operation executing part 105 to move according to the results detected by the first, second and third detectors 270, so that the operation executing part 105 and the operation rod 240 move synchronously; in particular, the first detector 250 is an angle sensor arranged on a first pivot 206 on the first arcuate plate 201, which first pivot 206 causes the first arcuate plate 201 to form a rotatable connection with the holding body 203; the second detector 260 is an angle sensor disposed on the second pivot 207 on the second arcuate plate 202, the second pivot 207 rotatably connecting the second arcuate plate 202 to the retaining body 203, the third detector 270 is a displacement sensor disposed on the collar 241, a stop 243 is disposed on the lever 240 as a distance comparison standard of the displacement sensor, and the displacement sensor can achieve displacement of the collar 241 on the lever 240 by measuring a distance to the stop 243. And the first detector 250, the second detector 260 and the third detector 270 respectively and correspondingly communicate with the first driver 210, the second driver 220 and the third driver 230 through the first processing module 330 to realize that the action of the operating rod 240 in executing three degrees of freedom is consistent with the action of the surgical executing member 105 in executing three degrees of freedom. The first processing module 330 includes three first signal converters 331, three first controllers 332; the three first controllers 332 are respectively used for controlling three stepping motors which enable the surgical executing component 105 to execute three degrees of freedom, the first detector 250, the second detector 260 and the third detector 270 respectively correspondingly convert the two measured angle signals and displacement signals into three signals which can be identified by the first control through the three first signal converters 331, such as voltage signals, the three first controllers 332 respectively control the three stepping motors to act according to the converted signals, so that the actions of the surgical executing component 105 in the three degrees of freedom are completely synchronous with the actions of the corresponding operating rod 240 in the three degrees of freedom, for example, when the rotating angle of the operating rod 240 when executing the first degree of freedom is 3 degrees, the surgical executing component 105 also synchronously rotates 3 degrees when executing the first degree of freedom. In this manner, the surgical implement 105 can be synchronized to correspond to the lever 240.
As shown in fig. 2, 3 and 8, the damping measuring mechanism includes a first measuring device 350, a second measuring device 360 for detecting the torsion (or torque, the same applies below) received by the surgical implement 105 when performing the first rotational degree of freedom and the second rotational degree of freedom, and a third measuring device 370 for detecting the linear resistance received by the surgical implement 105 when performing the translational degree of freedom; specifically, the first measuring device 350 and the second measuring device 360 are a torque sensor mounted at the connection between the mounting body 104 and the first rotating shaft 101 and a torque sensor mounted at the connection between the first rotating shaft 101 and the second rotating shaft 102, respectively. The third measuring device 370 is a pressure sensor arranged between the telescopic rod 103 and the surgical implement 105. Thus, the first measuring device 350 can measure the torque force (or torque, the same applies below) generated by the resistance received by the surgical implement 105 when executing the first rotational degree of freedom; the second measuring device 360 can measure the torque force (or torque, the same applies below) of the surgical implement 105 caused by the resistance applied thereto when the surgical implement is performing the second rotational degree of freedom; the third measuring device 370 can measure the resistance of the surgical implement 105 in the axial direction of the second shaft 102 when performing the freedom of movement thereof.
As shown in fig. 4 and 8, the damping applying mechanism includes a first damper 281, a second damper 282, and a third damper 290; when the surgical implement 105 performs its first rotational degree of freedom, the first damper 281 applies torsional damping to the rotational direction of the operating lever 240 when performing its first rotational degree of freedom based on the torsional force detected by the first determiner 350, the second damper 282 applies torsional damping to the rotational direction of the operating lever 240 when performing its second rotational degree of freedom based on the torsional force detected by the second determiner 360, and the third damper 290 applies linear damping to the moving direction of the operating lever 240 when performing the moving degree of freedom based on the linear resistance force clamped by the third determiner 370. Specifically, the first and second dampers 281 and 282 are used to apply torsional damping to the first and second pivots 206 and 207, respectively; the first damper 281 and the second damper 282 each include two tiles 301 having one end pivotally connected; friction plates 302 are arranged on the first pivot shaft 206 and the second pivot shaft 207; the two half-shells 301 are used for covering the first pivot 206 or the first pivot 206; wherein: a spring 305 is connected between the other ends of the two tiles 301, one of the two tiles 301 is provided with a first permanent magnet 303, the other tile 301 is provided with a first electromagnet 304 opposite to the opposite pole of the first permanent magnet 303, the first electromagnet 304 on the first damper 281 and the second damper 282 is respectively provided with a first electromagnet 304 which changes the current passing through the coil on the first electromagnet 304 according to the torsional damping detected by the first determinator 350 and the second determinator 360, so that when the torsional damping detected by the first determinator 350 or the second determinator 360 is increased, the current of the coil on the first electromagnet 304 is increased to increase the attractive force between the first permanent magnet 303 and the first electromagnet 304, so as to increase the damping of the first damper 281 on the first pivot 206 or the damping of the second damper 282 on the second pivot 207; and when the torsion force detected by the first gauge 350 or the second gauge 360 decreases, the current of the coil on the first electromagnet 304 decreases to decrease the attractive force between the first permanent magnet 303 and the first electromagnet 304 to decrease the damping of the first pivot shaft 206 by the first damper 281 or the damping of the second pivot shaft 207 by the second damper 282. The third damper 290 includes a second permanent magnet 292 disposed on the sleeve 241 and a second electromagnet 291 disposed on the operation rod 240 and opposite to the second permanent magnet 292 in the same polarity; the second electromagnet 291 of the first damper 281 changes the current passing through the coil on the second electromagnet 291 according to the linear resistance detected by the third determinator 370, such that when the linear resistance detected by the third determinator 370 increases, the current of the coil on the second electromagnet 291 increases to increase the magnetic repulsion between the second permanent magnet 292 and the electromagnet, and such that when the linear resistance detected by the third determinator 370 decreases, the current of the coil on the second electromagnet 291 decreases to decrease the magnetic repulsion between the second permanent magnet 292 and the second electromagnet 291. The first, second and third testers 350, 360 and 370 are respectively in communication with the first, second and third dampers 281, 282 and 290 through the second processing module 340. The second processing module includes three second signal converters 341, three second controllers 342, and two proportional amplifiers 343; three second controllers 342 for controlling the current on the coil on the first electromagnet 304 in the first damper 281, the second damper 282, and the current on the second electromagnet 291 in the third damper 290, respectively; the first measuring device 350, the second measuring device 360, and the third measuring device 370 respectively correspond to the signals that the three second signal converters 341 convert the two measured torque signals and the two measured resistance signals into signals that the three second controllers 342 can recognize, for example, voltage signals or current signals, and the three second controllers 342 respectively control the currents of the coils of the two first electromagnets 304 and the one second electromagnet 291 based on the converted signals, so that the torsional damping provided by the first damper 281 corresponds to the torque measured by the first measuring device 350, and the torsional damping provided by the second damper 282 corresponds to the torque measured by the second measuring device 360; the linear damping provided by the third damper 290 is made equal to the linear resistance measured by the third gauge 370.
It should be noted that: the phrase "the torsional damping provided by the first damper 281 corresponds to the torque measured by the first measuring device 350, and the torsional damping provided by the second damper 282 corresponds to the torque measured by the second measuring device 360" specifically means that:
The two controllers control the first and second dampers 281, 282 such that the applied torsional damping corresponds only proportionally to, and is not equal to, the torque measured by the first and second measurers 350, 360, because: the torque detected by the first and second detectors 350 and 360 corresponds to the product of the resistance force applied to the surgical implement 105 in the direction perpendicular to the first and second rotating shafts 101 and 102 and the resultant force arm formed by the first and second rotating shafts 101 and 102, and the torsional damping applied by the first and second dampers 281 and 282 is the product of the feedback force at the end of the operating rod 240 and the resultant force arm formed by the operating rod 240 (the resultant force arm is obtained by the distance between the two ends of the operating rod 240 and the center of the joint bearing 205). That is, if the measured torque is equal to the applied torsional damping, and the actuation member 105 and the lever 240 have different torque arms, the feedback force felt by the hand at the end of the lever 240 will inevitably be different from the resistance to the actuation member 105 that generates the torque, i.e., the feedback force to the hand at the end of the lever 240 will be different from the feedback force to the hand of the actuation member 105 that actually directly operates the actuation member 105, and the force feedback of the lever 240 will be distorted. However, if the torsional damping applied is proportional to the torque measured, which is proportional to the moment arm of the surgical implement 105 and the lever 240, this allows the hand to feel the same feedback force as would be experienced if the surgical implement 105 were actually directly operated, and the force feedback from the lever 240 is not distorted.
It should be explained that: a so-called feedback force or force feedback, which gives the surgeon the feel of manipulating the operating lever 240 in comparison to directly manipulating the surgical implement 105, is actually generated by the provision of the damper. That is, the damper directly or indirectly applies damping to the operation lever 240 so that the surgeon generates a real tactile sensation when manipulating the operation lever 240 to perform the operation.
the utility model discloses a mechanism is applyed to setting up damping survey mechanism and damping for operating lever 240 is corresponding to operation executive 105, thereby operating lever 240 has produced force feedback, when making the doctor operate operating lever 240, can feel the resistance that operation executive 105 received, thereby and make the doctor make the power that acts on the affected part of operation executive 105 can not surpass predetermined power and lead to destroying the organ of affected part when utilizing operating lever 240 control operation executive 105.
The two proportional amplifiers 343 described above function: when the operation is performed while performing the first rotational degree of freedom and/or the second rotational degree of freedom, the two proportional amplifiers 343 are used to vary the current passing through the coils of the first electromagnet 304 of the first damper 281 and/or the second damper 282 according to the variation of the effective length of the operation lever 240 (i.e., the length of the resultant arm of the operation lever 240). When the length of the resultant arm of the operating lever 240 is increased, the proportional amplifier 343 is configured to amplify the current passing through the coil of the first magnet, so that the magnetic repulsive force between the first magnet and the first permanent magnet 303 is increased in proportion to the resultant arm (if the current is not increased, the resultant arm is increased because the torsional damping is unchanged, and the force feedback of the operating lever 240 is necessarily smaller, and thus distorted), so that the feedback force to the operating lever 240 is the same as the feedback force to directly operate the surgical implement 105. When the length of the resultant arm of the lever 240 is reduced, the amplifier reduces the current, the same principle.
From the above, the proportional amplifier 343 allows the joystick 240 to provide real force feedback to the surgeon at all times, regardless of the change in length of the joystick 240 due to the degree of freedom of movement performed.
The first damper 281 and the second damper 282 in the above embodiments are actually damped toward the first pivot shaft 206 and the second pivot shaft 207 by friction between the shoe 301 and the friction plate 302. Thus, the amount of damping applied is determined by the frictional force between the tiles 301 and the friction plate 302. On the other hand, the torsion forces detected by the first and second detectors 350 and 360 and the damping applied by the first and second dampers 281 and 282 need to be kept in a constant proportion, so that the same force feedback is generated by the operating lever 240 when the surgical implement 105 is subjected to a constant resistance. However, since the tile 301 and the friction plate 302 are used many times, the roughness of the surfaces thereof becomes small, so that the friction coefficient of the surfaces thereof is continuously decreased as the number of uses is continuously increased. When the constant torque force keeps the force between the first electromagnet 304 and the first permanent magnet 303 constant, that is, the radial pressure between the friction plate 302 and the tile 301 constant, the friction force between the friction surfaces of the tile 301 and the friction plate 302 is reduced due to the change of the friction coefficients of the friction surfaces, so that the torsional damping applied by the first damper 281 and the second damper 282 is reduced, which inevitably reduces the force feedback of the operation lever 240, and distorts the process of operating the operation lever 240.
in order to maintain the torsion detected by the first and second testers 350 and 360 in a constant proportional relationship with the damping applied by the first and second dampers 281 and 282 to prevent distortion of the process of manipulating the lever 240. As shown in fig. 5 to 7, in a preferred embodiment of the present invention, two hydraulic damping applicators 400 are provided as the first damper 281 and the second damper 282, respectively, and the hydraulic damping applicators 400 are controlled by the hydraulic controller 500. Specifically, the hydraulic damping applicator 400 includes a body 401 and rotor 404; the body 401 is provided with a fan-shaped cavity, the rotor 404 can rotate in the body 401, the rotor 404 is provided with a fan-shaped dividing body 405, the dividing body 405 divides the cavity into a first cavity 402 and a second cavity 403, the rotor 404 is coaxially and fixedly connected with a pivot (namely the first pivot 206 or the second pivot 207), and a first liquid channel 407 and a second liquid channel are formed from the outside of the body 401 to the first cavity 402 and the second cavity 403; the hydraulic controller 500 includes a valve body 501 having a vertical first valve chamber 502 and a horizontal second valve chamber 503, and a vertical first valve spool 504 disposed in the first valve chamber 502; a liquid inlet channel is formed from the outside of the valve body 501 to the first valve cavity 502, an oil outlet channel 507 is formed from the outside of the valve body 501 to the first valve cavity 502, the first valve core 504 changes the flow cross section flowing from the liquid inlet channel to the oil outlet channel by moving up and down so that the liquid pressure in the oil outlet channel 507 is smaller than that in the liquid inlet channel, and the oil outlet channel is communicated with the lower end of the first valve core 504 through a first liquid guide channel 508; a second valve core 505 is arranged in the second valve cavity 503, the upper end of the first valve core 504 is communicated with the second valve cavity 503 through a second liquid guide passage 509, and a spring 511 is arranged; a second valve core 505 is arranged in the second valve cavity 503, one end of the second valve core 505 is provided with a third permanent magnet 513, a third electromagnet 512 is arranged at a position where the second valve cavity 503 is opposite to the third permanent magnet 513, the third electromagnet 512 and the third permanent magnet 513 are opposite in the same polarity, a spring 511 is arranged between the third electromagnet 512 and the third permanent magnet 513, and the magnetic repulsion force between the third electromagnet 512 and the third permanent magnet makes the other end of the second valve core 505 used for blocking a second liquid guide channel 509; the first valve core 504 is provided with a third liquid guide channel 510 for communicating the first liquid guide channel 508 and the second liquid guide channel 509, and the second valve cavity 503 is communicated with the oil tank 700; a direction change valve 600 is further provided between the hydraulic controller 500 and the hydraulic damping applicator 400, and the direction change valve 600 is used to communicate the oil outlet passage 507 with the first liquid passage 407 or with the second liquid passage 408. Wherein the current on the third electromagnet 512 is varied according to the torque measured by the first and second measurers 350 and 512.
It should be noted that: initially, the pressure of the hydraulic medium in the oil outlet passage 507 is equal to the pressure of the hydraulic medium in the oil inlet passage 506, the hydraulic medium in the oil outlet passage 507 passes through the first fluid guide passage 508, the third fluid guide passage 510, the second fluid guide passage 509, and then pushes against the second valve spool 505, so that the second fluid guide passage 509 is opened, at this time, the first valve spool 504 moves upward from the lowermost end, so that the flow passage cross section of the second valve chamber 503 through which the hydraulic medium flows is reduced, the pressure p2 of the hydraulic medium in the oil outlet passage 507 is smaller than the pressure p1 of the hydraulic medium in the oil inlet passage 506 (the pressure at the lower end of the first valve spool 504 is also p2), the third fluid guide passage 510 corresponds to an orifice, the pressure at the upper end of the second valve spool 505 is p3 which is smaller than p2, when the flow passage cross section is continuously reduced, p2 and p3 are continuously reduced, so that the second valve spool 505 blocks the third fluid guide passage 510 again, at this time, the first valve spool 504 stops moving, the sum of the pressure of p3 and the pressure of the spring 514 at the upper end of the first valve spool 504 is equal to p2, the pressure in the oil outlet passage 507 is kept at p2, the pressure value of p3 is determined by the blocking force of the second valve spool 505 for blocking the third passage, that is, the magnetic repulsion force between the third permanent magnet 513 and the third electromagnet 512, and the pressure does not change greatly due to the elasticity of the spring 514, so that p2 is determined by p3, and the magnetic repulsion force between the third permanent magnet 513 and the third electromagnet 512 determines the pressure of the hydraulic medium in the oil outlet passage 507. So that eventually the current through the third electromagnet 512 determines the pressure of the hydraulic medium in the oil channel 507.
Since the hydraulic controller 500 is connected to the hydraulic damping applicator 400 through the direction change valve 600, when the surgical implement 105 is rotating in one rotational direction while performing the first rotational degree of freedom or the second rotational degree of freedom, by changing the valve core action of the direction change valve 600 (the direction change valve 600 may be an electromagnetic direction change valve 600, and automatically changes the rotational direction of the surgical implement 105), the hydraulic medium in the oil outlet passage 507 is made to enter the first chamber 402 or the second chamber 403, for example, into the first chamber 402, at which time the pressure of the hydraulic medium in the first chamber 402 is equal to the pressure of the hydraulic medium in the oil outlet passage 507, and the pressure exerts a force on the fan-shaped divided body 405 of the rotor 404 in the circumferential direction, so that the damping of the pivot (the first pivot 206 or the second pivot 207) is generated, and the pressure of the hydraulic medium in the first chamber 402 determines the damping exerted by the hydraulic damping applicator 400, in this manner, a one-to-one relationship is established between the torque applied to the surgical implement 105, the magnitude of the current through the third electromagnetic coil, the pressure of the hydraulic medium in the first chamber 402, and the applied damping, such that the torque detected by the first and second sensors 350 and 360 is in a constant proportional relationship with the applied damping of the first and second dampers 281 and 282, thereby preventing distortion of the process of operating the joystick 240.
it should be noted that: when the torsion forces detected by the first and second testers 350 and 360 increase, the damping applied by the hydraulic damping applicator 400 as the first and second dampers 281 and 282 is correspondingly increased by increasing the current through the coil of the third electromagnet 512 to increase the pressure of the hydraulic medium of the oil outlet passage 507.
In a preferred embodiment of the present invention, a damping sleeve 242 made of nylon material is disposed inside the sleeve 241, and the damping sleeve 242 generates relatively small damping force in the axial direction when the operation rod 240 performs its freedom of movement through the movement of the sleeve 241, and the damping force makes the surgeon more realistic when manipulating the operation rod 240 to perform its freedom of movement in holding the operation implement 105.
In a preferred embodiment of the present invention, a positive and negative check valve 406 for connecting the first chamber 402 and the second chamber 403 is provided in the split body 405 of the rotor 404, and the check valve 406 can be opened under a small pressure, and when the rotor 404 rotates when the doctor operates the operation lever 240, the doctor has a small damping when making the operation lever 240 execute the first rotational degree of freedom and the second rotational degree of freedom, so that the doctor has a sense of reality of directly operating the hand-held operation executing member 105.
It should be noted that: the damping sleeve 242 and the one-way valve are provided to give the surgeon a sense of realism in operating the lever 240 without the surgical implement 105 being damped.
Claims (4)
1. The utility model provides a multi-axis manipulator for tele-operation for make operation executor carry out the operation action, its characterized in that, multi-axis manipulator for tele-operation includes the installation body, rotatable connect in first pivot on the installation body, rotatable connect in the epaxial second pivot of first pivot, can follow the telescopic link that the axial of second pivot is flexible, wherein, first pivot vertical setting just rotates around self, the second pivot for first pivot is at vertical plane internal rotation.
2. a telesurgical device comprising a surgical implement and a telesurgical manipulation system, the surgical implement comprising a surgical implement and the telesurgical multi-axis manipulator of claim 1, the surgical implement being mounted on a telescoping rod of the telesurgical multi-axis manipulator, the first pivoting axis being rotatable such that the surgical implement has a first degree of rotational freedom, the second pivoting axis being rotatable such that the surgical implement has a second degree of rotational freedom perpendicular to a plane defined by the first degree of rotational freedom, the telescoping rod being extendable such that the surgical implement has a degree of freedom of movement perpendicular to a plane defined by the first degree of rotational freedom and the second degree of rotational freedom;
The remote operation system comprises an operation device, a driving mechanism, a space form detection mechanism, a damping determination mechanism and a damping applying mechanism;
The operating device comprises an operating rod which has three degrees of freedom corresponding to the operation executing piece;
The driving mechanism comprises a first driver, a second driver and a third driver which are used for respectively driving the surgical executing part to execute a first rotational degree of freedom, a second rotational degree of freedom and a moving degree of freedom;
the space form detection mechanism comprises a first detector, a second detector and a third detector, wherein the first detector and the second detector are used for correspondingly detecting the rotation angles of the operating rod when executing the first rotation degree of freedom and the second rotation degree of freedom of the operating rod respectively, and the third detector is used for detecting the displacement of the operating rod when executing the movement degree of freedom of the operating rod; the first driver, the second driver and the third driver respectively drive the operation executive component to act correspondingly according to the results detected by the first detector, the second detector and the third detector, so that the operation executive component and the operating rod act synchronously;
The damping measuring mechanism comprises a first measuring device, a second measuring device and a third measuring device, wherein the first measuring device and the second measuring device are used for correspondingly detecting torsion received by the surgical executing part when the surgical executing part executes the first rotational degree of freedom and the second rotational degree of freedom, and the third measuring device is used for detecting linear resistance received by the surgical executing part when the surgical executing part executes the moving degree of freedom;
The damping applying mechanism comprises a first damper, a second damper and a third damper; when the surgical executing member executes the first rotational degree of freedom, the first damper applies torsional damping to the rotational direction of the operating lever when executing the first rotational degree of freedom thereof in accordance with the torsional force detected by the first determinator, the second damper applies torsional damping to the rotational direction of the operating lever when executing the second rotational degree of freedom thereof in accordance with the torsional force detected by the second determinator, and the third damper applies linear damping to the moving direction of the operating lever when executing the moving degree of freedom in accordance with the linear resistance force clamped by the third determinator;
The operating device also comprises a holding body, a first arc-shaped plate and a second arc-shaped plate which are respectively rotatably connected to the holding body through a first pivot and a second pivot, the rotation axes of the first arc-shaped plate and the second arc-shaped plate are vertical to each other, and guide long holes are formed in the extension directions of the first arc-shaped plate and the second arc-shaped plate; the middle part of the operating rod is jointed on the joint bearing, and the head parts of the operating rod penetrate through the guide long holes of the first arc-shaped plate and the second arc-shaped plate and can slide along the guide long holes;
the first and second dampers are for applying torsional damping to the first and second pivots, respectively; the first damper and the second damper both comprise two tiles which are pivoted; friction plates are arranged on the first pivot and the second pivot; the two tiles are used for wrapping the first pivot or the first pivot; wherein:
A spring is connected between the two tiles, a first permanent magnet is arranged on one tile, a first electromagnet opposite to the heteropolar pole of the first permanent magnet is arranged on the other tile, the first electromagnet on the first damper and the second damper respectively changes the current passing through the coil on the first electromagnet according to the torsional damping detected by the first detector and the second detector, so that when the torsional damping detected by the first detector or the second detector is increased, the current of the coil on the first electromagnet is increased to increase the attractive force between the first permanent magnet and the first electromagnet, so as to increase the damping of the first damper on the first pivot or increase the damping of the second damper on the second pivot; and when the torque force detected by the first gauge or the second gauge decreases, the current of the coil on the first electromagnet decreases to reduce the attractive force between the first permanent magnet and the first electromagnet to reduce the damping of the first pivot by the first damper or the damping of the second pivot by the second damper; the tail part of the operating rod is sleeved with a sleeve, and the third damper comprises a second permanent magnet arranged on the sleeve and a second electromagnet arranged on the operating rod and opposite to the second permanent magnet in the same polarity; the second electromagnet of the first damper changes a current passing through a coil on the second electromagnet according to the linear resistance detected by the third determiner, such that when the linear resistance detected by the third determiner increases, the current of the coil on the second electromagnet increases to increase a magnetic repulsive force between the second permanent magnet and the electromagnet, and such that when the linear resistance detected by the third determiner decreases, the current of the coil on the second electromagnet decreases to decrease the magnetic repulsive force between the second permanent magnet and the second electromagnet.
3. the tele-surgical device of claim 2, wherein the first detector and the second detector are both angle sensors and the third detector is a displacement sensor.
4. The tele-surgical device of claim 2, wherein the first and second gauges are torque sensors; the third determinator is a pressure sensor.
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| CN201721227082.9U CN209790011U (en) | 2017-09-22 | 2017-09-22 | multi-axis manipulator for remote operation and remote operation device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107496031A (en) * | 2017-09-22 | 2017-12-22 | 山东电子职业技术学院 | Remote operation multi-spindle machining hand and remote operation device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107496031A (en) * | 2017-09-22 | 2017-12-22 | 山东电子职业技术学院 | Remote operation multi-spindle machining hand and remote operation device |
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