CN212415894U

CN212415894U - Flexible endoscope surgical robot system and powered handle

Info

Publication number: CN212415894U
Application number: CN202021370423.XU
Authority: CN
Inventors: 刘文清; 梁朝朝; 郝宗耀; 周伟; 李凯
Original assignee: Anhui Aerospace Biotechnology Co Ltd
Current assignee: Hefei Heguang Tongcheng Technology Co ltd
Priority date: 2020-07-13
Filing date: 2020-07-13
Publication date: 2021-01-29
Anticipated expiration: 2030-07-13

Abstract

The utility model discloses a powered handle of a flexible endoscope surgical robot system, wherein a handle body is provided with a mounting rack, a servo motor is arranged on the mounting rack, an output shaft of the servo motor is horizontally arranged, and a wrench is connected with the output shaft; the Hall sensor is installed on the handle body. Through the powered handle grip of the flexible endoscope surgical robot system with the optimized design, the wrench can be driven to rotate by the servo motor on the handle body, so that the endoscope insertion tube can be driven to bend, and the handle body can be pushed to generate signals in three directions, namely front, back, left, right, upper, lower, and the like through a three-axis Hall sensor switch at the bottom of the handle body, so that two driving modes of endoscope front end position conversion are realized, and the control requirement of the surgical robot system can be met.

Description

Flexible endoscope surgical robot system and powered handle

Technical Field

The utility model relates to an endoscopic surgery field especially relates to a soft endoscopic surgery robot system and have power handle.

Background

The handle of the common uretero-renal pelvis endoscope is integrated on an endoscope and is grasped in a hand to move in the using process. Because no positioning reference exists, the floating space is large, and the precision is not high; and the weight is relatively heavy, and the person is tired when always holding the hand.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problems existing in the background technology, the utility model provides a flexible endoscope operation robot system and a handle with a power handle.

The utility model provides a pair of flexible endoscope operation robot system have power handle, include: the handle comprises a handle body, a wrench, a servo motor and a three-axis Hall sensor;

the handle body is provided with a mounting frame, the servo motor is mounted on the mounting frame, an output shaft of the servo motor is horizontally arranged, the wrench is connected with the output shaft, and the servo motor has a torque mode; the three-axis Hall sensor is installed on the handle body, and the servo motor is connected with the three-axis Hall sensor and works according to the sensing signal of the three-axis Hall sensor.

Preferably, the handle further comprises a housing, the housing is mounted at the upper end of the handle body, and the mounting frame and the servo motor are located in the housing.

Preferably, the wrench is located on one side of the housing.

Preferably, the wrench is provided with connecting arms extending out along the radial direction of the output shaft, and the two connecting arms are respectively located on two sides of the shell and connected with the output shaft.

Preferably, a rotary encoder is arranged on the servo motor.

In the utility model, the powered handle of the flexible endoscope surgical robot system is provided with a mounting frame on the handle body, a servo motor is arranged on the mounting frame, the output shaft of the servo motor is horizontally arranged, and a wrench is connected with the output shaft; the Hall sensor is installed on the handle body. Through the powered handle grip of the flexible endoscope surgical robot system with the optimized design, the wrench can be driven to rotate by the servo motor on the handle body, so that the endoscope insertion tube can be driven to bend, and the handle body can be pushed to generate signals in three directions, namely front, back, left, right, upper, lower, and the like through a three-axis Hall sensor switch at the bottom of the handle body, so that two driving modes of endoscope front end position conversion are realized, and the control requirement of the surgical robot system can be met.

The utility model also provides a flexible endoscope operation robot system, including foretell powered handle and robot actuating mechanism.

Preferably, the robot actuator includes an integral rotating mechanism and a first torque sensor, the integral rotating mechanism is provided with a horizontally arranged main rotating shaft, and the first torque sensor is connected with the main rotating shaft and used for detecting the torque of the main rotating shaft.

Preferably, the servo motor operates in response to a signal of the first torque sensor.

Preferably, the robot actuator comprises an insertion tube front end bending mechanism and a second torque sensor, and the second rotating shaft sensor is connected with the insertion tube front end bending mechanism and used for detecting the insertion tube front end bending torque.

Preferably, the servo motor operates according to a signal of the second torque sensor.

In the flexible endoscope surgical robot system, the servo motor starts a torque mode, a force-bearing mode of steering displacement is obtained through a rotation sensing signal of a torque sensor on an actuating mechanism, and corresponding resistance can be applied according to a handle moving signal, so that the handle is fed back in real time; the handle has different hand feeling under stress on each section of stroke, and the hand feeling is the same as that of the hand-held endoscope in motion, so that the precision of the endoscope operation is ensured.

Drawings

Fig. 1 is a schematic structural view of a powered handle of a flexible endoscopic surgical robot system according to the present invention.

Fig. 2 is a partial structural schematic view of a powered handle grip of a flexible endoscopic surgical robot system according to the present invention.

Fig. 3 is a schematic structural diagram of a flexible endoscope surgical robot system according to the present invention.

Detailed Description

As shown in fig. 1 to 3, fig. 1 is a schematic structural diagram of a powered handle of a flexible endoscopic surgical robot system provided by the present invention, fig. 2 is a schematic structural diagram of a local powered handle of a flexible endoscopic surgical robot system provided by the present invention, and fig. 3 is a schematic structural diagram of a flexible endoscopic surgical robot system provided by the present invention.

Referring to fig. 1 and 2, the present invention provides a powered handle grip of a flexible endoscopic surgical robotic system, comprising: the handle comprises a handle body 3, a wrench 4, a servo motor 7 and a three-axis Hall sensor 1;

the handle body 3 is provided with a mounting frame 8, the servo motor 7 is mounted on the mounting frame 8, an output shaft of the servo motor 7 is horizontally arranged, the wrench knob 4 is connected with the output shaft, and the servo motor 7 has a torque mode; the three-axis Hall sensor 1 is installed on the handle body 3, and the servo motor 7 is connected with the three-axis Hall sensor and works according to the sensing signal of the three-axis Hall sensor 1.

In this embodiment, the powered handle grip of the flexible endoscopic surgical robot system is provided, the handle body is provided with a mounting frame, the servo motor is mounted on the mounting frame, an output shaft of the servo motor is horizontally arranged, and the wrench is connected with the output shaft; the Hall sensor is installed on the handle body. Through the powered handle grip of the flexible endoscope surgical robot system with the optimized design, a wrench can be driven to rotate in a twisting mode through a servo motor on a handle body, so that the endoscope insertion tube can be driven to bend, and the handle body can be pushed to generate signals in three directions of front, back, left, right, upper, lower and the like through a three-axis Hall sensor switch at the bottom of the handle body, so that two driving modes of changing the front end position of the endoscope are realized, the control requirements of the surgical robot system can be met, the torque mode is started through the servo motor, when the handle body moves forwards, backwards, leftwards, rightwards and leftwards, the servo motor drives the handle to give reverse resistance through the torque mode according to the signals; the handle has different force feeling on each section of stroke, and the hand feeling is the same as that of the hand-held endoscope during movement.

In the specific embodiment, the handle further comprises a shell 5, the shell 5 is installed at the upper end of the handle body 3, the mounting rack 8 and the servo motor 7 are located in the shell 5, and the shell protects the mounting rack and the servo motor.

In the concrete design mode that the spanner was turned round, the spanner is turned round 4 and is located 5 one sides of casing, when holding the handle body, the thumb of being convenient for toggles the spanner and turns round.

In a further specific design mode, the wrench knob 4 is provided with connecting arms 41 extending along the radial direction of the output shaft, and the two connecting arms 41 are respectively located on two sides of the housing 5 and connected with the output shaft.

In the specific design mode of the servo motor, the servo motor 7 is provided with a rotary encoder, and the rotary encoder is collected to generate signals, so that the stirring amplitude of the wrench is monitored conveniently.

In the specific working process of the powered handle of the flexible endoscope surgical robot system, the three-axis hall sensor is mounted on the handle body 3 and can move front and back, left and right and up and down along the direction X, Y; the external communication end collects signals through the movement of a main shaft of the three-axis Hall sensor, and sends the signals to the main control end in real time to be sent to the moving parts such as the motor and the like, so that the signals are converted into displacement. The thumb is pressed the spanner and is turned round 4, is turned round through the spanner and is connected to the angular displacement sensor, and when the thumb was undulant from top to bottom, the main shaft rotation acquisition signal servo motor enable signal that the external communication end leads to rotary encoder on the servo motor closed, and the main control end of real-time transmission sends moving part such as motor, makes it convert the displacement into, also can send the signal for servo motor, lets it drive rotary encoder keep turning round with the spanner and synchronous.

Referring to fig. 3, the present embodiment further provides a flexible endoscopic surgical robot system, which includes the powered handle grip and the robot actuator.

In a specific embodiment, the robot actuator includes an integral rotating mechanism 20 and a first torque sensor, a main rotating shaft horizontally disposed is disposed on the integral rotating mechanism 20, and the first torque sensor is connected to the main rotating shaft for detecting a torque of the main rotating shaft.

Further, the robot actuator includes an insertion tube tip bending mechanism 40 and a second torque sensor connected to the insertion tube tip bending mechanism 40 for detecting the insertion tube tip bending torque.

Accordingly, the servo motor 7 operates in accordance with the signal of the first torque sensor. The servo motor 7 works according to the signal of the second torque sensor;

when the endoscope inserting tube bending torque signal and the endoscope integral rotation torque signal are detected by the first torque sensor and the second torque sensor during working, the stress signal is fed back to the servo motor, and the torque mode of the servo motor is fed back to the handle. When an operator holds the handle to move, a signal is sent to the front end executing mechanism through the system and is fed back to the handle through the motion stress analysis of the signal of the sensor; the larger the stress of each sensor at the front end is, the larger the resistance sum of the handle in moving is, and the real-time synchronization is realized; the handle has different force feeling on each section of stroke, and the hand feeling is the same as that of the hand-held endoscope during movement. According to the actual situation, the handle servo system can memorize the moving track and can also automatically return to the original position.

In the sensor selection, torque sensors such as T22 series 10n.m of HBM, 10n.m of honeywell's 1254 series, 10n.m of ocean sensors' DYN206 series may be used.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. A powered handgrip handle for a flexible endoscopic surgical robotic system, comprising: the handle comprises a handle body (3), a wrench (4), a servo motor (7) and a three-axis Hall sensor (1);

the handle body (3) is provided with a mounting rack (8), the servo motor (7) is mounted on the mounting rack (8), an output shaft of the servo motor (7) is horizontally arranged, the wrench knob (4) is connected with the output shaft, and the servo motor (7) has a torque mode; the three-axis Hall sensor (1) is installed on the handle body (3), and the servo motor (7) is connected with the three-axis Hall sensor (1) and works according to the sensing signal of the three-axis Hall sensor (1).

2. A powered handle grip for a robotic soft endoscopic surgery system according to claim 1, further comprising a housing (5), wherein the housing (5) is mounted on the upper end of the handle body (3), and the mounting bracket (8) and the servo motor (7) are located inside the housing (5).

3. A powered handgrip handle for a flexible endoscopic surgical robotic system according to claim 2, wherein said wrench knob (4) is located at one side of said housing (5).

4. A powered handgrip according to claim 3, wherein said wrench (4) is provided with connecting arms (41) extending radially from said output shaft, said two connecting arms (41) being located on either side of said housing (5) and connected to said output shaft.

5. A powered handgrip handle for a flexible endoscopic surgical robot system according to claim 1, characterized in that a rotary encoder is provided on the servo motor (7).

6. A flexible endoscopic surgical robotic system comprising a powered handle grip according to any of claims 1 to 5 and a robotic actuator.

7. The robotic system for soft endoscopic surgery of claim 6, wherein the robot actuator comprises an integral rotation mechanism (20) and a first torque sensor, the integral rotation mechanism (20) is provided with a horizontally disposed main rotation shaft, and the first torque sensor is connected with the main rotation shaft for detecting the torque of the main rotation shaft.

8. A robotic system for soft endoscopic surgery according to claim 7, characterized in that the servo motor (7) operates according to the signal of the first torque sensor.

9. A robotic system for soft endoscopic surgery as defined in claim 6, characterized in that said robotic actuator comprises an insertion tube front bending mechanism (40) and a second torque sensor, the second rotation axis sensor being connected to the insertion tube front bending mechanism (40) for detecting the insertion tube front bending torque.

10. A flexible endoscopic surgical robotic system as claimed in claim 9, wherein the servo motor (7) is operated in response to a signal from the second torque sensor.