CN215651509U - Robot operation device and robot operation master-slave teleoperation device - Google Patents

Abstract

The utility model discloses a robot operation device and a robot operation master-slave teleoperation device, wherein the robot operation device comprises a base, a base station, a driving device, a movable platform, an execution tail end and operation equipment, wherein the side wall of the base station is an installation surface, and the base station is fixedly installed on a panel of the base; the driving device comprises at least three linear moving components which are uniformly arranged on the mounting surface of the base station in a surrounding mode and a first ball hinge arranged at the output end of each linear moving component; the movable platform is provided with second ball hinges the number and the positions of which are matched with those of the first ball hinges, and the first ball hinges are connected with the second ball hinges through connecting rods; the execution tail end comprises a movable end and a fixed end, and is arranged on the movable platform; the movable end and the fixed end of the execution tail end are matched to drive the surgical equipment to open and close. The device is miniaturized, has compact structure, is convenient for doctors to operate, and can realize master-slave teleoperation among a plurality of surgical robot devices.

Description

Robot operation device and robot operation master-slave teleoperation device

Technical Field

The utility model relates to the field of medical robots, in particular to a robotic surgical device.

Background

In microsurgery, most of the operation objects are sensitive soft tissues such as tiny nerves, blood vessels and the like. This type of procedure requires a high degree of manipulation precision and hand stability for the surgeon. During surgery, the physician needs to perform complex micro-manipulations such as suturing, dissection, and cutting of organs. The requirement of the movement precision of the surgical instrument is far beyond the physiological limit of the human hand. Therefore, the surgical robot is produced at the same time. The surgical robot can realize the accurate control of surgical instruments. In addition, the doctor can greatly reduce the physical burden of the doctor by implementing instructions through the console, thereby achieving better effect than the traditional active operation. The research of the surgical robot system is a hot spot of the international medical technology from the aspects of surgical precision and comfort of a surgeon, surgical risk reduction and surgeon fatigue relief.

Through the search discovery to prior art, the chinese utility model patent that utility model is 201710254581.5 discloses a master-slave mode teleoperation operation robot control system based on stereovision, and this patent is through adopting the stereovision function from the hand, and the operator observes through the stereovision device and accomplishes the operation task from the robot motion condition. The advantage of this scheme is considered from the angle that improves operator's visual perception, and then improves the sense of reality when the doctor carries out teleoperation operation, and the operation is accomplished to better operation control robot. However, when the doctor adopts the scheme described in the patent, the doctor cannot sense the change of the contact force between the surgical instrument clamped by the execution end of the robot and the focal tissue, and only depends on the human eyes to observe the image on the three-dimensional display device, so that the doctor can only control the movement position of the surgical instrument through the operation table, cannot grasp the operation force of the surgical instrument on the focal tissue, and cannot grasp the operation condition in all directions. Still with some surgical risk.

The utility model is 200510016290.X Chinese utility model patent, which discloses a microsurgery operation robot control system with force feeling. The scheme described in the patent is as follows: a heterogeneous master-slave surgical robot control system is designed, force feedback between the master robot and the slave robot is achieved by using a force sensor, so that doctors can sense the condition of patients more truly, and the safety and the success rate of surgery are improved. However, the proposal adds a force sensor for realizing force feedback, increases the volume and weight of the whole master-slave mechanism, and is inconvenient for doctors to operate. In addition, the design of the heterogeneous master-slave robot complicates the corresponding relation between the master robot and the slave robot, and increases the calculation amount of a control algorithm. The response time of the master-slave robot is prolonged. The real-time performance and stability of the whole control system are affected.

The utility model is CN101972159A, which discloses a six-freedom-degree cervical vertebra grinding parallel robot system. The patent replaces doctor through parallel robot and accomplishes the location and the grinding of prosthesis and bone fitting surface in artifical cervical intervertebral disc replacement operation. The scheme can not only reduce the working strength of doctors, but also reduce the size of the wound and reduce the pain of patients. However, according to the scheme, the ball screw is adopted to realize linear motion, the volume and inertia of the whole parallel mechanism are increased, and the man-machine interaction performance is reduced. Although the ball screw can realize the speed reduction function, the position accumulation error exists in the mode, the dynamic performance of the driver is limited, and the accuracy and the stability of the whole parallel robot are influenced.

SUMMERY OF THE UTILITY MODEL

In order to solve the above problems, the present invention provides a robotic surgical device, which is implemented by:

a robot operation device comprises a driving device, wherein the driving device comprises at least three linear moving components which are uniformly arranged on a base platform installation surface in a surrounding mode and a first ball hinge arranged at the output end of each linear moving component;

the movable platform is provided with second ball hinges, the number and the positions of the second ball hinges are matched with those of the first ball hinges, and the first ball hinges are connected with the second ball hinges through connecting rods;

the execution tail end comprises a movable end and a fixed end, and is arranged on the movable platform;

the movable end and the fixed end of the execution tail end are matched to drive the surgical equipment to open and close;

the linear moving assembly drives the movable platform to rotate in multiple directions through the first spherical hinge, the connecting rod and the second spherical hinge.

Preferably, the device further comprises a base and a base platform, wherein the side wall of the base platform is a mounting surface, and the base platform is fixedly mounted on a panel of the base.

Preferably, the base platform is a hexagonal frustum.

Preferably, the linear moving assembly is provided with six groups.

Preferably, the executing terminal comprises a fixed unit and a movable unit, one part of the surgical equipment is installed with the fixed unit, and the other part of the surgical equipment is installed with the movable unit; the movable component moves relative to the fixed component to drive the surgical equipment to open and close.

Preferably, the moving unit comprises a first U-shaped bracket and a first magnetic shaft, and the fixing unit comprises a first fixing block; the first U-shaped bracket comprises two parallel side walls and a bottom wall which is perpendicular to the side walls; the first magnetic shaft is perpendicular to the two parallel side walls of the first U-shaped support and parallel to the bottom wall, and the first magnetic shaft is in threaded connection with the first U-shaped support; the first magnetic shaft penetrates through the first fixing block, and the first magnetic shaft moves to drive the first U-shaped support to move; one part of the surgical equipment is fixed on the first fixing block, and the other part of the surgical equipment is fixed on the first U-shaped bracket.

Preferably, the fixing unit further comprises a first mounting plate;

the side plate of the first mounting plate is fixed with the side wall of the first fixing block, and the bottom plate of the first mounting plate is connected with the lower bottom surface of the first U-shaped bracket in a sliding manner;

the outer surface of one of the two parallel side walls of the first U-shaped bracket is fixedly installed with the movable platform.

Preferably, the first magnetic shaft is formed by a plurality of magnetic poles in an alternating mode, and after the first magnetic shaft is electrified, the first U-shaped support is driven to move linearly by a magnetic field generated by the first fixed block.

Preferably, install first grating chi on the lateral wall of first U type support, install the first reading head that is used for writing down data on the first grating chi on the bottom plate of first mounting panel.

Preferably, the linear moving assembly includes a fixed module and a moving module, the fixed module is mounted on the base, and the moving module moves relative to the fixed module and drives the connecting rod to rotate through the first ball hinge.

Preferably, the fixed module comprises a second fixed block, and the movable module comprises a second magnetic shaft and a second U-shaped bracket;

the second U-shaped bracket comprises two parallel side walls and a bottom wall which is perpendicular to the side walls;

the second magnetic shaft is perpendicular to the two parallel side walls of the second U-shaped bracket and is parallel to the bottom wall;

the second fixing block is sleeved on the second magnetic shaft, and after the second fixing block is electrified, the second fixing block generates a magnetic field, and the second magnetic shaft drives the second U-shaped support to move linearly.

Preferably, the fixing module further comprises a second mounting plate, and the second mounting plate is fixedly mounted on the mounting surface of the base platform; the second fixing block is fixed on the side panel of the second mounting plate.

Preferably, the side panels of the second mounting plate are connected with the floor through reinforcing ribs.

Preferably, a second grating ruler is installed on the side wall of the second U-shaped support, and a second reading head used for recording data on the second grating ruler is installed on the bottom plate of the second installation plate.

Preferably, the base further comprises a base, a supporting member and a reinforcing rib,

the supporting piece is vertically arranged on the base;

the reinforcing ribs are used for reinforcing the connection between the supporting piece and the base;

the panel is in a snowflake structure and is arranged on the side wall of the supporting piece.

Preferably, the support member comprises two L-shaped support members that are mirror images of each other.

Preferably, the connecting rod is provided with a plurality of light holes.

A master-slave teleoperation device for robot operation comprises at least two robot operation devices, wherein one robot operation device is a master end, the other robot operation devices are slave ends, and master-slave cooperative operation is performed between the robot operation devices; the robot operation device at the driving end is manually controlled, and the robot operation device at the driven end follows the operation instruction of the driving end and simultaneously feeds the operation state of the driven end back to an operator at the driving end in real time.

Has the advantages that: the utility model aims to design a seven-degree-of-freedom surgical robot device which is miniaturized, compact in structure, convenient for a doctor to operate and high in safety, and can realize variable-scale master-slave teleoperation among a plurality of surgical robot devices. The device has the characteristics of small volume, light weight, good dynamic performance and the like. Meanwhile, the utility model can also realize master-slave teleoperation microsurgery among a plurality of devices with seven degrees of freedom, same structure, different sizes and different execution tail ends. In the microsurgery process, a doctor can synchronously carry out seven-degree-of-freedom operation from the driven end through operating the driving end for remote control, and the driven end can feed back the operation state to an operator at the driving end in real time, so that the operator can really sense the motion information and the force information of different scales in the operation process in real time, the operation efficiency is improved, and the operation effect is improved.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is an exploded view of a preferred embodiment of the present invention.

Fig. 3 is a schematic view of the structure of the linear motion assembly in a preferred embodiment of the present invention.

Fig. 4 is a schematic diagram of the end of execution of a preferred embodiment of the present invention.

Fig. 5 is a schematic end view of the implementation of a further preferred embodiment of the utility model.

Description of the drawings: a base 1; a base 11; a support 12; a panel 13; a base 2; a drive device 3; the linear movement assembly 31; a first ball hinge 32; a second mounting plate 311; a second fixed block 312; a second magnetic axis 313; a second U-shaped bracket 314; a second read head 315; a second grating scale 316; a movable platform 4; an executive end 5; a first U-shaped bracket 51; a first grating scale 52; a first magnetic axis 53; a first fixing block 54; a first mounting plate 55; a first read head 56; surgical equipment 6; a connecting rod 7; a second ball hinge 8.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terms first, second, third, etc. are used herein to describe various components or features, but these components or features are not limited by these terms. These terms are only used to distinguish one element or part from another element or part. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. For convenience of description, spatially relative terms such as "inner", "outer", "upper", "lower", "left", "right", "upper", "left", "right", and the like are used herein to describe the orientation relation of the components or parts in the present embodiment, but these spatially relative terms do not limit the orientation of the technical features in practical use.

The shielding wire in the prior art is manually processed, and in order to realize full-process automatic production, the utility model provides a robot operation device which can automatically break up a wire harness and can obtain part of the wire harness, and the specific scheme is as follows:

as shown in fig. 1-2, a robotic surgery device includes a base 1, a base 2, a driving device 3, a movable platform 4, an executing terminal 5, and a surgery apparatus 6, wherein a side wall of the base 2 is a mounting surface, and the base 2 is fixedly mounted on a panel 13 of the base 1; the driving device 3 comprises at least three linear moving components 31 uniformly arranged on the mounting surface of the base platform 2 in a ring mode and a first ball hinge 32 arranged at the output end of each linear moving component 31; the movable platform 4 is provided with second ball hinges 8 the number and the position of which are matched with those of the first ball hinges 32, and the first ball hinges 32 are connected with the second ball hinges 8 through connecting rods 7; the execution tail end 5 comprises a movable end and a fixed end, and the execution tail end 5 is installed on the movable platform 4; the movable end and the fixed end of the execution tail end 5 are matched to drive the surgical equipment 6 to open and close; the linear moving component 31 drives the movable platform 4 to rotate in multiple directions through the first spherical hinge 32, the connecting rod 7 and the second spherical hinge 8.

Wherein, the lateral wall of base station 2 is the installation face, and no matter how many the linear motion subassembly 31 of this device, all will even ring establish on the installation face, when the rotation angle control to moving platform 4 like this, more accurate that can control.

The surgical device 6 may be a medical forceps, a scissors, or other tools for operation, and is not limited to the two tools described above, which are not repeated herein.

The structure of the utility model is specifically as follows: the base 2 is a pyramid platform, that is, the bottom surface of the pyramid is the bottom surface of the base 2 for fixed installation, one section is taken in the middle of the pyramid to be the upper surface of the base 2, the upper surface is arranged opposite to the bottom surface of the base 2, then the side wall of the pyramid platform is provided with an installation surface, as shown in fig. 1, the installation surface is provided with a rectangular concave installation surface along the direction of the side wall on the side wall, and the installation surface is used for the driving device 3.

Among them, a preferred embodiment may be: the totality of base station 2 is a frustum body form, and the great terminal surface of area is a 12 equilateral polygons in the base station 2 of frustum body form, and less terminal surface is a 6 equilateral polygons, and the side that two terminal surfaces formed is the inclined plane that isosceles trapezoid and equilateral triangle interval set up, and wherein, isosceles trapezoid's side is equipped with and is used for installing rectilinear movement assembly 31 rectangular groove, and six rectilinear movement assemblies 31 of this device are installed respectively on six recesses.

In order to ensure the realization of multiple degrees of freedom and the reduction of occupied space as much as possible, the utility model has at least three linear moving assemblies 31 on the installation surface of the base platform 2, but in order to realize the control of the device with multiple degrees of freedom, the preferred embodiment is that the base platform 2 is provided with the installation surface for installing the driving device 3 and 6 linear moving assemblies 31; namely, the base 2 is a hexagonal frustum, and the surface of the base 2 for mounting the linear motion assembly 31 forms an included angle of 60 degrees with the horizontal plane. The driving device 3 can drive the connecting rod 7 to move linearly, the connecting rod 7 is respectively hinged with the movable platform 4 and the driving device 3, so the driving device 3 can realize the control of 6 degrees of freedom on the movable platform 4, the movable platform 4 is provided with the execution tail end 5, the execution tail end 5 can also have the control of 6 degrees of freedom because the movable platform 4 has the movement of 6 degrees of freedom, and the execution tail end 5 can drive the surgical equipment 6 to open and close, so the surgical equipment 6 indirectly has the control of 7 degrees of freedom; the surgical equipment 6 of the utility model can be equipment such as tweezers, scissors and the like which need to realize opening and closing actions. The fixing position of the base 2 is mainly on the panel 13 of the base 1, and the panel 13 of the base 1 is fixedly supported by the supporting frame.

In a preferred embodiment, as shown in fig. 4 or 5, the executing tip 5 comprises a fixed unit and a movable unit, and one part of the surgical equipment 6 is mounted with the fixed unit, and the other part is mounted with the movable unit; the moving component 31 drives the surgical equipment 6 to open and close by moving relative to the fixed component. The fixed unit comprises a first U-shaped bracket 51 and a first magnetic shaft 53, and the moving unit comprises a first fixed block 54; the first U-shaped bracket 51 comprises two parallel side walls and a bottom wall arranged perpendicular to the side walls; the first magnetic shaft 53 is perpendicular to two parallel side walls of the first U-shaped bracket 51 and parallel to the bottom wall; the first magnetic shaft 53 penetrates through the first fixing block 54, and the magnetic shaft moves to drive the first U-shaped bracket to move; one part of the surgical equipment 6 is fixed on the first fixing block 54, and the other part is fixed on the first U-shaped bracket 51. The fixing unit further includes a first mounting plate 55; the side plates of the first mounting plate 55 are fixed with the side walls of the first fixing blocks 54, and the bottom plate of the first mounting plate 55 is slidably connected with the lower bottom surface of the first U-shaped bracket 51; the outer surface of one of the two parallel side walls of the first U-shaped bracket 51 is fixedly mounted with the movable platform 4. The first magnetic shaft 53 is composed of a plurality of magnetic poles alternately, and the first magnetic shaft 53 drives the first U-shaped bracket 51 to move linearly under the action of a magnetic field generated by the first fixing block 54 after being electrified.

The specific work of the end 5 is performed as: after the power is turned on, the coil built in the first fixing block 54 forms a magnetic field, and the first magnetic shaft 53 moves linearly under the action of the magnetic field. The first magnetic shaft 53 is connected with the first U-shaped support 51 through threads, and when the first magnetic shaft 53 moves linearly back and forth, the first U-shaped support 51 is driven to move. The first fixing block 54 is connected with the side surface of the first mounting plate 55 through threads, a first sliding groove is formed in the lower plate of the first mounting plate 55, a first sliding rail is arranged on the lower bottom surface of the first U-shaped support 51, and the first mounting rod can slide linearly relative to the first mounting plate 55 through the matching of the first sliding groove and the first sliding rail. The first reading head 56 is mounted on the bottom plate of the first mounting plate 55 and can observe the reading of the first grating ruler 52 mounted on the bottom side wall of the first U-shaped bracket 51, and the reading head is fixed because the reading head is mounted on the first mounting plate 55. The first U-shaped support 51 is driven by the first magnetic shaft 53 to move, so that the grating ruler moves therewith, and the first reading head 56 can read the reading of the first grating ruler 52 corresponding to the first magnetic shaft 53 moving to different distances.

As shown in fig. 3, in a preferred embodiment, the linear motion assembly 31 includes a fixed module mounted on the base and a movable module moving relative to the fixed module and driving the connecting rod 7 to rotate through the first ball hinge 32. The fixed module comprises a second fixed block 312, and the movable module comprises a second magnetic shaft 313 and a second U-shaped bracket 314; the second U-shaped bracket 314 comprises two parallel side walls and a bottom wall arranged perpendicular to the side walls; the second magnetic axis 313 is perpendicular to the two parallel side walls of the second U-shaped bracket 314 and parallel to the bottom wall; the second fixing block 312 is sleeved on the second magnetic shaft 313, and after the second fixing block 312 is electrified, a magnetic field is generated by the second fixing block 312, and the second magnetic shaft 313 drives the second U-shaped bracket 314 to move linearly. The fixing module further comprises a second mounting plate 311, and the second mounting plate 311 is fixedly mounted on the mounting surface of the base platform 2; the second fixing block 312 is fixed to the side panel 13 of the second mounting plate 311. The side panel 13 of the second mounting plate 311 is connected with the floor through a reinforcing rib. A second grating scale 316 is installed on the side wall of the second U-shaped support 314, and a second reading head 315 for recording data on the second grating scale 316 is installed on the bottom plate of the second mounting plate 311.

The operation of the linear moving assembly 31 is specifically as follows: the second mounting plate 311 and the second fixing block 312 are stationary, and since the bottom plate of the second mounting plate 311 is fixedly mounted on the base 2 and the second fixing block 312 is fixedly mounted on the sidewall of the second mounting plate 311, the second mounting plate 311 and the second fixing block 312 are stationary throughout the entire range.

The specific working principle is as follows: after the power is turned on, the built-in coil of the second fixing block 312 forms a magnetic field, the second magnetic shaft 312 performs linear motion under the influence of the magnetic field, and the second magnetic shaft 312 and the second U-shaped bracket 314 are connected through threads, so that the second magnetic shaft 312 can drive the second U-shaped bracket 314 to perform linear reciprocating motion.

Because the first ball hinge 32 is installed on the side wall of one end of the second U-shaped bracket 314, the second U-shaped bracket 314 can drive the connecting rod 7 to move and rotate through the first ball hinge 32, and the second ball hinge 8 is arranged at the first end of the connecting rod 7 far away from the first ball hinge 32. Second ball hinge 8 installs on moving platform 4, so drive second ball hinge 8 through connecting rod 7 and remove and rotate, thereby just can drive moving platform 4 and remove and rotate, because the even setting of a plurality of rectilinear movement subassembly 31 all has the first ball hinge 32 of looks adaptation at the lateral wall of base station 2, connecting rod 7, second ball hinge 8, so can the diversified regulation move platform 4 rotatory and remove, so move platform 4 and consequently have diversified degree of freedom, wherein preferred embodiment is that this device has 6 rectilinear movement subassembly 31, again owing to be provided with on moving platform 4 and carry out terminal 5, so that this device is preferred to be provided with 7 degrees of freedom. The device can better control the surgical equipment 6 during working.

The specific installation positions of the first ball hinge 32, the connecting rod 7 and the second ball hinge 8 are that the first ball hinge 32 is arranged outside the side wall of the second U-shaped bracket 314, the side wall faces the direction of the movable platform 4, and the linear moving assembly 31 is provided with a plurality of uniform rings arranged on the installation surface of the base station 2.

The device is combined with the first spherical hinge 32, the second spherical hinge 8, the connecting rod 7, the six linear moving assemblies 31 and other parts, so that the movable platform 4 of the device can realize the actions of translation, rotation and the like; and because the execution terminal 5 of the device can realize the opening and closing function, the device has an operation space with 7 degrees of freedom.

In a preferred embodiment, the base 1 further includes a base 11, a supporting member 12, and a reinforcing rib, wherein the supporting member 12 is vertically disposed on the base 11; the reinforcing ribs are used for reinforcing the connection between the supporting piece and the base 11; the panels 13 are mounted on the side walls of the support 12 in a snowflake configuration.

Wherein the panel 13 is mounted on the support 12, the panel 13 is a snowflake-shaped, i.e., a "+" shaped panel 13, wherein the plane of the panel 13 is mounted with the end surface of the base 2 having a larger area, and wherein the center of the end surface having a larger area is aligned with the center of the panel 13. The support member 12 is two L-shaped support frames, wherein the reinforcing ribs are arranged at the corners of the L-shaped support frames, and the two L-shaped support legs are symmetrically arranged for supporting the panel 13.

In a preferred embodiment, the connecting rod 7 is provided with a plurality of light holes.

The light weight hole is for lightening the weight of connecting rod 7, and the driving piece easily drives connecting rod 7 to move.

As shown in fig. 4 and 5, the surgical device 6 of the present invention is not limited to a unique mounting position, and may be mounted as shown in fig. 5 or as shown in fig. 4, as long as the operating end can drive the surgical device 6 to open and close, the surgical device in the present invention is not limited to any mounting manner.

A master-slave teleoperation device for robot operation comprises at least two robot operation devices, wherein one robot operation device is a master end, the other robot operation devices are slave ends, and master-slave teleoperation relationship exists between the robot operation devices; the robot operation device at the driving end is controlled manually, and the robot operation device at the driven end and the driving end synchronously command.

Fig. 4 shows one example of the manner of mounting the surgical instrument 6 to the tip 5: the surgical equipment 6 is a clamping device, and the fixed end of the surgical equipment 6 is mounted on the first fixed block 54, and the movable end is mounted on the first U-shaped bracket 51.

Another example of an implementation of the mounting combination of the tip 5 and the surgical equipment 6 is shown in fig. 5: the surgical equipment 6 is a pair of tweezers, the fixed end of the surgical equipment 6 is mounted on the back plate of the first mounting plate 55, the movable end is mounted on the first U-shaped bracket 51, and since the back plate side of the first mounting plate is fixedly mounted with the first fixing block 54, the fixed end of the surgical equipment 6 is mounted on the first mounting plate 55, that is, the extending direction of the mounted surgical equipment in fig. 5 is opposite to that in fig. 4.

The specific structure of the master-slave teleoperation device for the robot operation is as follows: the robot surgical device comprises a driving end, namely the robot surgical device of the driving end, and also comprises one or two or three other driven ends, the robot surgical device of the driven end and the robot surgical device of the driving end are in a master-slave teleoperation relationship, and the master-slave teleoperation reasons can comprise: a control platform is established through a man-machine interaction platform, an Ethernet, an encoder, a D/A board card, a motion controller and the like so that a driven end and a driving end can carry out master-slave teleoperation. As an example of the above-mentioned embodiment of the installation combination of the execution distal end 5 and the surgical equipment 6, the combination of the execution distal end 5 of the robotic surgical device at the driven end and the execution distal end 5 of the robotic surgical device at the driving end and the surgical equipment 6 may be the same or different, in other words, the driving end may be as shown in fig. 5, the driven end may be as shown in fig. 4, or both the robot surgical devices at the driven end and the driving end may be as shown in fig. 4 or fig. 5, and the execution distal ends of the driving end and the driven end are not limited to the surgical equipment shown in fig. 4 or fig. 5.

The use mode of the master-slave teleoperation device of the robot operation is as follows: an operator operates the robot surgical device at the driving end, the system transmits motion commands of the position, the force and the like of the driving end to the robot surgical device at the driven end through the control platform, the robot surgical device at the driven end is controlled to complete translation of three degrees of freedom, rotation of three degrees of freedom and execution tail end motion of one degree of freedom, seven-degree-of-freedom operation on a surgical object is further completed, meanwhile, the robot surgical device at the driving end feeds motion states of the position, the force and the like of seven degrees of freedom back to the operator, and linkage of at least two sets of seven-degree-of-freedom structures is achieved.

In the embodiments provided by the present invention, it is understood that the illustrated apparatus and method may be implemented by other methods. For example, the above-described apparatus embodiments are merely exemplary. For example, the control unit may be divided into only one logic function, and may be implemented in other ways, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit, and the integrated unit may be implemented in a form of hardware, or may be implemented in a form of software functional unit.

The robotic surgical device and robotic surgical master-slave teleoperation device of the present invention have been described in detail above. For those skilled in the art, the specific implementation method and application range can be changed according to the idea of the embodiment of the utility model. In view of the above, the present disclosure should not be construed as limiting the utility model. The above embodiments are not limited to the technical solutions of the embodiments themselves, and the embodiments may be combined with each other into a new embodiment. The above embodiments are only for illustrating the technical solutions of the present invention and are not limited thereto, and any modification or equivalent replacement without departing from the spirit and scope of the present invention should be covered within the technical solutions of the present invention.

Claims (18)

1. A robotic surgical device, characterized in that,

the driving device (3) comprises at least three linear moving components (31) which are uniformly arranged on the mounting surface of the base station (2) in a ring mode, and a first ball hinge (32) arranged at the output end of each linear moving component (31);

the movable platform (4) is provided with second spherical hinges (8) the number and the positions of which are matched with those of the first spherical hinges (32), and the first spherical hinges (32) are connected with the second spherical hinges (8) through connecting rods (7);

the execution tail end (5), the execution tail end (5) comprises a movable end and a fixed end, and the execution tail end (5) is installed on the movable platform (4);

the movable end and the fixed end of the execution tail end (5) are matched to drive the surgical equipment (6) to open and close;

the linear moving assembly (31) drives the movable platform (4) to rotate in multiple directions through the first spherical hinge (32), the connecting rod (7) and the second spherical hinge (8).

2. The robotic surgical device according to claim 1, further comprising a base (1), wherein the side wall of the base (2) is a mounting surface, and wherein the base (2) is fixedly mounted on a panel (13) of the base (1).

3. The robotic surgical device according to claim 1, wherein the base station (2) is a hexagonal frustum.

4. The robotic surgical device according to claim 3, characterized in that the linear movement assembly (31) is provided with six groups.

5. The robotic surgical device according to claim 1, wherein the performing tip (5) comprises a fixed unit and a mobile unit, and the surgical instrument (6) is mounted with the fixed unit in one part and the mobile unit in another part;

the movable component (31) drives the surgical equipment (6) to open and close through moving relative to the fixed component.

6. The robotic surgical device according to claim 5, characterized in that said moving unit comprises a first U-shaped bracket (51), a first magnetic shaft (53), and in that the fixed unit comprises a first fixed block (54);

the first U-shaped bracket (51) comprises two parallel side walls and a bottom wall which is arranged vertically to the side walls;

the first magnetic shaft (53) is perpendicular to two parallel side walls of the first U-shaped bracket (51) and is parallel to the bottom wall, and the first magnetic shaft (53) is in threaded connection with the first U-shaped bracket (51);

the first magnetic shaft (53) penetrates through the first fixing block (54), and the first magnetic shaft (53) moves to drive the first U-shaped bracket (51) to move;

one part of the surgical equipment (6) is fixed on the first fixing block (54), and the other part of the surgical equipment is fixed on the first U-shaped bracket (51).

7. The robotic surgical device according to claim 6, wherein the fixation unit further comprises a first mounting plate (55);

the side plate of the first mounting plate (55) is fixed with the side wall of the first fixing block (54), and the bottom plate of the first mounting plate (55) is connected with the lower bottom surface of the first U-shaped bracket (51) in a sliding manner;

the outer surface of one of the two parallel side walls of the first U-shaped bracket (51) is fixedly installed with the movable platform (4).

8. The robotic surgical device according to claim 6, wherein said first magnetic shaft (53) is composed of a plurality of magnetic poles alternately, and when energized, said first magnetic shaft (53) drives said first U-shaped bracket (51) to move linearly by a magnetic field generated by said first fixed block (54).

9. The robotic surgical device according to claim 7, wherein a first grating ruler (52) is mounted on a side wall of the first U-shaped bracket (51), and a first reading head (56) for recording data on the first grating ruler (52) is mounted on a bottom plate of the first mounting plate (55).

10. The robotic surgical device according to claim 4, characterized in that said linear movement assembly (31) comprises a fixed module mounted on said base and a mobile module moving with respect to said fixed module and driving in rotation said connecting rod (7) through said first ball hinge (32).

11. The robotic surgical device according to claim 10, wherein the fixed module comprises a second fixed block (312), the moving module comprises a second magnetic shaft (313), a second U-shaped bracket (314);

the second U-shaped bracket (314) comprises two parallel side walls and a bottom wall arranged perpendicular to the side walls;

the second magnetic axis (313) is perpendicular to the two parallel side walls and parallel to the bottom wall of the second U-shaped bracket (314);

the second fixing block (312) is sleeved on the second magnetic shaft (313), after the second fixing block (312) is electrified, a magnetic field is generated, and the second magnetic shaft (313) drives the second U-shaped support (314) to move linearly.

12. The robotic surgical device according to claim 11, wherein the fixation module further comprises a second mounting plate (311), the second mounting plate (311) being fixedly mounted on a mounting surface of the base platform (2); the second fixing block (312) is fixed on the side panel (13) of the second mounting plate (311).

13. The robotic surgical device of claim 12, wherein the side panels (13) of the second mounting plate (311) are connected to the floor by reinforcing bars.

14. The robotic surgical device according to claim 12, wherein a second grating scale (316) is mounted on a side wall of the second U-shaped bracket (314), and a second reading head (315) for recording data on the second grating scale (316) is mounted on a bottom plate of the second mounting plate (311).

15. The robotic surgical device according to claim 2, characterized in that said base (1) further comprises a base (11), a support (12), a stiffener,

the support (12) is vertically arranged on the base (11);

the reinforcing ribs are used for reinforcing the connection between the supporting piece and the base (11);

the panel (13) is arranged on the side wall of the support (12) in a snowflake structure.

16. A robotic surgical device according to claim 15, characterized in that said support (12) comprises two L-shaped supports being mirror symmetric to each other.

17. The robotic surgical device according to claim 1, characterized in that said connecting rod (7) is provided with a plurality of light holes.

18. A robotic surgical master-slave teleoperation device, comprising at least two robotic surgical devices according to any one of claims 1 to 17, wherein one of said robotic surgical devices is a master end and the other of said robotic surgical devices is a slave end, said robotic surgical devices performing master-slave cooperative operation therebetween;

the robot operation device at the driving end is manually controlled, and the robot operation device at the driven end follows the operation instruction of the driving end and simultaneously feeds the operation state of the driven end back to an operator at the driving end in real time.

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