CN217660136U - Force feedback device and surgical robot - Google Patents

Abstract

The utility model relates to a force feedback device and surgical robot. The force feedback device is applied to a surgical robot and bears a component; the operation structure is arranged on the bearing part and is used for being connected with a controller of the surgical robot so as to control the action of an end effector of the surgical robot through the controller; and the force feedback structure is arranged on the bearing part and is used for being connected with the controller so as to feed back the resistance, acquired by the controller, of the end effector to the operation structure. The doctor can perceive the resistance that end effector and focus position contacted long-rangely through operation structure, realizes that the doctor is in different operation in-processes, and end effector contacts different focus positions and provides different force feedback effects, guarantees the security of operation.

Description

Force feedback device and surgical robot

Technical Field

The utility model relates to the technical field of medical equipment, especially, relate to a force feedback device and surgical robot.

Background

At present, a doctor removes a focus of a focus part of a patient in an operation mode, and the body health of the patient is ensured. Generally, a medical worker needs to make an incision at a position and perform a resection, suture, and the like through a window. However, this procedure results in a large incision size on the patient, which is detrimental to the patient's later recovery and a high risk of infection.

And the mode of surgical robot-assisted surgery is one of the surgical modes of the comparative front end. In order to reduce the incision size of a focus part of a patient, a robot is generally adopted for operation, and the operation robot is controlled by remote operation to perform puncture operation, so that the incision size can be greatly reduced, and the later recovery of the patient is facilitated. However, the surgical robot intelligently controls the slave mechanical arm to move at a system set speed, so that the surgical process of holding the surgical instrument by a doctor cannot be simulated, and the sensing force in the surgical process cannot be fed back. If the doctor lacks the sense of force perception, the operation risk and uncertainty can be increased, the operation time is increased, the operation efficiency is reduced, and the success rate of the operation is influenced.

SUMMERY OF THE UTILITY MODEL

Therefore, it is necessary to provide a force feedback device and a surgical robot capable of sensing a feedback force of a lesion position, in order to solve the problem that the conventional surgical robot cannot feedback the magnitude of the sensing force during the surgical operation.

A force feedback device for use in a surgical robot, the force feedback device comprising:

a carrier member;

the operation structure is arranged on the bearing part and is used for being connected with a controller of the surgical robot so as to control the action of an end effector of the surgical robot through the controller; and

and the force feedback structure is arranged on the bearing part and is used for connecting the controller and the operation structure so as to feed back the resistance, acquired by the controller, of the end effector to the operation structure.

In one embodiment, the operation structure comprises an operation assembly and a detection component, wherein the operation assembly is connected with the detection component, and the detection component is connected with the controller;

the detection component can detect the movement of the operation assembly and feed back the movement to the controller so as to control the action of the end effector through the controller.

In one embodiment, the operating assembly comprises two operating parts, each operating part comprises a finger stall and a mounting plate, the two mounting plates are rotatably mounted on the bearing part and are arranged in a V shape, the two finger stalls are respectively mounted on the outer sides of the two mounting plates, and the two mounting plates can be driven to be closed or opened when the two finger stalls move.

In one embodiment, the operation structure further comprises a transmission assembly, the transmission assembly is movably arranged on the bearing part and is connected with the two mounting plates of the operation assembly, and when the operation assembly acts, the operation assembly can drive the transmission assembly to move, so that the detection part detects the movement of the transmission assembly and feeds back the movement to the controller.

In one embodiment, the transmission assembly comprises a push rod and two transmission parts, the push rod is movably arranged on the bearing part, one end of the push rod is directly or indirectly connected with the detection part, one ends of the two transmission parts are in transmission connection with the other end of the push rod, and the other ends of the two transmission parts are respectively in transmission connection with the mounting plate.

In one embodiment, the transmission part comprises a guide rod and a guide part, the guide part is arranged on the bearing part, the guide rod is movably arranged in the guide part, one end of the guide rod is abutted with the mounting plate, and the other end of the guide rod is abutted with the push rod.

In one embodiment, the transmission part further comprises rollers, the rollers are arranged at two ends of the guide rod, and the guide rod is respectively abutted to the push rod and the mounting plate through the rollers.

In one embodiment, the force feedback structure includes a feedback motor and a feedback cam, the feedback motor is disposed on the bearing member, the feedback cam is mounted at an output end of the feedback motor, the feedback cam abuts against an end portion of the push rod away from the operating assembly, the feedback motor is electrically connected to the controller, and the controller is capable of controlling the feedback motor to move according to a resistance force applied to the end effector.

In one embodiment, the mounting plates have magnetism, the force feedback structure includes an adsorbing member disposed on the bearing member and located between the two mounting plates, and the adsorbing member is connected to the controller; the controller can control the magnetic field generated by the adsorption piece according to the resistance of the end effector so as to adjust the repulsive force between the adsorption piece and the mounting plate.

A surgical robot comprising a controller, an end effector, and a force feedback device as described in any of the above features.

After the technical scheme is adopted, the utility model discloses following technological effect has at least:

the utility model discloses a force feedback device and surgical robot, operation structure and force feedback structure set up in bearing part, and connect the controller of surgical robot, when the doctor operates operation structure, operation structure can transmit the motion to the controller, and then control the end effector of surgical robot to carry out the action through the controller; meanwhile, when the end effector meets resistance in the action process, the resistance can act on the force feedback structure through the controller, the force feedback structure transmits sensing force to the operation structure, and a doctor can feel force feedback feeling when the end effector acts through the force feedback structure and the operation structure. Through increasing the resistance when force feedback structure makes surgical robot carry out the operation can feed back the operation structure on, effectual solution surgical robot can't feed back the problem of operation in-process perception power size at present, make the long-range resistance that can perceive end effector and focus position contact of doctor through operation structure, realize the doctor at different operation in-process, end effector contacts different focus positions and provides different force feedback effects, guarantee the security of operation, reduce the potential safety hazard, improve operation efficiency and success rate.

Drawings

Fig. 1 is a schematic view of a force feedback device according to an embodiment of the present invention mounted to a joint assembly from an angle;

FIG. 2 is a top view of the force feedback device shown in FIG. 1 mounted to a joint assembly;

FIG. 3 is a schematic view of the force feedback device of FIG. 1 mounted to a joint assembly from another perspective;

fig. 4 is a schematic view of a force feedback device according to another embodiment of the present invention from an angle;

FIG. 5 is a schematic view of the force feedback device shown in FIG. 4 from another angle;

fig. 6 is a schematic view of a suction member in the force feedback device shown in fig. 4.

100. A force feedback device; 110. a carrier member; 120. an operating structure; 121. an operating component; 1211. finger stall; 1212. mounting a plate; 122. a transmission assembly; 1221. a push rod; 1222. a transmission section; 12221. a guide bar; 12222. a guide portion; 12223. a roller; 1223. a limiting member; 130. a force feedback structure; 131. a feedback motor; 132. a feedback cam; 140. a rotating shaft; 150. an adsorbing member; 160. a detection section; 331. a joint assembly; 3311. a first joint; 3312. a second joint; 3313. and a third joint.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.

In the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1-6, the present invention provides a force feedback device 100. The force feedback device 100 is applied to a surgical robot, and can control an end effector of the surgical robot, so that the end effector can drive a surgical instrument to perform surgical actions on a lesion site of a patient, such as incision, suture, resection and the like. In addition, the master-slave force feedback device can also receive the resistance applied to the end effector by the lesion site when the end effector performs the surgical operation, and the resistance can be fed back to the force feedback device 100 through the end effector and the controller of the surgical robot, so that the doctor can feed back the feeling with force through the force feedback device 100.

It can be understood that, when a surgical robot is used for performing surgery on a focus part of a patient at present, a doctor operates a main mechanical arm, controls a slave mechanical arm to move at a system set speed, and cannot simulate the surgical process of holding a surgical instrument by the doctor or feed back the sensing force during the surgical process. If the doctor lacks the sense of force perception, the operation risk and uncertainty can be increased, the operation time is increased, the operation efficiency is reduced, and the success rate of the operation is influenced.

Therefore, the utility model provides a novel force feedback device 100, this principal and subordinate's operation force feedback device 100 can also receive the perception of end effector feedback when controlling surgical robot's end effector action for the doctor can experience the end effector conscientiously and drive the different positions of surgical instruments contact and provide different force feedback effects for the doctor, guarantee the security of operation. In the following, for simplicity of description, the focal site is the resistance transmitted by the end-effector via the end-instrument. The specific structure of the force feedback device 100 is described in detail below.

Referring to fig. 1-6, in one embodiment, a force feedback device 100 includes a load bearing member 110, an operating structure 120, and a force feedback structure 130. The carrier member 110 is provided on a main control arm of the surgical robot. The operation structure 120 is disposed on the carrier 110, and is configured to be connected to a controller of the surgical robot, so as to control an operation of an end effector of the surgical robot through the controller based on the acquired resistance of the end effector. A force feedback structure 130 is disposed on the carrier 110, and the force feedback structure 130 is used to connect to the controller, so as to feed back the resistance received by the end effector, which is obtained by the controller, to the operation structure 120.

The bearing member 110 is used for bearing and supporting various components of the force feedback device 100, such as the operation structure 120 and the force feedback structure 130, which are movably disposed on the bearing member 110. The support member 110 is also provided on a main control arm of the surgical robot, and the main control arm allows the force feedback device 100 to rotate with multiple degrees of freedom. Alternatively, the bearing member 110 is an integral structure with the main control arm, i.e. the bearing member 110 is a joint of a joint assembly in the main control arm. Of course, in other embodiments of the present invention, the bearing part 110 may also be a separate bearing plate, and the bearing part 110 is installed on the joint assembly of the main control arm.

The operation structure 120 and the force feedback structure 130 are disposed on the bearing component 110, and both the operation structure 120 and the force feedback structure 130 are electrically connected to a controller of the surgical robot, so that the operation structure 120 can feed back the motion of the operation structure to the controller, and the controller can control the motion of the end effector of the surgical robot according to the motion of the operation structure 120. When the end instrument of the end effector is contacted with the focus part, the end effector can be subjected to resistance from the focus part, particularly, when the resection, suture and other operations are performed, the resistance of the focus part to the end effector transmitted by the end instrument can be fed back to the controller of the surgical robot, the controller controls the force feedback structure 130 to simulate the resistance of the focus part to the end effector and feed the resistance back to the operation structure 120, and a doctor can sense the resistance of the focus part through the operation structure 120.

Specifically, the manipulation structure 120 is a position where the finger of the force feedback device 100 is placed, the finger of the surgeon is placed in the manipulation structure 120, and the finger of the surgeon applies a force to the manipulation structure 120, so that the manipulation structure 120 can control the movement of the end effector through the controller. When the resistance of the end effector is fed back to the force feedback structure 130 through the controller, the force feedback structure 130 can simulate the force feedback effect of the resistance and transmit the force feedback effect to the operation structure 120, and the fingers of a doctor can feel the force feedback effect through the operation structure 120, so that the resistance of a focus part in the operation process is sensed, the operation risk is reduced, and the operation efficiency and the success rate are improved.

The force feedback device 100 of the embodiment enables the resistance of the surgical robot during the surgical operation to be fed back to the operation structure 120 by adding the force feedback structure 130, thereby effectively solving the problem that the current surgical robot cannot feed back the sensing force in the surgical process, enabling a doctor to remotely sense the resistance of the end effector contacting with the focus part through the operation structure 120, realizing that the doctor can provide different force feedback effects when contacting with different focus parts in different surgical processes, ensuring the safety of the surgery, reducing the potential safety hazard, and improving the surgical efficiency and success rate.

Referring to fig. 1 to 6, in an embodiment, the operation structure 120 includes an operation assembly 121 and a detection component 160, the operation assembly 121 is connected to the detection component 160, and the detection component 160 is connected to the controller. The detection component 160 can detect the movement of the handle assembly 121 and feed back to the controller to control the end effector action by the controller.

The operation unit 121 is an operation member of the force feedback device 100, and a finger of a doctor is placed on the operation unit 121, so that the control of the end effector and the resistance of the lesion site feedback are realized through the operation unit 121. Specifically, the operation assembly 121 may be movably disposed on the bearing member 110, and the detection member 160 may be disposed at an end portion of the operation assembly 121, or may be connected to the operation assembly 121 through another member, as long as it is ensured that the detection member 160 can detect the movement of the operation assembly 121. The detection component 160 is connected with the controller, after the detection component 160 detects the movement of the operation component 121, the movement of the operation component 121 can be fed back to the controller, and the controller can control the motion of the end effector according to the movement of the operation component 121, so that the operation on the focus position can be realized.

It can be understood that the movement of the operation assembly 121 detected by the detection component 160 may be a rotation angle of the operation assembly 121, or a moving distance of the operation assembly 121, and the detection component feeds back the movement of the operation assembly 121 to the controller, and the controller can convert the movement of the operation assembly 121 into a movement control signal of the end effector to control the end effector. In the present invention, the movement angle of the detecting part detecting operation assembly 121 is taken as an example for explanation.

Optionally, the detecting component 160 is an encoder, the encoder is capable of detecting the movement angle of the manipulating component 121 and feeding the movement angle back to the controller, and the controller is capable of converting the movement angle of the manipulating component 121 into a movement control signal of the end effector to realize the control of the end effector. It should be noted that the principle of the encoder detecting the motion angle is the prior art, and is not described herein. Of course, in other embodiments of the present invention, the detection component may also be other components capable of performing motion detection.

Referring to fig. 4 and 5, in one embodiment, the detection component 160 includes a read head and a magnetic ring. The reading head is disposed on the carrier 110, and is connected to the magnetic ring, and the magnetic ring is disposed on the mounting plate 1212, and is used for detecting a rotation angle of the mounting plate 1212. After the magnetic ring records the rotation angle of the mounting plate 1212, the reading head reads the rotation angle record in the magnetic ring and feeds back to the controller. The transmission connection is a wireless connection or an electrical connection, which is not described herein in detail.

Optionally, the readhead is an encoder readhead. The matching principle of the reading head and the magnetic ring is the prior art, and is not described in detail herein. Also, the detecting member 160 in fig. 4 is actually a reading head, and the magnetic ring is not shown. Moreover, the structure of the detecting component 160 in fig. 4 is substantially the same as that of the detecting component in the force feedback device 100 in fig. 1, and is not repeated here.

Referring to fig. 1 to 4, in an embodiment, the operating assembly 121 includes two operating members, the two operating members are rotatably mounted on the bearing part 110 and are arranged in a V shape, and the two operating members can be closed or opened.

Referring to fig. 1 to 4, in an embodiment, each of the operating members includes a finger sleeve 1211 and a mounting plate 1212, the two mounting plates 1212 are rotatably mounted on the supporting member 110 and are arranged in a V shape, the two finger sleeves 1211 are respectively mounted on outer sides of the two mounting plates 1212, and the two mounting plates 1212 can be driven to close or open when the two finger sleeves 1211 moves.

Two mounting plates 1212 are rotatably mounted to the carrier 110, and the two mounting plates 1212 are mounted in a V-shape. One end of the two mounting plates 1212 is close to each other and the other end of the two mounting plates 1212 is far from each other. For convenience of description, it is noted that the first ends of the two mounting plates 1212 are close to each other and the second ends of the two mounting plates 1212 are far from each other, and as shown in fig. 2, the left side of the mounting plates 1212 is the second end and the right side is the first end. After the two mounting plates 1212 are arranged in a V shape, one surfaces of the two mounting plates 1212 are opposite to each other, that is, the inner sides of the mounting plates 1212, and the other surfaces of the two mounting plates 1212 are opposite to each other, that is, the outer sides of the mounting plates 1212. One finger sleeve 1211 is disposed on the outer side of each mounting plate 1212, and the thumb and the index finger of the doctor are respectively placed in the two finger sleeves 1211.

During actual use, the thumb and the forefinger of a doctor are respectively arranged in the two finger sleeves 1211, the thumb and the forefinger of the doctor are meshed with each other, in the process, the thumb and the forefinger can drive the two mounting plates 1212 to approach each other through the finger sleeves 1211, the detection part can directly or indirectly detect the rotation angle of the mounting plates 1212 when the two mounting plates 1212 approach each other, the rotation angle is fed back to the controller, the controller converts the rotation angle into a signal for controlling the action of the end effector, and the end effector is controlled to perform operation.

Alternatively, the mounting plate 1212 is flat. Of course, in another embodiment of the present invention, the mounting plate 1212 may be a prism or the like to which the finger cuff 1211 can be attached. Optionally, finger sleeve 1211 is a ring-shaped structure for receiving a thumb or forefinger. Of course, in other embodiments of the present invention, finger sleeve 1211 may also be an arc-shaped plate or a groove. Optionally, cuff 1211 is mounted to mounting plate 1212 by a threaded member. Optionally, mounting plate 1212 is rotatably coupled to carrier member 110 at a first end and finger cuff 1211 is disposed outside of a second end of mounting plate 1212.

Referring to fig. 1 to 3, in an embodiment of the present invention, the operation structure 120 further includes a transmission assembly 122, and the transmission assembly 122 transmits the movement of the operation assembly 121 and the feedback force of the force feedback structure 130 to the operation assembly 121. Referring to fig. 5 and 6, in another embodiment of the present invention, the operation structure 120 realizes the control of the end effector only through the operation assembly 121. Two specific implementations of the operation structure 120 are described below.

Referring to fig. 1 to 3, in an embodiment of the present invention, the operating structure 120 further includes a transmission assembly 122, the transmission assembly 122 is movably disposed on the bearing component 110 and is connected to the two mounting plates 1212 of the operating assembly 121, and when the operating assembly 121 is actuated, the operating assembly 121 can drive the transmission assembly 122 to move, so that the detecting component detects the movement of the transmission assembly 122 and feeds the movement back to the controller.

The transmission assembly 122 is movably disposed on the bearing member 110, two mounting plates 1212 of the operating assembly 121 are drivingly connected to the transmission assembly 122 at an inner side of the second end, and the other end of the transmission assembly 122 can connect the force feedback structure 130 and the detecting member. The second end of the mounting plate 1212 in the operation assembly 121 can drive the transmission assembly 122 to move, the detection component can detect the rotation angle of the transmission assembly 122 and feed back the rotation angle to the controller, and the controller controls the action of the end effector according to the rotation angle of the transmission assembly 122.

The end of the transmission assembly 122 remote from the operating assembly 121 is also connected to a force feedback structure 130. After the resistance of the end effector contacting the focal region is fed back to the controller, the controller can feed back the resistance of the focal region to the force feedback structure 130, and the force feedback structure 130 will generate a resistance force to act on the transmission assembly 122, so that the transmission assembly 122 moves in the opposite direction. When the transmission assembly 122 moves reversely, the doctor can sense the resistance of the focus part.

When the clinician applies pressure to mounting plate 1212 through finger cuff 1211, mounting plates 1212 close at a first end and move toward each other at a second end, pushing drive assembly 122 to move to the left and output a corresponding rotation. The detection component detects the rotation angle of the transmission assembly 122 and feeds back the rotation angle to the controller, and the controller controls the action of the end effector according to the rotation angle of the transmission assembly 122. When the end effector is subjected to the resistance of the lesion, the resistance can be fed back to the controller, and the controller applies an analog signal to the force feedback structure 130, so that the force feedback structure 130 generates the resistance to prevent the rotation and movement of the transmission assembly 122, that is, the transmission assembly 122 moves to the right side. Movement of the drive assembly 122 to the right causes the mounting plate 1212 to open at the first end and the surgeon's fingers to feel resistance to the feedback.

Optionally, the inner side surfaces of the two mounting plates 1212 have teeth at a first end, the two mounting plates 1212 being connected at the first end by the teeth meshing. Optionally, the mounting plate 1212 has a protrusion on the inside of the first end on which the teeth are disposed.

Referring to fig. 1 to 3, in an embodiment, the transmission assembly 122 includes a push rod 1221 and two transmission portions 1222, the push rod 1221 is movably disposed on the bearing component 110, one end of the push rod 1221 is directly or indirectly connected to the detection component, one ends of the two transmission portions 1222 are in transmission connection with the other end of the push rod 1221, and the other ends of the two transmission portions 1222 are in transmission connection with the mounting plate 1212, respectively.

The push rod 1221 is a moving part in the transmission assembly 122, one end of the push rod 1221 is directly or indirectly connected to the detection part, and the other end of the push rod 1221 is connected to the two transmission parts 1222. When one end of the push rod 1221 is directly connected to the detection component, the detection component can detect the movement of the push rod 1221 and feed back the movement to the controller, and the controller can control the motion of the end effector according to the movement of the push rod 1221. When one end of the push rod 1221 is indirectly connected to the detection component, the end of the push rod 1221 away from the transmission part 1222 is abutted against the feedback cam 132 (mentioned later) of the force feedback structure 130, the push rod 1221 can push the feedback cam 132 to rotate when moving, and the detection component can detect the movement of the feedback cam 132 and then control the movement of the end effector through the controller. The push rods 1221 are connected to the inner sides of the mounting plates 1212 at second ends, respectively, through transmission portions 1222.

When the detection member is directly connected to the push rod 1221, the detection member can detect the displacement of the push rod 1221. Specifically, when the doctor operates through the operation assembly 121, the two mounting plates 1212 are close to each other at the second ends, so that the mounting plates 1212 can push the transmission portion 1222 to the left side, and then the transmission portion 1222 can push the push rod 1221 to move to the left side, the detection component can detect the displacement of the push rod 1221 and feed back the displacement to the controller, and the controller controls the movement of the end effector according to the movement distance of the push rod 1221. This is an embodiment in which the detection member is directly connected to the push rod 1211.

In the present embodiment, the detection member detects the rotation angle of the feedback cam 132 by way of example, and the detection member is indirectly connected to the push rod 1221. Further, the moving direction of the push rod 1221 described in the present embodiment is based on the direction shown in fig. 3. Alternatively, the detection component may be disposed on the feedback cam 132, and of course, in other embodiments of the present invention, the detection component may also be disposed on the feedback motor 131 or other portions of the force feedback structure 130.

When the doctor operates the operating assembly 121, the two mounting plates 1212 are close to each other at the second ends, so that the mounting plates 1212 can push the transmission portion 1222 to the left side, and then the transmission portion 1222 can push the push rod 1221 to move to the left side, and the push rod 1221 can transmit the moving motion to the feedback cam 132, so that the detection component detects the rotation angle on the feedback cam 132 to control the movement of the end effector through the controller.

After the end effector contacts the focal region and the reaction force of the focal region to the end effector is fed back to the controller, the controller can control the force feedback structure 130 to generate a corresponding resistance force, which can be transmitted to the feedback cam 132 in a direction opposite to the original rotation direction of the feedback cam 132, and at this time, the rotational energy of the feedback cam 132 can make the push rod 1221 move to the right side. When the push rod 1221 moves to the right, the two transmission parts 1222 can be pushed to move to the right, so that the two mounting plates 1212 are opened at the first end.

Referring to fig. 1 to 3, in an embodiment, the transmission portion 1222 includes a guide bar 12221 and a guide portion 12222, the guide portion 12222 is disposed on the carrier 110, the guide bar 12221 is movably disposed in the guide portion 12222, one end of the guide bar 12221 abuts against the mounting plate 1212, and the other end of the guide bar 12221 abuts against the push rod 1221.

Guide part 12222 can lead the motion of guide bar 12221, avoids guide bar 12221's motion to take place the dislocation, guarantees that guide bar 12221's movement track is accurate, and then guarantees that mounting panel 1212 moves according to predetermined orbit, and then guarantees that mounting panel 1212 can transmit the motion to push rod 1221 through guide bar 12221, also can guarantee that push rod 1221 transmits the motion to mounting panel 1212 through transmission 1222.

Alternatively, the guiding portion 12222 is a groove, and the guiding rod 12221 is slidably disposed in the groove. Of course, the guiding portion 12222 may also be a groove surrounded by a protrusion, and the slider is disposed in the groove of the protrusion. In addition, the guide portion 12222 and the guide rod 12221 may also be a fitting structure of a slider and a slide rail, or the like.

Referring to fig. 1 to 3, in an embodiment, the transmission portion 1222 further includes a roller 12223, the roller 12223 is disposed at two ends of the guide rod 12221, and the guide rod 12221 abuts against the push rod 1221 and the mounting plate 1212 through the roller 12223, respectively. The rollers 12223 are rotatably installed at both ends of the guide bar 12221. One end of the guide rod 12221 is connected to the inner side of the mounting plate 1212 by a roller 12223 in a rolling manner, and the other end of the guide rod 12221 is connected to the end of the push rod 1221 by a roller 12223 in a rolling manner. The roller 12223 can reduce the friction between the guide rod 12221 and the push rod 1221 and the mounting plate 1212, thereby facilitating the operation of the doctor.

Optionally, one end of the push rod 1221 has two abutting surfaces, which correspond to the two mounting plates 1212, respectively, and the push rod 1221 abuts against the transmission portion 1222 through the abutting surfaces. Illustratively, the end of the push rod 1221 is in an arrow structure, and is in contact with the two transmission parts 1222 through two sides of the arrow structure.

Referring to fig. 1 to 3, in an embodiment, the force feedback structure 130 includes a feedback motor 131 and a feedback cam 132, the feedback motor 131 is disposed on the bearing member 110, the feedback cam 132 is mounted on an output end of the feedback motor 131, the feedback cam 132 abuts against an end of the push rod 1221 away from the operating assembly 121, the feedback motor 131 is electrically connected to the controller, and the controller is capable of controlling the feedback motor 131 to move according to a resistance force applied to the end effector.

The feedback motor 131 is mounted at the end of the carrying member 110, the feedback cam 132 is rotatably mounted at the output end of the feedback motor 131, and the feedback cam 132 also abuts against the end of the push rod 1221 away from the transmission part 1222. After receiving the resistance information of the focus part fed back by the end effector, the controller generates a force feedback signal, and controls the feedback motor 131 to work according to the force feedback signal, so that the feedback motor 131 moves. When the feedback motor 131 moves, the feedback cam 132 can be driven to rotate, and the feedback cam 132 rotates to push the push rod 1221 to move to the right.

Optionally, the transmission assembly 122 further includes a limiting element 1223, and the limiting element 1223 is disposed on the bearing component 110 and located on the periphery of the push rod 1221, and is used for limiting the moving direction of the push rod 1221 and avoiding the push rod 1221 from moving to the periphery. Optionally, the limiting member 1223 is a baffle.

Referring to fig. 1 to 3, when the surgeon controls the mounting plate 1212 to perform an opening and closing movement through the finger stall 1211, the movement of the mounting plate 1212 can be transmitted to the push rod 1221 through the roller 12223, the guide rod 12221 and the roller 12223, and further transmitted to the feedback cam 132, so that the detection part can detect the opening and closing movement and feed back a signal to the controller of the surgical robot. The controller controls the end effector to perform surgical operations such as opening and closing, cutting, stapling, etc., based on the movement of the manipulator assembly 121. When the end effector cuts, holds an article, or comes into contact with a lesion, the end effector experiences a resistance that is fed back to the controller by a sensor on the end effector.

The controller can control the feedback motor 131 to rotate according to the feedback resistance, the feedback motor 131 drives the feedback cam 132 to rotate, the feedback cam 132 can push the push rod 1221 to move towards the right side along a straight line under the action of the limiting piece 1223, the abutting surface of the push rod 1221 can push the roller 12223 at one end of the guide rod 12221 to move, the guide rod 12221 can push the roller 12223 at the other end of the guide rod 12223 to move, and then pressure is applied to the mounting plate 1212, so that a doctor can feel force feedback feeling when the end effector acts.

Optionally, the force feedback device 100 further comprises a rotating shaft 140, the rotating shaft 140 is rotatably disposed on the bearing component 110, and the rotating shaft 140 is used for rotatably connecting the first joint 3311 of the joint component 331. As shown in fig. 2, the joint component 331 includes a first joint 3311, a second joint 3312 and a third joint 3313, the first joint 3311 is rotatably mounted on the second joint 3312, the first joint 3311 and the third joint 3313 are vertically disposed, the second joint 3312 is rotatably mounted on the third joint 3313, and the second joint 3312 is located in the third joint 3313. The operating structure 120 can rotate around the first joint 3311 via the carrier 110 and the rotation shaft 140, and can also achieve multi-degree-of-freedom adjustment by matching the second joint 3312 with the third joint 3313, thereby achieving multi-degree-of-freedom adjustment of the end effector.

Specifically, when the doctor operates the operation structure 120, the doctor can rotate the operation structure 120 around the first joint 3311 through the bearing component and the rotation shaft 140, and can adjust the multiple degrees of freedom through the cooperation of the second joint 3312 and the third joint 3313, thereby adjusting the angle of the end effector relative to the focal region, so that the end effector can perform the surgical operation on the focal region.

When the end effector rotates relative to the focus part, the focus part can apply a moment of reverse rotation to the end effector, the end effector can feed back the rotation moment to the first joint 3311, the second joint 3312 and the third joint 3313, and the resistance of the focus part to the end effector can be sensed by the resistance of the medical staff to the rotation applied by the first joint 3311, the second joint 3312 and the third joint 3313.

The rotating shaft 140 has a space through which the push rod 1221 abuts the feedback cam 132. Also, the feedback motor 131 may be installed in the first joint 3311 to reduce the entire spatial size. Of course, in other embodiments of the present invention, the feedback motor 131 may be disposed on the bearing member 110. It should be noted that the focus of the force feedback device 100 of the present invention is the parts of the operation structure 120 and the force feedback structure 130, and the adjustment of the joint component 331 to achieve multiple degrees of freedom is not described herein again.

Referring to fig. 4 and 5, in an embodiment of the present invention, the mounting plates 1212 have magnetism, the force feedback structure 130 includes an absorbing member 150, the absorbing member 150 is disposed on the bearing member 110 and located between two of the mounting plates 1212, and the absorbing member 150 is connected to the controller. The controller can control the magnetic field generated by the adsorbing member 150 according to the resistance received by the end effector to adjust the repulsive force between the adsorbing member 150 and the mounting plate 1212.

In this embodiment, the first ends of the mounting plates 1212 are rotatably mounted on the carrier 110, and the second ends of the mounting plates 1212 are disposed away from each other. The detection part can detect a rotation angle of the second end of the mounting plate 1212 according to the movement of the mounting plate 1212. After the fingers of a doctor extend into the finger sleeves 1211, the two finger sleeves 1211 drive the corresponding mounting plates 1212 to approach or separate from each other, so that the detection part can detect the rotation angle of the mounting plates 1212 and feed back the rotation angle to the controller, and the controller controls the action of the end effector according to the angle of the mounting plates 1212.

And, the adsorption member 150 is disposed between the two mounting plates 1212, and the adsorption member 150 can generate a magnetic field and generate a repulsive force so that the mounting plates 1212 move away from each other. Optionally, the attraction 150 is a magnet. The strength of the magnetic field can be changed after the power is switched on.

Referring to fig. 6, in an embodiment, the absorption member 150 includes a plastic housing and an internal coil disposed on the plastic housing, and the internal coil generates a magnetic field when being energized, and further has an N pole and an S pole. Optionally, the mounting plate has a permanent magnet, and the N pole and the S pole are respectively mounted and correspond to the N pole and the S pole of the adsorbing member, respectively. In the opening and closing process, the magnetic field intensity is controlled by controlling the current magnitude, and force feedback is carried out according to the principle that like poles repel.

Referring to fig. 1, 1 and 4, during operation, a thumb and an index finger of a surgeon are inserted into the finger stall 1211, and the fingers perform opening and closing movements according to the condition of a patient during operation, and drive the mounting plate 1212 to perform the opening and closing movements. The detection component can detect the movement of the mounting plate 1212 and feed back to the controller. The controller can control the end effector to act based on the movement of the mounting plate 1212. Open and shut when end effector, and touch the focus position, end effector can receive the resistance, different tissue resistance is different, end effector can feed back the controller with this resistance, the controller can control to be different through adsorbing 150 electric currents, the magnetic field that produces is different, it can produce the resistance to adsorb 150 and two mounting panels 1212 repetitious, the electric current is different this moment, the resistance is different, can let the doctor experience the resistance when contacting different tissues, thereby provide the feedback, the doctor can be according to the resistance size control operation power way.

The utility model also provides a surgical robot, include robot host computer, master control platform and as above-mentioned any embodiment force feedback device 100, the robot host computer be used for carrying out the operation action to the patient, force feedback device 100 set up in the master control platform, and pass through the master control platform is connected the robot host computer.

The utility model discloses a surgical robot adopts the power feedback device 100 back of above-mentioned embodiment, and doctor operation power feedback device 100 can be through the motion of the controller control robot host computer of master control platform for the operation action is carried out to the robot host computer, and the resistance of feedback such as feedback focus position, doctor can be according to resistance size control operation power way, guarantees the security of operation, reduces the operation risk.

In one embodiment, the robotic mainframe includes a support structure and a plurality of end effectors, the plurality of end effectors being disposed on the support structure and connected to the console, the end effectors mounting surgical instruments. The supporting structure is supported near the operating table, a plurality of end effectors are arranged on the supporting structure side by side, and the surgical instruments are driven by the end effectors to perform surgical actions. Optionally, the end effector is a slave robotic arm.

In one embodiment, the console comprises an operation table, a display, a controller and a main control arm, the display, the main controller and the main control arm are arranged on the operation table, the main control arm is connected with the controller, the controller is electrically connected with the display, and the force feedback device 100 is installed at one end of the main control arm. The doctor sits in front of the operation table, and the doctor's hand operates the force feedback device 100 to control the motion of the end effector and receive the force feedback result of the end effector.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (10)

1. Force feedback device, for use in a surgical robot, the force feedback device (100) comprising:

a carrier member (110);

the operation structure (120) is arranged on the bearing component (110), and the operation structure (120) is used for being connected with a controller of the surgical robot so as to control the action of an end effector of the surgical robot through the controller; and

the force feedback structure (130) is arranged on the bearing part (110), and the force feedback structure (130) is used for connecting the controller so as to feed back the resistance force, acquired by the controller, on the end effector to the operating structure (120).

2. Force feedback device according to claim 1, wherein the operating structure (120) comprises an operating assembly (121) and a detection member (160), the operating assembly (121) being connected with the detection member (160), the detection member (160) being connected with the controller; the detection component (160) can detect the movement of the operating assembly (121) and feed back to the controller.

3. The force feedback device according to claim 2, wherein the operating assembly (121) comprises two operating members, each of the operating members comprises a finger sleeve (1211) and a mounting plate (1212), the two mounting plates (1212) are rotatably mounted on the supporting member (110) and are arranged in a V-shape, the two finger sleeves (1211) are respectively mounted on the outer sides of the two mounting plates (1212), and the two mounting plates (1212) can be driven to close or open by the movement of the two finger sleeves (1211).

4. The force feedback device of claim 3, wherein the operating structure (120) further comprises a transmission assembly (122), the transmission assembly (122) is movably disposed on the carrying component (110) and is connected to the two mounting plates (1212) of the operating assembly (121), and when the operating assembly (121) is actuated, the operating assembly (121) can drive the transmission assembly (122) to move, so that the detecting component (160) detects the movement of the transmission assembly (122) and feeds the movement back to the controller.

5. The force feedback device according to claim 4, wherein the transmission assembly (122) comprises a push rod (1221) and two transmission portions (1222), the push rod (1221) is movably disposed on the bearing member (110), one end of the push rod (1221) is directly or indirectly connected to the detection member (160), one end of the two transmission portions (1222) is in transmission connection with the other end of the push rod (1221), and the other ends of the two transmission portions (1222) are in transmission connection with the two mounting plates (1212), respectively.

6. The force feedback device according to claim 5, wherein the transmission portion (1222) comprises a guide rod (12221) and a guide portion (12222), the guide portion (12222) is disposed to the carrier member (110), the guide rod (12221) is movably disposed in the guide portion (12222), one end of the guide rod (12221) abuts against the mounting plate (1212), and the other end of the guide rod (12221) abuts against the push rod (1221).

7. The force feedback device according to claim 6, wherein the transmission portion (1222) further comprises a roller (12223), the roller (12223) is disposed at both ends of the guide rod (12221), and the guide rod (12221) abuts against the push rod (1221) and the mounting plate (1212) through the roller (12223), respectively.

8. The force feedback device according to any one of claims 5 to 7, wherein the force feedback structure (130) comprises a feedback motor (131) and a feedback cam (132), the feedback motor (131) is disposed on the bearing member (110), the output end of the feedback motor (131) is mounted on the feedback cam (132), the feedback cam (132) abuts against the end of the push rod (1221) far away from the operating assembly (121), the feedback motor (131) is electrically connected with the controller, and the controller is capable of controlling the feedback motor (131) to move according to the resistance force applied by the end effector.

9. The force feedback device of claim 3, wherein the mounting plates (1212) are magnetic, the force feedback structure (130) comprises a suction member (150), the suction member (150) is disposed on the carrier member (110) and located between the two mounting plates (1212), and the suction member (150) is connected to the controller; the controller can control the magnetic field generated by the adsorption piece (150) according to the resistance force applied by the end effector so as to adjust the repulsive force between the adsorption piece (150) and the mounting plate (1212).

10. A surgical robot comprising a controller, an end effector, and a force feedback device (100) according to any of claims 1 to 9.

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