CN217718528U - Control hand rudder for surgical robot - Google Patents

Abstract

The utility model discloses a control rudder for a surgical robot, which comprises a handle for driving the surgical robot to move front and back and left and right; the handle is connected with the surgical robot through a connecting cavity; the handle comprises a handle main body, a left buckling handle and a right buckling handle which are symmetrically arranged on the two sides of the handle main body; the embedded pivot on the handle main body is connected with a control panel base, and the handle can rotate relative to the control panel base; two bosses protruding towards the center of the handle are symmetrically arranged in the handle body, and when the handle rotates, the bosses are in contact with a potentiometer arranged at the bottom of the control panel base and trigger and drive a left-turn/right-turn signal of the surgical robot; a reset component for driving the handle to reset is arranged in the handle main body. The beneficial effects of the utility model are embodied in: the handle is combined with the control panel, the surgical robot can be driven to move along four directions, namely front, back, left and right, and the surgical robot is controlled to turn by rotating the handle, and the bending adaptability is strong; the action and the action of the human body are always kept consistent, and the operation and the control are convenient.

Description

Control hand rudder for surgical robot

Technical Field

The utility model belongs to the technical field of the machine-building, especially, relate to a surgical robot is with control hand rudder.

Background

Minimally invasive surgery has recently gained wide acceptance and favor in society due to the advantages of small wound, light pain, less bleeding, rapid postoperative recovery, and the like. For minimally invasive surgical robots in emerging fields, due to the fact that the minimally invasive surgical robots are large in mass, electric drive power assistance is generally configured on a drive chassis carried by the minimally invasive surgical robots, intelligent, convenient and reliable remote control is carried out on the minimally invasive surgical robots through auxiliary control handrudders, and flexible movement of the robots is achieved.

The general principle of the operation of the auxiliary control rudder of the existing minimally invasive surgery robot in the market is as follows: the operation handle is provided with a force sensor, the operation intention of an operator is obtained by sensing the magnitude/direction of force applied to the operator when the operator is operated, and signals are transmitted to an electric drive system of the robot drive chassis, and the electric drive system drives the drive chassis to complete corresponding movement according to a set program until the drive chassis moves to a specified position. The auxiliary control rudder and the control principle thereof have the advantages of sensitive induction and light control. However, the disadvantage is also obvious that in order to guarantee the sensitivity of the manipulation, a high-resolution and small-volume force sensor must be adopted, but the smaller the volume of the sensor, the smaller the impact capability is, the weaker the sensor is, and the force sensor can be overloaded or even failed in the face of some misoperation or large external impact. In addition, control is realized through pressing the action, signal transmission is unstable, and its control action and human action can not reach the uniformity of mutually coordinating, lack corresponding control and experience.

In addition, although the conventional auxiliary control rudder can realize the functions of moving and turning, the functions of speed control and turning radius adjustment are lacked, and when the conventional auxiliary control rudder faces a specific occasion (such as large-range moving or special turning at a corner), the conventional auxiliary control rudder needs to operate for a long time or be positioned for many times to reach a specified area, so that the conventional auxiliary control rudder wastes time and labor and is accompanied with the collision risk.

In order to solve the above problems, designing a control rudder for a surgical robot is an important technical problem to be solved by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the problems in the prior art and providing a control rudder for a surgical robot.

The purpose of the utility model is realized through the following technical scheme:

the control rudder for the surgical robot comprises a handle for driving the surgical robot to move front and back and left and right; the handle is connected with the surgical robot through a connecting cavity; the handle comprises a handle main body, a left buckling handle and a right buckling handle which are symmetrically arranged on two sides of the handle main body; the embedded pivot on the handle main body is connected with a control panel base, and the handle can rotate relative to the control panel base; two bosses protruding towards the center of the handle are symmetrically arranged in the handle body, and when the handle rotates, the bosses are in contact with a potentiometer arranged at the bottom of the control panel base and trigger and drive a left-turn/right-turn signal of the surgical robot; a group of reset components for driving the handle to reset are arranged in the handle main body.

Preferably, a rotary boss protruding to the control panel base is formed on the handle main body; a handle mounting seat for mounting the handle is arranged below the rotary boss; and a bearing is arranged between the handle and the handle mounting seat, so that the handle and the handle mounting seat rotate relatively.

Preferably, the handle mounting seat is fixedly connected with the bottom surface of the control panel base through a fixing pin; the top end of the fixing pin penetrates through an annular groove in the base of the handle main body.

Preferably, the reset assembly is a group of symmetrically distributed torsion springs, and the group of torsion springs is arranged around the periphery of the rotary boss; every the first button arm joint of torsional spring is in the torsional spring bayonet lock in its outside, the second button arm with the fixed pin butt.

Preferably, adjustment of the angle of rotation of the handle will drive a change in the torque of the torsion spring, which is the torque of the torsion spring

Wherein M: torsion spring torque, α: offset angle, E: tensile modulus of elasticity, d: wire diameter, n: number of operating coils, D: the central torsion spring diameter.

Preferably, the handle is provided with a speed-regulating push button; a potential mounting rack is arranged in the handle, and a travel potentiometer is arranged on the potential mounting rack; the bottom end of the speed-regulating push button is in threaded connection with a switch sleeve, and at least part of the switch sleeve is arranged on a travel rod of the travel potentiometer in a sliding manner; so as to control the expansion amount of the stroke potentiometer and realize stepless speed change.

Preferably, the speed-regulating push button is arranged in the right buckle handle or the left buckle handle; the travel potentiometer is locked on the potential mounting frame through a flange.

Preferably, both sides of the control panel are arc-shaped and are matched with the inner side walls of the left buckling handle and the right buckling handle.

Preferably, one side of the potentiometer is provided with an elastic rod, and the far end of the elastic rod is provided with a guide wheel set contacted with the inner edge of the boss.

Preferably, a touch screen is arranged on the upper surface of the control panel base, and a power switch, an emergency stop button, and a joint driving key group and an unlocking indicator lamp which are symmetrically arranged are arranged on the touch screen; and a forward instruction button and a backward instruction button are arranged in the touch screen, and the surgical robot is driven to move forwards or backwards after the instruction buttons are clicked.

The utility model discloses technical scheme's advantage mainly embodies:

the inner boss of the rotary handle is contacted with one potentiometer, a left-turn or right-turn signal of the surgical robot is triggered, the torque of a torsion spring is changed according to the rotation angle of the handle, and the turning and turning radius of the surgical robot are controlled; the signal is stable in the turning process, and the control action and the human body action are always kept consistent;

the potentiometer is arranged in the control panel base, and the handle is arranged on the periphery of the control panel base, so that the condition that the potentiometer falls off to cause unstable signal transmission and even damage to the potentiometer is effectively prevented;

the switch sleeve is driven to slide on the travel rod of the potentiometer by adjusting the speed-regulating push button so as to control the expansion amount of the potentiometer, change the moving speed of the surgical robot, realize stepless speed change and be suitable for turning in various environments.

Drawings

FIG. 1: the utility model discloses a perspective view of the preferred embodiment;

FIG. 2 is a schematic diagram: the utility model discloses a partial perspective view of the preferred embodiment;

FIG. 3: the utility model discloses the front view of the control panel base of the preferred embodiment;

FIG. 4 is a schematic view of: the explosion diagram of the preferred embodiment of the present invention;

FIG. 5: the front view of the preferred embodiment of the present invention;

FIG. 6: the structure front view of the potentiometer of the preferred embodiment of the utility model;

FIG. 7 is a schematic view of: the utility model discloses preferred embodiment's left side detains handle structure cross-sectional view.

Detailed Description

Objects, advantages and features of the present invention will be illustrated and explained by the following non-limiting description of preferred embodiments. These embodiments are merely exemplary embodiments for applying the technical solutions of the present invention, and all technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the scope of the present invention.

In the description of the embodiments, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the embodiment, the operator is used as a reference, the direction close to the operator is a proximal end, and the direction far away from the operator is a distal end.

As shown in fig. 1, the utility model discloses a control rudder for a surgical robot, which comprises a handle 3 for driving the surgical robot to move back and forth and left and right; the handle 3 is connected with the surgical robot through a connecting cavity 1. By rotating the handle 3, the driving chassis of the surgical robot is controlled to turn, and then the surgical robot is driven to turn. The utility model discloses in pass through the principle that 3 control chassis of handle turned to is the differential turn, can follow the rotation angle of handle 3 increases, surgical robot's radius of rotation reduces gradually, until the original place is rotatory.

As shown in fig. 5 to 6, the handle 3 includes a handle body 31, and a left grip 34 and a right grip 33 symmetrically disposed at both sides thereof. In order to reduce the overall weight of the handle 2 and facilitate the layout and routing of circuit elements, the utility model discloses it will be preferred do detain handle 34 with there is detain handle 33 to design into hollow cavity. Wherein, the control panel base 2 is pivoted on the handle main body 31 in an embedded manner, and the control panel base 2 is designed into a round rectangular shape in the preferred embodiment and matched with the inner side walls of the left buckling handle 34 and the right buckling handle 33, so that the handle 3 can rotate relative to the control panel base 2. Of course, the shape of the control panel base 2 may also be designed to be circular or elliptical, and the specific shape thereof may be adjusted according to the requirement, which is not limited herein. As protection, except that the control screen needs to be moved and confirmed before operation, in order to prevent the gravity action and the personnel from mistakenly touching the handle to cause the non-required turning movement of the surgical robot, the utility model discloses preferably when the rotation angle of the handle 3 is less than or equal to 5 degrees, the surgical robot will carry out idle stroke protection, ensure the personal safety of personnel in the use environment; when the rotation angle of the handle 3 exceeds 5 degrees, the surgical robot can be driven to turn and move.

Further, as shown in fig. 5, a rotary boss 39 protruding toward the control panel base 2 is formed on the handle body 31; a handle mounting seat 5 for mounting the handle 3 is arranged below the rotary boss 39; a bearing 32 is arranged between the handle 3 and the handle mounting seat 5 to enable the handle and the handle mounting seat to rotate relatively.

As shown in fig. 2, the handle mount 5 is fixedly connected to the bottom surface of the control panel base 2 by a fixing pin 261. The top end of the fixing pin 261 penetrates through an annular groove 312 on the base of the handle body 31. The annular grooves 312 are distributed annularly, and each annular groove 312 corresponds to one fixing pin 261. In a first state, the handle 3 is not rotated, and the fixing pin 261 is located at the central position of the annular groove 312; in the second state, when the handle 3 is turned left/right, the annular groove 312 rotates relative to the fixing pin 261 until one end of the annular groove 312 abuts against the fixing pin 261.

As shown in fig. 5 to 7, two bosses 311 protruding toward the center of the handle 3 are symmetrically disposed in the handle body 31, and the bosses 311 are symmetrically disposed on both sides of the rotation boss 39. When the handle 3 rotates, the boss 311 contacts with the potentiometer 38 arranged at the bottom of the control panel base 2 and triggers and drives the surgical robot to turn left/right; after the signals of the potentiometer 38 are converted, the speed of all driving wheels of the driving chassis is differentially controlled by using a differential steering principle, so that the turning radius is gradually reduced.

When the rotation angle of the handle 3 reaches 15 °, the annular groove 312 contacts the fixing pin 261 to form physical limit, and the potentiometer 38 is guaranteed to work within a set angle. For a left turn, an elastic rod 382 is disposed on one side of the potentiometer 38, and a guide wheel set 381 contacting the inner edge of the boss 311 is disposed at the distal end of the elastic rod 382. When the handle 3 is rotated clockwise (right turn), the fixing pins 261 in a diagonal set of the annular grooves 312 are in contact with the inner wall of the annular grooves 312. The guide wheel set 381 on the potentiometer 38 located at the right side of the revolving boss 39 will contact with the boss 311, and make the compression amount of the elastic rod 382 linearly change; until the potentiometer 38 is powered and triggers a right turn signal to the drive chassis of the surgical robot, at which time: the right wheel of the driving chassis is 0.1M/S, and the left wheel is 0.2M/S for differential turning; when the rotation angle of the handle 3 is gradually increased, the constant speed of the left wheel is kept unchanged, the speed of the right wheel is reduced from 0.1M/S to-0.2M/S for stepless speed change, and the turning radius of the surgical robot is gradually changed to the central point of the two driving wheels from the initial radius to realize pivot steering; when the handle 3 is rotated clockwise (rotated to the right), the same process is not repeated herein.

The inner boss of the rotary handle is contacted with one potentiometer, a left-turn or right-turn signal of the surgical robot is triggered, the torque of a torsion spring is changed according to the rotation angle of the handle, and the turning and turning radius of the surgical robot are controlled; the signal is stable in the turning process, and the control action and the human body action are always kept consistent.

As shown in fig. 5, a set of reset components for driving the handle 3 to reset is arranged in the handle body 31. Specifically, the reset assembly is a set of symmetrically distributed torsion springs 35, and the set of torsion springs 35 surrounds the periphery of the rotary boss 39. The first button arm of each torsion spring 35 is clamped in the torsion spring bayonet 37 on the outer side thereof, and the second button arm is abutted to the fixing pin 261; the torque and the torsion spring positioning during the rotation of the torsion spring 35 are borne by the fixing pin 261 and the torsion spring bayonet 37. In the rotation process of the handle 3, the two torsion springs 35 arranged diagonally rotate synchronously, and the fixing pin 261 applies an acting force to the torsion springs 35, so that the torque of the torsion springs 35 changes with the rotation angle of the handle 3; i.e. adjustment of the angle of rotation of the handle 3 will drive a change in the torque of the torsion spring 35. Through the torsional spring 35 provides anticlockwise and clockwise restoring torque when handle 3 rotates, promptly the torsional spring 35 control reset after handle 3 turns left/turns right.

Specifically, the torque calculation formula of the torsion spring 35 is

Wherein M represents the torsion spring torque; alpha represents a deviation angle, and when the alpha is less than or equal to 5 degrees, the calculated torsion M of the torsion spring is 0; when alpha is more than 5 degrees and less than or equal to 15 degrees, theCalculating the torque M of the torsion spring according to the formula; e represents a tensile elastic modulus; d represents the wire diameter of the torsion spring; n represents the number of working coils; d represents the central torsion spring diameter. Therefore, the required torque M and the angle offset alpha have linear characteristics, when the rotating handle 3 rotates to the maximum angle from the initial position, the torque range given by the two torsional springs is gradually increased, but through the amplification of the force arm, an operator only needs to provide relatively relaxed operating force at the periphery of the rudder, and the self-resetting can be completed after the force is removed from the wrist, so that the operation is light and reliable.

In addition, as shown in fig. 5, in order to prevent the torsion spring 35 from moving up and down during the operation, the top of the torsion spring 35 is provided with a limiting cap 310 to prevent the torsion spring 35 from coming off during the operation.

Referring to fig. 1 and 7, a speed-adjusting push button 4 is disposed on the handle 3, and further, the speed-adjusting push button 4 is disposed on the right buckle handle 33 or the left buckle handle 34. A potential mounting frame 41 is arranged in the handle 3, a flange is arranged on the potential mounting frame 41, and a travel potentiometer 42 is locked on the potential mounting frame 41 through the flange. The bottom end of the speed-regulating push button 4 is connected with a switch sleeve 43 through threads, and at least part of the switch sleeve 43 is arranged on a travel rod of the travel potentiometer 42 in a sliding mode. The switch sleeve 43 is driven by the speed-regulating push button 4 to move in the design range of the travel potentiometer 42 so as to control the stretching amount of the travel potentiometer 42, and the signals of the travel potentiometer 42 are processed and then transmitted to a driving wheel controller of a driving chassis, so that the stepless speed change of the surgical robot is realized. When the position of the speed-regulating push button 4 is shifted from bottom to top, the speed signal is gradually increased, and the self-resetting can be realized after the force is removed by the finger.

In order to prevent manual misoperation, the speed regulation function can be started only after a forward or backward command is clicked on the touch screen 22, namely, a command button on the touch screen 22 is clicked and the surgical robot can be driven to move forwards or backwards by combining the rear part of the speed regulation push button 4. As shown in fig. 3, a touch screen 22 is disposed on the upper surface of the control panel base 2, and a power switch 25 for controlling the start and stop of the surgical robot is disposed on the touch screen 22, that is, the power switch 25 is used for switching power supply to the surgical robot, an emergency stop button 21 for emergency braking in special situations, and symmetrically disposed joint drive key groups 231 and unlocking indicator lights 233. The surgical robot controls the movements of 4 axes and 8 directions in the surgical robot through the joint driving key group 231, and the approximate positioning of the mechanical arm before the operation is completed. For the circumstances that prevents that the maloperation from leading to surgical robot's shutdown maloperation, the utility model discloses be provided with the unlocking key between joint drive button group 231 and the unlocking pilot lamp 233, touch-sensitive screen 22 is used for showing the implement condition of robot, removes the suggestion (including advancing, retreating, turning left and turning right), surgical robot's electric quantity, temperature, joint information position, speed suggestion etc..

The utility model has a plurality of implementation modes, and all technical schemes formed by adopting equivalent transformation or equivalent transformation all fall within the protection scope of the utility model.

Claims (10)

1. The control rudder for the surgical robot comprises a handle (3) for driving the surgical robot to move forwards, backwards, leftwards and rightwards; the handle (3) is connected with the surgical robot through a connecting cavity (1); the method is characterized in that: the handle (3) comprises a handle main body (31), a left buckling handle (34) and a right buckling handle (33) which are symmetrically arranged on two sides of the handle main body; the embedded pivot on the handle main body (31) is connected with a control panel base (2), and the handle (3) can rotate relative to the control panel base (2); two bosses (311) protruding towards the center of the handle (3) are symmetrically arranged in the handle main body (31), and when the handle (3) rotates, the bosses (311) are in contact with a potentiometer (38) arranged at the bottom of the control panel base (2) and trigger and drive a left-turning/right-turning signal of the surgical robot; the handle body (31) is internally provided with a group of reset components for driving the handle (3) to reset.

2. The surgical robot control rudder according to claim 1, wherein: a rotary boss (39) protruding to the control panel base (2) is formed on the handle main body (31); a handle mounting seat (5) for mounting the handle (3) is arranged below the rotary boss (39); and a bearing (32) is arranged between the handle (3) and the handle mounting seat (5) to enable the handle and the handle mounting seat to rotate relatively.

3. The surgical robot control rudder according to claim 2, wherein: the handle mounting seat (5) is fixedly connected with the bottom surface of the control panel base (2) through a fixing pin (261); the top end of the fixing pin (261) penetrates through an annular groove (312) in the base of the handle main body (31).

4. The surgical robot control rudder according to claim 3, wherein: the reset assembly is a group of symmetrically distributed torsion springs (35), and the group of torsion springs (35) are arranged on the periphery of the rotary boss (39) in a surrounding manner; every in the first button arm joint of torsional spring (35) is in torsional spring bayonet lock (37) in its outside, the second button arm with fixed pin (261) butt.

5. The surgical robot control rudder according to claim 4, wherein: adjustment of the angle of rotation of the handle (3) will drive a change in the torque of the torsion spring (35), the torque of the torsion spring (35)

Wherein M: torsion spring torque, α: offset angle, E: tensile modulus of elasticity, d: wire diameter, n: number of operating coils, D: the central torsion spring diameter.

6. The surgical robot control rudder of claim 5, wherein: a speed-regulating push button (4) is arranged on the handle (3); a potential mounting rack (41) is arranged in the handle (3), and a travel potentiometer (42) is arranged on the potential mounting rack (41); the bottom end of the speed-regulating push button (4) is in threaded connection with a switch sleeve (43), and at least part of the switch sleeve (43) is slidably arranged on a travel rod of a travel potentiometer (42); so as to control the expansion and contraction amount of the stroke potentiometer (42) and realize stepless speed change.

7. The surgical robot control rudder according to claim 6, wherein: the speed-regulating push button (4) is arranged in the right buckle handle (33) or the left buckle handle (34); the travel potentiometer (42) is locked on the potential mounting frame (41) through a flange.

8. The surgical robot control rudder according to claim 7, wherein: the two sides of the control panel base (2) are arc-shaped and matched with the inner side walls of the left buckling handle (34) and the right buckling handle (33).

9. The surgical robot control rudder of claim 1, wherein: an elastic rod (382) is arranged on one side of the potentiometer (38), and a guide wheel set (381) in contact with the inner edge of the boss (311) is arranged at the far end of the elastic rod (382).

10. The surgical robot control rudder of claim 1, wherein: the upper surface of the control panel base (2) is provided with a touch screen (22), and the touch screen (22) is provided with a power switch (25), an emergency stop button (21), and symmetrically arranged joint driving key groups (231) and unlocking indicator lamps (233); and a forward instruction button and a backward instruction button are arranged in the touch screen (22), and the surgical robot is driven to move forwards or backwards after the instruction button is clicked.

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