CN218305112U - Master control manipulator of surgical robot - Google Patents
Master control manipulator of surgical robot Download PDFInfo
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- CN218305112U CN218305112U CN202220044611.6U CN202220044611U CN218305112U CN 218305112 U CN218305112 U CN 218305112U CN 202220044611 U CN202220044611 U CN 202220044611U CN 218305112 U CN218305112 U CN 218305112U
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- rod piece
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Abstract
The utility model discloses a main control manipulator of a surgical robot, which comprises a base, a large arm rod piece, a small arm rod piece and a side arm rod piece; the near end of the large arm rod piece is rotatably connected with the base, and the far end of the large arm rod piece is rotatably connected with the near end of the small arm rod piece; the near end of the side arm rod piece is rotatably connected with the base, and the far end of the side arm rod piece is rotatably connected with the small arm rod piece; the near end of the side arm rod piece is rotatably connected with a driving disc, and the driving disc is rotatably connected with the base; the far end of the small arm rod piece is rotatably connected with the clamping function joint module. The utility model discloses a surgical robot's master control operative employee hand, it realizes controlling and the function that maps to establish ties a plurality of degrees of freedom, and structural dimension is more small and exquisite, and is smooth and easy light in the operation more, and the convenience is higher to wholly control.
Description
Technical Field
The utility model belongs to the technical field of surgical robot, especially, relate to a surgical robot's master control operative hand.
Background
During the operation, a doctor can operate the surgical operation through the surgical robot in a minimally invasive environment which cannot be directly operated by a human. The doctor inputs the operation action information through the main control console, and the operation action information is processed by the control module and then sends an action execution instruction to the operation execution equipment positioned on the patient side. The currently adopted action information input mode is as follows: the method comprises the steps that a master control manipulator of the surgical robot is directly actuated by the action of a hand of a doctor, the action of the doctor is mapped to the corresponding action of the master control manipulator, after the master control manipulator is assembled on the surgical robot, the master control manipulator is assembled with a sensor system, the displacement, the corner, the elongation, the torque and the like of the master control manipulator in the action process are captured by a plurality of sensors, the sensors transmit the captured information to a master control module of the surgical robot, so that an action instruction is input to the master control module, and then the master control module executes the action instruction to an execution part located on the side of a patient.
The main direction for optimizing the scheme of the main control manipulator is always the main direction for technical personnel in the field to improve the overall control convenience of the main control manipulator, reduce the size and the weight and improve the action smoothness.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's defect, provide a surgical robot's master control manipulator.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a main control manipulator of a surgical robot comprises a base, a large arm rod piece, a small arm rod piece and a side arm rod piece; the near end of the large arm rod piece is rotatably connected with the base, and the far end of the large arm rod piece is rotatably connected with the near end of the small arm rod piece; the near end of the side arm rod piece is rotatably connected with the base, and the far end of the side arm rod piece is rotatably connected with the small arm rod piece; the near end of the side arm rod piece is rotatably connected with a driving disc, and the driving disc is rotatably connected with the base; in the movement process of the main control manipulator, a parallelogram movement mechanism is formed among the large arm rod piece, the small arm rod piece, the side arm rod piece, the base and the driving disc, and four vertexes of the parallelogram movement mechanism are respectively positioned on a central axis of a rotating shaft between the large arm rod piece and the base, a central axis of a rotating shaft between the driving disc and the small arm rod piece, a central axis of a rotating shaft between the large arm rod piece and the small arm rod piece and a central axis of a rotating shaft between the side arm rod piece and the small arm rod piece; the far end of the small arm rod piece is rotatably connected with the clamping functional joint module; the terminal rotatable operating handle that is connected with of centre gripping function joint module, operating handle includes touch sensor module.
Preferably, the driving disc is connected with the first driver, when the output shaft of the first driver rotates, the driving disc rotates along with the output shaft, and at the moment, the driving disc can drive the proximal end of the side arm rod piece to move; the proximal end of the large arm rod is connected with the second driver, and when the output shaft of the second driver rotates, the proximal end of the large arm rod rotates along with the second driver.
Preferably, the far end of the large arm rod piece is connected with one side of the small arm rod piece through a rotating shaft, and the far end of the side arm rod piece is connected with the opposite side of the small arm rod piece through a rotating shaft.
Preferably, the side arm rod is connected to the drive disc via a rotation shaft located at a point on a radius of a circle formed by a center of rotation of the output shaft of the first driver, the distance from the point to the center of rotation being greater than zero.
Preferably, the clamping function joint module comprises a first joint, a second joint and a third joint, the central axis of a rotating shaft of the second joint is perpendicular to the central axis of a rotating shaft of the first joint, and the central axis of a rotating shaft of the third joint is perpendicular to the central axis of a rotating shaft of the second joint;
the clamping function joint module is connected with the small arm rod piece through a rotating shaft, and the central axis of a rotating shaft of the first joint is perpendicular to the central axis of the rotating shaft; the central axis of the rotating shaft of the first joint, the central axis of the rotating shaft of the second joint and the central axis of the rotating shaft of the third joint have a common intersection point;
the first joint, the second joint and the third joint can respectively rotate by taking the central axis of the rotation shaft of the first joint, the second joint and the third joint as a shaft;
the clamping function joint module can rotate by taking the central axis of the connecting rotating shaft of the clamping function joint module and the small arm rod piece as a shaft.
Preferably, the top of base is provided with main pivot, and the inside fixed driving machine that is used for driving the master control operation hand and uses main pivot is the axle rotation.
Preferably, operating handle includes shell and two handles, the one end of two handles certainly inside the via hole of shell stretches into the shell, and the one end that is located the shell of two handles is fixed respectively and is provided with the gear, and the gear of two handles meshes mutually, is fixed respectively on two handles to be provided with touch sensor module.
Preferably, four vertexes of the parallelogram motion mechanism are respectively a point a, a point b, a point c and a point d; the vertex on the central axis of the rotating shaft between the large arm rod piece and the small arm rod piece is a point a, the vertex on the central axis of the rotating shaft between the large arm rod piece and the base is a point b, the vertex on the central axis of the rotating shaft between the driving disc and the small arm rod piece is a point c, and the vertex on the central axis of the rotating shaft between the side arm rod piece and the small arm rod piece is a point d; position relative to the base during master operator movement: the point b is a fixed point, and the points c, d and a are movable points.
Preferably, the joint in the clamping function joint module is an active joint. The first joint, the second joint and the third joint are respectively and fixedly provided with a driving machine which can drive the first joint, the second joint and the third joint to rotate by taking the central axis of the rotating shaft as the shaft;
and the connecting rotating shaft between the clamping functional joint module and the small arm rod piece is connected with a driving machine which is used for driving the clamping functional joint module to rotate by taking the central axis of the rotating shaft as a shaft.
Preferably, a return spring is fixedly arranged in the shell, and two ends of the return spring are fixedly connected with the two handles respectively; in use, the return spring is compressed when the two handles are engaged in a pinching motion, and provides a return force to the two handles opposite to the pinching motion when the pinching motion is completed.
The utility model discloses a surgical robot's master control manipulator establishes ties a plurality of degrees of freedom and realizes controlling and the function of mapping, has adopted parallelogram motion, and is smaller and more exquisite on the structural dimension, and is smooth and easy light in the operation more. The whole control convenience is higher.
Drawings
FIG. 1 is a schematic structural diagram of the present invention;
fig. 2 is a mechanism schematic diagram of the positions of four fixed points of the parallelogram mechanism of the present invention;
fig. 3 is a schematic structural diagram of the connection relationship between the driving disc and the proximal end of the side arm rod member, between the distal end of the large arm rod member and the proximal end of the small arm rod member, and between the distal end of the side arm rod member of the present invention;
FIG. 4 is a schematic structural view of the operating handle of the present invention;
fig. 5 is a schematic structural diagram of a touch sensor module and a handle according to the present invention;
fig. 6 is a schematic structural diagram of an intersection point of central axes of the first joint, the second joint, and the third joint according to an embodiment of the present invention;
in the drawing, 1 base, 2 large arm rod pieces, 3 small arm rod pieces, 4 side arm rod pieces, 5 driving disks, 6 clamping function joint modules, 61 operating handles, 611 outer shells, 612 handles, 613 gears, 614 return springs, 615 finger sleeves, 62 touch sensor modules, 63 first joints, 64 second joints, 65 third joints, 7 main rotating shafts, a central axis of a f first joint rotating shaft, a central axis of a g second joint rotating shaft, a central axis of an e third joint rotating shaft, an intersection point of an o central axis and a k touch sensor touch plane.
Detailed Description
The following examples are given in conjunction with the accompanying drawings to further illustrate the embodiments. The present invention is not limited to the description of the following embodiments.
In the following examples, in order to make the disclosed solution clear and unambiguous to those skilled in the art, a uniform orientation reference is used, and the "rod", "arm", etc. mechanisms involved in the solution are proximal to a position relatively close to the base after being fully deployed and distal to a position relatively far from the base.
Example 1
As shown in fig. 1 and 2, in the present embodiment, a master manipulator of a surgical robot is disclosed, which includes a base, a large arm rod, a small arm rod, and a side arm rod. The near end of the large arm rod piece is rotatably connected with the base, and the far end of the large arm rod piece is rotatably connected with the near end of the small arm rod piece.
The near end of the side arm rod piece is rotatably connected with the base, and the far end of the side arm rod piece is rotatably connected with the small arm rod piece. The proximal end of the side arm rod is rotatably connected with a driving disc, and the driving disc is rotatably connected with the base. In the movement process of the main control manipulator, the large arm rod piece, the small arm rod piece, the side arm rod piece and the driving disc form a parallelogram movement mechanism, and four vertexes of the parallelogram movement mechanism are respectively positioned on a central axis of a rotating shaft between the large arm rod piece and the base, a central axis of a rotating shaft between the driving disc and the small arm rod piece, a central axis of a rotating shaft between the large arm rod piece and the small arm rod piece and a central axis of a rotating shaft between the side arm rod piece and the small arm rod piece. The far end of the small arm rod piece is rotatably connected with the clamping functional joint module; the terminal rotatable operating handle that is connected with of centre gripping function joint module, operating handle includes touch sensor module.
Referring to fig. 1 and 2, and to fig. 3, preferably, the drive plate is connected to the first driver such that when the output shaft of the first driver rotates, the drive plate rotates therewith, and the drive plate is capable of moving the proximal ends of the side arm links. The proximal end of the large arm rod is connected with the second driver, and when the output shaft of the second driver rotates, the proximal end of the large arm rod rotates along with the second driver. Wherein the first and second drivers are not shown in the drawing.
Referring to FIG. 3, particularly, a partial comparison of schematic A and its associated parts: preferably, the far end of the large arm rod piece is connected with one side of the small arm rod piece through a rotating shaft, and the far end of the side arm rod piece is connected with the opposite side of the small arm rod piece through a rotating shaft. In this embodiment, the rotation axis of the large arm rod is not overlapped with the rotation axis of the side arm rod, and the rotation axis of the side arm rod is closer to the far end of the small arm rod relative to the rotation axis of the large arm rod.
Referring to FIG. 3, particularly, in the drawing, there is shown a partial comparison of schematic B and its associated parts: preferably, the side arm lever is connected to the driving disc through a rotation shaft located at a point on a radius of a circle formed with a rotation center of the output shaft of the first driver as a center, and a distance (r) from the point to the rotation center is greater than zero.
As shown in fig. 1, four vertices of the parallelogram motion mechanism are preferably a point a, b point c point and d point. The vertex on the central axis of the rotating shaft between the large arm rod piece and the small arm rod piece is a point a, the vertex on the central axis of the rotating shaft between the large arm rod piece and the base is a point b, the vertex on the central axis of the rotating shaft between the driving disc and the small arm rod piece is a point c, and the vertex on the central axis of the rotating shaft between the side arm rod piece and the small arm rod piece is a point d.
Position relative to the base during the series of movements of the master manipulator: the point b is a fixed point, and the points c, d and a are movable points. That is, it can be understood that during the movement, the physical space position of the point b is fixed relative to the base, and the physical space positions of the points a, c and d are movable relative to the base.
The following exemplifies a set of operational actions: as shown in fig. 1, a, b, c, d are four vertexes of a parallelogram, an ad line is an actual small arm rod, the structure has the movement characteristic that a driving joint is arranged at the rear position, usually, a point a is a small arm driving joint, the driving of the point a is arranged on a shaft where the point b is located through the illustrated parallelogram structure, the structure has the characteristic that when a rotating shaft where the point b is located is kept still, the angle between the small arm rod and the ground is kept unchanged, the movement of the large arm rod can not influence the included angle between the small arm rod and the ground, and the other advantage that the driving force of the point a is arranged at the rear position of the point b, and the load of a front end (far end) structure can be effectively lightened, so that the load of a motor can be reduced, and the rotational inertia can be effectively reduced.
Example 2
With reference to fig. 1 to 6, the present embodiment is further optimized on the basis of embodiment 1:
as shown in fig. 6: the clamping function joint module comprises a first joint, a second joint and a third joint, wherein the central axis of a rotating shaft of the second joint is perpendicular to the central axis of a rotating shaft of the first joint, and the central axis of a rotating shaft of the third joint is perpendicular to the central axis of a rotating shaft of the second joint.
Referring to the attached drawing 1, the clamping function joint module is connected with the small arm rod piece through a rotating shaft, and the central axis of the rotating shaft of the first joint is perpendicular to the central axis of the rotating shaft.
Referring to fig. 6, the central axis of the rotation axis of the first joint, the central axis of the rotation axis of the second joint, and the central axis of the rotation axis of the third joint have a common intersection point. The first joint, the second joint and the third joint can rotate by taking a central axis of a rotating shaft of the first joint, the second joint and the third joint as an axis respectively. The clamping function joint module can rotate by taking the central axis of the connecting rotating shaft of the clamping function joint module and the small arm rod piece as a shaft.
Referring to fig. 1 and 2, preferably, a main rotating shaft is arranged at the top of the base, and a driving machine for driving the main control manipulator to rotate by taking the main rotating shaft as a shaft is fixedly arranged inside the base.
When the surgical robot is used, the master control manipulator is fixed with the surgical robot, and the driving machine drives the master control manipulator to rotate by taking the central axis of the main rotating shaft as an axis. In this embodiment, the main control manipulator is fixedly connected with the surgical robot in a hoisting manner, and forms a main control manipulator of the surgical robot.
Example 3
As shown in fig. 4 and 5, with reference to fig. 1 to 3: the present embodiment is further optimized on the basis of embodiment 1 or 2:
as shown in fig. 4 and 5, preferably, the operating handle includes a housing and two handles, one end of each of the two handles extends into the housing through a through hole of the housing, gears are respectively and fixedly disposed at one end of each of the two handles located in the housing, the gears of the two handles are engaged with each other, and the two handles are respectively and fixedly disposed with the touch sensor module.
Referring to fig. 1 to 6, preferably, the joint in the clamping function joint module is an active joint. The first joint, the second joint and the third joint are respectively and fixedly provided with a driving machine which can drive the first joint, the second joint and the third joint to rotate by taking the central axis of the rotating shaft as the axis.
The connecting rotating shaft between the clamping function joint module and the small arm rod piece is connected with a driving machine which is used for driving the clamping function joint module to rotate by taking the central axis of the rotating shaft as a shaft.
Referring to fig. 5, preferably, a return spring is fixedly arranged inside the housing, and two ends of the return spring are fixedly connected with the two handles respectively; when the finger sleeve is used, when fingers stretch into the finger sleeve and pinch the two handles, the two handles perform a pinching action of closing the middle part, the return spring is compressed, and after the pinching action is finished, the return spring provides a return force opposite to the pinching action for the two handles.
Preferably, a sensor for identifying an included angle or a distance between the two handles is fixedly arranged inside the housing of the operating handle.
Referring to fig. 5, the touch sensor has a certain area for the finger to touch and scratch on, and in some embodiments, it is matched and set to a certain action in-place state for sensing the hand, so as to prevent the touch by mistake.
Referring to fig. 5, in some embodiments of the present invention, the matching action command of the touch sensor is: after the touch sensor fine tuning mode is turned on: the specific fine sliding motion of the finger on the touch sensor or the series of motions of sliding contact or sliding contact greater than a certain displacement + knocking + double touch sensors is recognized as a fine adjustment motion command of a front end execution appliance by a control module in the surgical robot, and the motion command is sent to a front end executor, such as closing, clamping and the like of a certain displacement.
The foregoing is a more detailed description of the present invention, taken in conjunction with specific preferred embodiments thereof, and it is not intended that the invention be limited to the specific embodiments thereof. To the utility model belongs to the technical field of ordinary technical personnel, do not deviate from the utility model discloses under the prerequisite of design, can also make a plurality of simple deductions or replacement, all should regard as belonging to the utility model discloses a protection scope.
Claims (10)
1. The utility model provides a master control operative arm of surgical robot which characterized in that: comprises a base, a large arm rod piece, a small arm rod piece and a side arm rod piece;
the near end of the large arm rod piece is rotatably connected with the base, and the far end of the large arm rod piece is rotatably connected with the near end of the small arm rod piece;
the near end of the side arm rod piece is rotatably connected with the base, and the far end of the side arm rod piece is rotatably connected with the small arm rod piece;
the near end of the side arm rod piece is rotatably connected with a driving disc, and the driving disc is rotatably connected with the base; in the movement process of the main control manipulator, a parallelogram movement mechanism is formed among the large arm rod piece, the small arm rod piece, the side arm rod piece, the base and the driving disc, and four vertexes of the parallelogram movement mechanism are respectively positioned on a central axis of a rotating shaft between the large arm rod piece and the base, a central axis of a rotating shaft between the driving disc and the small arm rod piece, a central axis of a rotating shaft between the large arm rod piece and the small arm rod piece and a central axis of a rotating shaft between the side arm rod piece and the small arm rod piece;
the far end of the small arm rod piece is rotatably connected with the clamping functional joint module; the terminal rotatable operating handle that is connected with of centre gripping function joint module, operating handle includes touch sensor module.
2. The master manipulator of a surgical robot as claimed in claim 1, wherein: the driving disc is connected with the first driver, and when an output shaft of the first driver rotates, the driving disc rotates along with the output shaft of the first driver, and at the moment, the driving disc can drive the near end of the side arm rod piece to move;
the proximal end of the large arm rod is connected with the second driver, and when the output shaft of the second driver rotates, the proximal end of the large arm rod rotates along with the second driver.
3. The master manipulator of a surgical robot as claimed in claim 1, wherein: the far end of the large arm rod piece is connected with one side of the small arm rod piece through a rotating shaft, and the far end of the side arm rod piece is connected with the opposite side of the small arm rod piece through a rotating shaft.
4. The master manipulator of a surgical robot as claimed in claim 2, wherein: the side arm rod piece is connected with the driving disc through a rotating shaft, the rotating shaft is located at one point on the radius of a circle formed by taking the rotating center of the output shaft of the first driver as the center of the circle, and the distance from the point to the rotating center is larger than zero.
5. The master manipulator of a surgical robot as claimed in claim 1, wherein: the clamping functional joint module comprises a first joint, a second joint and a third joint, wherein the central axis of a rotating shaft of the second joint is perpendicular to the central axis of a rotating shaft of the first joint, and the central axis of a rotating shaft of the third joint is perpendicular to the central axis of a rotating shaft of the second joint;
the clamping function joint module is connected with the small arm rod piece through a rotating shaft, and the central axis of a rotating shaft of the first joint is perpendicular to the central axis of the rotating shaft; the central axis of the rotating shaft of the first joint, the central axis of the rotating shaft of the second joint and the central axis of the rotating shaft of the third joint have a common intersection point;
the first joint, the second joint and the third joint can respectively rotate by taking a central axis of a rotating shaft of the first joint, the second joint and the third joint as a shaft;
the clamping function joint module can rotate by taking the central axis of the connecting rotating shaft of the clamping function joint module and the small arm rod piece as a shaft.
6. The master manipulator of a surgical robot as claimed in claim 1, wherein: the top of base is provided with main pivot, and the inside fixed of base is provided with and is used for driving the master control operative employee with main pivot is axle pivoted driving machine.
7. The master manipulator of claim 1, wherein: operating handle includes shell and two handles, the one end of two handles certainly inside the via hole of shell stretches into the shell, and the one end that is located the shell of two handles is fixed respectively and is provided with the gear, and the gear of two handles meshes mutually, and the fixed touch sensor module that is provided with respectively on two handles.
8. The master manipulator of a surgical robot as claimed in claim 1, wherein: four vertexes of the parallelogram motion mechanism are respectively a point a, a point b, a point c and a point d;
the vertex on the central axis of the rotating shaft between the large arm rod piece and the small arm rod piece is a point a, the vertex on the central axis of the rotating shaft between the large arm rod piece and the base is a point b, the vertex on the central axis of the rotating shaft between the driving disc and the small arm rod piece is a point c, and the vertex on the central axis of the rotating shaft between the side arm rod piece and the small arm rod piece is a point d;
position relative to the base during master manipulator movement: the point b is a fixed point, and the points c, d and a are movable points.
9. The master manipulator of claim 5, wherein: the joint in the clamping function joint module is an active joint, and the first joint, the second joint and the third joint are respectively and fixedly provided with a driving machine which can drive the first joint, the second joint and the third joint to rotate by taking the central axis of a rotating shaft of the first joint, the second joint and the third joint as an axis;
the connecting rotating shaft between the clamping function joint module and the small arm rod piece is connected with a driving machine which is used for driving the clamping function joint module to rotate by taking the central axis of the rotating shaft as a shaft.
10. The master manipulator of claim 7, wherein: a return spring is fixedly arranged in the shell, and two ends of the return spring are respectively and fixedly connected with the two handles; in use, the return spring is compressed when the two handles are engaged in a pinching motion, and provides a return force to the two handles opposite to the pinching motion when the pinching motion is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220044611.6U CN218305112U (en) | 2022-01-07 | 2022-01-07 | Master control manipulator of surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220044611.6U CN218305112U (en) | 2022-01-07 | 2022-01-07 | Master control manipulator of surgical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218305112U true CN218305112U (en) | 2023-01-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220044611.6U Active CN218305112U (en) | 2022-01-07 | 2022-01-07 | Master control manipulator of surgical robot |
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| Country | Link |
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| CN (1) | CN218305112U (en) |
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2022
- 2022-01-07 CN CN202220044611.6U patent/CN218305112U/en active Active
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