WO2023077605A1 - 一种主操作手及手术机器人操控设备 - Google Patents

一种主操作手及手术机器人操控设备 Download PDF

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Publication number
WO2023077605A1
WO2023077605A1 PCT/CN2021/135985 CN2021135985W WO2023077605A1 WO 2023077605 A1 WO2023077605 A1 WO 2023077605A1 CN 2021135985 W CN2021135985 W CN 2021135985W WO 2023077605 A1 WO2023077605 A1 WO 2023077605A1
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WIPO (PCT)
Prior art keywords
joint
posture
yaw
pitch
attitude
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PCT/CN2021/135985
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English (en)
French (fr)
Inventor
李逸成
刘畅
梁云雷
王建国
丁辉
张海柱
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哈尔滨思哲睿智能医疗设备有限公司
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Publication of WO2023077605A1 publication Critical patent/WO2023077605A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery

Definitions

  • the invention relates to the technical field of medical equipment, in particular to a master operator and surgical robot control equipment.
  • the existing control equipment is usually provided with a circular arm above the console, and the main operator is installed on the circular arm by means of hoisting. Regardless of whether the display is designed in the front or rear, the control equipment in this installation method is difficult to operate. Provide the operator with a comfortable operating posture, or the main operator may easily interfere with the operator observing the display during operation, making the operator feel bad about the operation.
  • the problem solved by the present invention is how to make the main operator of the surgical robot control device feel better about the operation.
  • the present invention provides a main operating hand, including a root structure, an arm structure and a hand structure, the root structure is suitable for connecting with the chassis of the console, one end of the arm structure is connected to the root The other end of the arm structure is connected to the hand structure, and after the root structure is connected to the chassis, the hand structure is suitable for exposing the table top of the console.
  • the root structure includes a position shoulder yaw joint, which is adapted to be connected with the chassis and realize the operation of the position shoulder yaw.
  • the root structure further includes a position shoulder pitch joint, the position shoulder pitch joint is connected with the position shoulder yaw joint, and is suitable for realizing the operation of position shoulder pitch.
  • the arm structure includes a large arm, a small arm and a position elbow pitch joint, one end of the large arm is connected to the position shoulder pitch joint, and the other end of the large arm is connected to the forearm
  • the position elbow pitch joint is adapted to realize the operation of position elbow pitch.
  • the hand structure includes posture redundant yaw joints, posture pitch joints, posture yaw joints and posture swivel joints that are sequentially connected through a skeleton structure, and the posture redundant yaw joints are far away from the forearm
  • the attitude redundant yaw joint is suitable for realizing redundant yaw operation of attitude
  • the attitude pitch joint is suitable for realizing attitude pitch operation
  • the attitude yaw joint is suitable for In order to realize the operation of posture deflection
  • the posture rotation joint is suitable for realizing the operation of posture rotation.
  • the joint axes of the attitude redundant yaw joint, the attitude pitch joint, the attitude yaw joint and the attitude swivel joint intersect at one point.
  • the hand structure further includes a clip kneading joint, the clip kneading joint is connected with the posture rotation joint, and is suitable for realizing the operation of clip kneading.
  • the present invention has the following beneficial effects:
  • the root structure By connecting the root structure with the chassis of the console, one end of the arm structure is connected with the root structure, and the other end of the arm structure is connected with the hand structure. It is very convenient to operate on the hand structure in standing or sitting position.
  • the root structure and arm structure can be hidden under the table of the console, which not only does not hinder the operator from observing the display, but also can reasonably set the position of the display according to needs. The position meets the optimal viewing distance, so that the main operator of the surgical robot control equipment can feel better.
  • Another object of the present invention is to provide a surgical robot control device to solve how to make the main operator of the surgical robot control device feel better in operation.
  • a surgical robot control device including a console and the above-mentioned main operator, after the root structure of the main operator is connected to the chassis of the console, the hand structure of the main operator is suitable for exposing the The table top of the control console.
  • the surgical robot manipulation device further includes a display component, and the display component is arranged on the console and located at one side of the main operator.
  • the surgical robot control device further includes an armrest assembly, and the armrest assembly is arranged on the console and located on a side of the main operator away from the display assembly.
  • Fig. 1 is the structural representation of main operator in the embodiment of the present invention.
  • Fig. 2 is a structural schematic diagram of another perspective of the main operator in the embodiment of the present invention.
  • Fig. 3 is a schematic diagram of the hand structure movement of the main operating hand in the embodiment of the present invention.
  • Fig. 4 is a schematic structural diagram of a surgical robot control device in an embodiment of the present invention.
  • Fig. 5 is a structural schematic diagram of another perspective of the surgical robot control device in the embodiment of the present invention.
  • Fig. 6 is a structural schematic view of another viewing angle of the surgical robot control device in the embodiment of the present invention.
  • an embodiment of the present invention provides a main operator, including a root structure 1, an arm structure 2 and a hand structure 3, the root structure 1 is suitable for connecting with the chassis 101 of the console 100, and the arm structure 2 One end of the arm structure 2 is connected to the root structure 1, and the other end of the arm structure 2 is connected to the hand structure 3.
  • the hand structure 3 is suitable for exposing the table top of the console 100.
  • the root structure 1 adopts a structure with joints that can be bent or rotated, and can be connected with the chassis 101 of the console 100 by welding, riveting or bolting, etc.
  • the arm structure 2 can be a rigid structure, or a structure with joints that can bend or rotate.
  • the hand structure 3 is connected to the arm structure 2, and part or the whole of the hand structure 3 can expose the table top of the console 100.
  • the chassis 101 is provided with a mounting position, and the root structure 1 can be installed on the mounting position through a mounting plate.
  • the root structure 1 After the root structure 1 is connected to the chassis 101, its movable part can 101 rotates or bends, and the arm structure 2 also adopts a structure with joints that can bend or rotate.
  • the table top of the console 100 can be a solid structure, such as a platform, or a virtual plane, such as a certain horizontal operating surface above the chassis 101 when the console 100 is an open structure. It can be regarded as the table top of the console 100 .
  • the plane where the upper end surface of the armrest 301 is located can be regarded as the table top of the console 100 .
  • the table top of the console 100 enables the operator to easily operate on the hand structure 3 no matter in a standing posture or a sitting posture. It does not hinder the operator from observing the display, and the position of the display can be reasonably set according to needs to meet the optimal viewing distance, so that the main operator of the surgical robot control device can feel better.
  • the root structure 1 includes a position shoulder yaw joint 11 and a position shoulder pitch joint 12, the position shoulder yaw joint 11 is suitable for connecting with the chassis 101, and realizes the operation of the position shoulder yaw, the position shoulder Pitch joint 12 is connected with position shoulder yaw joint 11, and is suitable for realizing the operation of position shoulder pitch, and arm structure 2 comprises big arm 21, forearm 22 and position elbow pitch joint 23, and one end of big arm 21 is connected with The position shoulder pitch joint 12 is connected, the other end of the big arm 21 is connected with the forearm 22 through the position elbow pitch joint 23, the position elbow pitch joint 23 is suitable for realizing the operation of position elbow pitch, and the hand structure 3 includes a skeleton Structurally connected attitude redundant yaw joint 31, attitude pitch joint 32, attitude yaw joint 33, attitude swivel joint 34 and clip kneading joint 35, attitude redundant yaw joint 31 is far away from the forearm 22 elbow pitch joint One end of 23 is connected, the posture redundant ya
  • the position shoulder pitch joint 12 is arranged above the position shoulder yaw joint 11, and is connected with the movable part of the position shoulder yaw joint 11, and the position shoulder yaw joint
  • the joint 11 can drive the main body of the main operator to realize the root rotation.
  • the position elbow pitch joint 23 is set above the position shoulder pitch joint 12, and is connected with the position shoulder pitch joint 12 through the big arm 21 composed of a quadrilateral linkage mechanism, and the attitude redundant yaw joint 31 is set at the position elbow pitch One side of the joint 23, and connected with the position elbow pitch joint 23 through the forearm 22 composed of a rigid rod-shaped structure, the position shoulder pitch joint 12 can drive the big arm 21 and the structure connected with the big arm 21 to realize the height direction Pitching at a certain angle, the position elbow pitch joint 23 can drive the forearm 22 and the structure connected to the forearm 22 to achieve a certain angle with the horizontal plane, and the attitude redundant yaw joint 31 can drive the hand structure 3 to achieve Attitude redundant deflection.
  • the height direction refers to the Z-axis direction
  • the horizontal plane refers to a plane parallel to the XY plane.
  • the attitude pitch joint 32 is arranged above the attitude redundant yaw joint 31, and is connected with the attitude redundant yaw joint 31 through the first L-shaped bracket.
  • the attitude pitch joint 32 can drive the hand structure 3 to realize attitude pitch and attitude yaw.
  • the joint 33 is arranged on one side of the posture pitch joint 32, and is connected with the posture pitch joint 32 through the second L-shaped bracket.
  • the posture yaw joint 33 can drive the hand structure 3 to realize the posture yaw.
  • the posture revolving joint 34 can drive the hand structure 3 to realize the posture revolving
  • the clip kneading joint 35 is connected with the end of the posture revolving joint 34, And can realize the operation of clip kneading.
  • the posture redundant yaw of the hand structure 3 and the posture yaw of the hand structure 3 refer to the rotation of the hand structure 3 along the ⁇ axis
  • the posture pitch of the hand structure 3 refers to The hand structure 3 rotates along the ⁇ axis
  • the posture rotation of the hand structure 3 refers to the rotation of the hand structure 3 along the ⁇ axis.
  • the position shoulder yaw joint 11 includes a mounting plate, a motor, a main shaft, a first reduction mechanism, a secondary shaft, an electromagnetic brake and an encoder, and the first reduction mechanism includes a reduction belt
  • the motor provides power for the position shoulder yaw joint 11, and drives the reduction gear sleeved on the main shaft to rotate through the reduction belt
  • the main shaft rotates with the reduction gear and drives
  • the speed-increasing gear arranged on the main shaft on the lower side of the installation plate rotates, and the speed-increasing gear drives the auxiliary shaft to rotate through another belt.
  • An encoder and an electromagnetic brake are installed on the auxiliary shaft.
  • the encoder and the electromagnetic brake are respectively located on the upper side of the installation plate and the On the lower side, the electromagnetic brake can provide braking for the position shoulder yaw joint 11, and the encoder is used to detect the position information of the position shoulder yaw joint 11 to start or stop the motor.
  • the motor output torque of the position shoulder yaw joint 11 can be increased, making the operator more labor-saving and light when operating,
  • the compliance and position accuracy of the position shoulder yaw joint 11 can be improved, and the return clearance can be reduced, so that the end operation experience of the position shoulder pitch joint 12 is better.
  • the position shoulder pitch joint 12 includes two turntables that can rotate in opposite directions, which are respectively a left turntable and a right turntable, and the left turntable and the right turntable are coaxial It is set and installed on the support part of the position shoulder pitch joint 12 through the main shaft, the support part is connected with the movable part of the position shoulder yaw joint 11, the left turntable and the right turntable are respectively powered by a motor, and the motor can pass through the first
  • the second reduction mechanism drives the left turntable and the right turntable to rotate, one link of the quadrilateral linkage mechanism is fixedly connected with the left turntable, and the other link of the quadrilateral linkage mechanism is eccentrically connected with the right turntable through a rotating shaft.
  • the quadrilateral link mechanism is driven by the rotation of the left turntable and the right turntable, thereby realizing the pitching of the position shoulder pitch joint 12 .
  • the motor output torque of the position shoulder pitch joint 12 can be increased, making the operator more labor-saving and light in operation, and at the same time, the position shoulder can be improved.
  • the compliance of the pitch joint 12 reduces the return clearance, so that the gravity, inertia and friction of the pitch joint 12 and its upper structure at the position of the shoulder are compensated, making the operation of the main operator more compliant, so that no jamming occurs Phenomenon.
  • the wire transmission mechanism has the characteristics of small friction, zero backstroke, and uniform force, it can effectively reduce joint friction, eliminate deceleration backstroke, and improve the structure of the hand. Excellent reverse drive performance, reducing the backlash, and helping to improve the end compliance and operating experience of the elbow pitch joint 23 at the position.
  • the posture redundant yaw joint 31, the posture pitch joint 32, the posture yaw joint 33 and the posture rotation joint 34 all adopt a structure with a small overall size. Due to the small space for their installation positions, the attitude redundant yaw joint 31, attitude pitch joint 32, attitude yaw joint 33 and attitude swivel joint 34 all adopt gear transmission mechanisms, thus , each joint can be adjusted by motor feedback while increasing the torque, to achieve self-balancing of its own gravity, to ensure that it can stop at any point in the range of motion when no external force is applied, and to realize free movement of each joint through software algorithms.
  • the clip kneading joint 35 adopts a multi-link design, which can realize the clamping action of the clip and independently correspond to the kneading action of the clip in the surgical instrument, and the main operator adopts a bionic design as a whole , has a good similarity with the human arm and wrist, and has good flexibility.
  • the friction force at the position joint of the main operator should be relatively small, but at the same time, in order to meet the load requirements, the position joint of the main operator needs to have a certain deceleration For this reason, the deceleration mechanism of the position shoulder pitch joint 12 and the position elbow pitch joint 23 (the two joints with the largest load) can adopt a two-stage wire transmission structure; and for the attitude joint, due to the low load requirement, the joint space Limited, so it is not suitable to adopt the method of wire transmission, so the method of gear transmission is adopted, such as planetary gear reduction structure or bevel gear transmission structure and other schemes.
  • the main operator is a typical human-computer interaction manipulator, and the drive of the joints can usually be driven by a DC servo motor.
  • This method is relatively mature, with simple energy, a wide range of speed changes, high efficiency, and high speed and position accuracy. very high.
  • an encoder such as an absolute encoder
  • an incremental encoder can also be installed at the rear end of the drive motor for each position joint.
  • the surgical robot control device further includes a display assembly 200 and an armrest assembly 300.
  • the display assembly 200 is arranged on the console 100 and is located on one side of the main operator's hand.
  • the armrest assembly 300 is arranged on the console 100 and is located on the side of the main operator The hand is away from the side of the display assembly 200 .
  • the display assembly 200 includes a main display 201 and a secondary display 202
  • the console 100 includes a chassis 101 and a column 102
  • the column 102 is arranged at the front middle position of the chassis 101
  • the main display 201 can be directly installed on the upper part of the column 102 through a bracket, and a horizontal support bar is also connected to the column 102.
  • the secondary display 202 is arranged on one side of the main display 201, and can be installed on the horizontal support bar through another bracket.
  • the column 102 adopts a liftable column, which is convenient for adjusting the height of the display assembly 200 to meet the needs of operators of different heights. to adjust the angle.
  • the main operator is arranged on the rear side of the display assembly 200, and is arranged along the height direction of the console 100.
  • the root structure 1 of the main operator is connected with the chassis 101, so that it is installed on the console 100 in a formal manner.
  • the hand structure 3 can expose the table surface and be lower than the lower edge of the display assembly 200, so that the main operator's hand will not block the display assembly 200, so that the operator can conveniently observe the display assembly 200 when operating the surgical robot control device.
  • the formal installation refers to the installation method in which the main operator with an up-and-down structure is arranged on the chassis 101 along the height direction of the console 100, which is used to distinguish it from the other method in which the main operator is hoisted on the cantilever under normal circumstances.
  • One way to install is to install.
  • the height direction of the console 100 refers to the Z-axis direction.
  • the main operator is not limited to being installed on the console 100 in this embodiment, but can also be installed on other surgical equipment related to surgical manipulation, such as a doctor's console or a remote device.
  • the armrest assembly 300 includes an armrest 301, a touch screen 302 and buttons 303, and the armrest 301 is arranged at the rear of the chassis 101 of the console 100, including a platform portion, a left leg And the right leg, one end of the left leg is connected with the left end of the rear part of the chassis 101, the other end is connected with the left end of the platform part, one end of the right leg is connected with the right end of the rear part of the chassis 101, and the other end is connected with the right end of the platform part, the touch screen 302 and buttons 303 are all arranged on the platform part, and the position corresponding to the platform part of the armrest 301 is provided with a pedal 400 on the chassis 101, and the arm can be placed on the armrest 301 during operation, and the foot can be stepped on the pedal 400 , so that the operator can use a more comfortable control posture to control, thereby preventing fatigue operation.
  • a push handle 500 is installed below the display assembly 1 on the column 22.
  • a voice device 600 is provided at the position between the left main operator hand and the right operator hand and directly facing the operator, which can facilitate the operator to communicate with the operating room by voice and understand the operation information in real time.
  • the horizontal distance between the edge of the hand structure 3 and the armrest 301 can be set between 200mm and 240mm, such as 220mm, and the vertical distance between the top of the hand structure 3 and the armrest 301 can be set between 80mm and 120mm, such as 100mm .
  • the surgical robot control equipment in this embodiment has lower requirements on the rigidity of the armrest assembly 300 and the whole machine, and the main operator adopts the installation method of the chassis to reduce the difficulty of equipment processing , to reduce the resonance phenomenon in the hoisting method.
  • the installation method of the chassis makes the center of gravity of the whole machine lower, the stability of the surgical robot control equipment is better, the self-balancing design of the main operator is also simpler and more reliable, and the structure can also be optimized. Smaller and more compact, which makes the operation more flexible.
  • the main operator adopts the installation method of the chassis to ensure that the 3D display has the best viewing distance.
  • the main operator adopts a bionic design as a whole, which has a good similarity with the human arm and wrist, and has good flexibility and smoother operation. .

Abstract

一种主操作手及手术机器人操控设备，涉及医疗设备技术领域，主操作手包括根部结构（1）、臂部结构（2）和手部结构（3），根部结构（1）适于与操控台（100）的底盘（101）连接，臂部结构（2）的一端与根部结构（1）连接，臂部结构（2）的另一端与手部结构（3）连接，根部结构（1）与底盘（101）连接后，手部结构（3）适于露出操控台（100）的台面。操作者无论是采用站姿还是坐姿均能很方便地在手部结构（3）上进行操作，同时，根部结构（1）和臂部结构（2）能够隐藏在操控台（100）的台面以下，不仅不妨碍操作者观察显示器（201、202），而且可以根据需要合理设置显示器（201、202）的位置以满足最佳观察距离，从而使得手术机器人操控设备的主操作手操作感受更好。

Description

一种主操作手及手术机器人操控设备 技术领域
本发明涉及医疗设备技术领域，具体而言，涉及一种主操作手及手术机器人操控设备。
背景技术
近年来，随着微创外科被越来越广泛的应用于临床手术中，微创手术机器人系统的应用也越来越多，主操作手是微创手术机器人系统的重要组成部分，是外科医生与从端机械臂之间信息传递的载体。在微创手术的过程中，外科医生通常是在例如医生控制台、远程设备或机器人控制平台等操控设备上操作主操作手带动手术机器人的从端机械臂运动来进行手术操作。
现有的操控设备通常是在操控台上方设置一个环形臂，将主操作手采用吊装的方式安装在环形臂上，无论显示器采用前置还是后置设计，这种安装方式的操控设备难以为操作者提供一个舒适的操作姿势，或者在操作时主操作手容易干扰操作者观察显示器，使得操作者的操作感受不好。
发明内容
本发明解决的问题是如何使手术机器人操控设备的主操作手操作感受更好。
为解决上述问题，本发明提供一种主操作手，包括根部结构、臂部结构和手部结构，所述根部结构适于与操控台的底盘连接，所述臂部结构的一端与所述根部结构连接，所述臂部结构的另一端与所述手部结构连接，所述根部结构与所述底盘连接后，所述手部结构适于露出所述操控台的台面。
可选地，所述根部结构包括位置肩部偏摆关节，所述位置肩部偏摆关节适于与所述底盘连接，并实现位置肩部偏摆的操作。
可选地，所述根部结构还包括位置肩部俯仰关节，所述位置肩部俯仰关节与所述位置肩部偏摆关节连接，并适于实现位置肩部俯仰的操作。
可选地，所述臂部结构包括大臂、小臂和位置肘部俯仰关节，所述大臂的一端与所述位置肩部俯仰关节连接，所述大臂的另一端与所述小臂通过所 述位置肘部俯仰关节连接，所述位置肘部俯仰关节适于实现位置肘部俯仰的操作。
可选地，所述手部结构包括通过骨架结构依次连接的姿态冗余偏摆关节、姿态俯仰关节、姿态偏摆关节和姿态回转关节，所述姿态冗余偏摆关节与所述小臂远离所述位置肘部俯仰关节的一端连接，所述姿态冗余偏摆关节适于实现姿态冗余偏摆的操作，所述姿态俯仰关节适于实现姿态俯仰的操作，所述姿态偏摆关节适于实现姿态偏摆的操作，所述姿态回转关节适于实现姿态回转的操作。
可选地，所述姿态冗余偏摆关节、所述姿态俯仰关节、所述姿态偏摆关节以及所述姿态回转关节的关节轴相交于一点。
可选地，所述手部结构还包括夹子捏合关节，所述夹子捏合关节与所述姿态回转关节连接，并适于实现夹子捏合的操作。
本发明与现有技术相比，具有以下有益效果：
通过将根部结构与操控台的底盘连接，臂部结构的一端与根部结构连接，臂部结构的另一端与手部结构连接，手部结构适于露出操控台的台面，使得操作者无论是采用站姿还是坐姿均能很方便地在手部结构上进行操作，同时，根部结构和臂部结构能够隐藏在操控台的台面以下，不仅不妨碍操作者观察显示器，而且可以根据需要合理设置显示器的位置以满足最佳观察距离，从而使得手术机器人操控设备的主操作手操作感受更好。
本发明的另一目的在于提供一种手术机器人操控设备，以解决如何使手术机器人操控设备的主操作手操作感受更好。
为解决上述问题，本发明的技术方案是这样实现的：
一种手术机器人操控设备，包括操控台和如上所述的主操作手，所述主操作手的根部结构与所述操控台的底盘连接后，所述主操作手的手部结构适于露出所述操控台的台面。
可选地，该手术机器人操控设备还包括显示组件，所述显示组件设置在所述操控台上并位于所述主操作手的一侧。
可选地，该手术机器人操控设备还包括扶手组件，所述扶手组件设置在所述操控台上并位于所述主操作手远离所述显示组件的一侧。
所述手术机器人操控设备对于现有技术所具有的优势与上述的主操作手相同，在此不再赘述。
附图说明
图1为本发明实施例中主操作手的结构示意图；
图2为本发明实施例中主操作手另一视角的结构示意图；
图3为本发明实施例中主操作手的手部结构运动示意图；
图4为本发明实施例中手术机器人操控设备的结构示意图；
图5为本发明实施例中手术机器人操控设备另一视角的结构示意图；
图6为本发明实施例中手术机器人操控设备又一视角的结构示意图。
附图标记说明：
1-根部结构、11-位置肩部偏摆关节、12-位置肩部俯仰关节、2-臂部结构、21-大臂、22-小臂、23-位置肘部俯仰关节、3-手部结构、31-姿态冗余偏摆关节、32-姿态俯仰关节、33-姿态偏摆关节、34-姿态回转关节、35-夹子捏合关节、100-操控台、101-底盘、102-立柱、200-显示组件、201-主显示器、202-副显示器、300-扶手组件、301-扶手、302-按键、303-触摸屏、400-脚踏、500-推手、600-语音装置。
具体实施方式
为使本发明的上述目的、特征和优点能够更为明显易懂，下面结合附图对本发明的具体实施例做详细的说明。
在本发明的描述中，需要理解的是，附图中“X”的正向代表左方，相应地，“X”的反向代表右方；“Y”的正向代表前方，相应地，“Y”的反向代表后方；“Z”的正向代表上方，相应地，“Z”的反向代表下方，术语“X”、“Y”、“Z”等指示的方位或位置关系为基于说明书附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
术语“第一”、“第二”和“第三”仅用于描述目的，而不能理解为指 示或暗示相对重要性或者隐含指明所指示的技术特征的数量。而且，描述的具体特征、结构、材料或特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
为解决上述问题，本发明的实施例提供一种主操作手，包括根部结构1、臂部结构2和手部结构3，根部结构1适于与操控台100的底盘101连接，臂部结构2的一端与根部结构1连接，臂部结构2的另一端与手部结构3连接，根部结构1与底盘101连接后，手部结构3适于露出操控台100的台面。
如图1、图2和图4所示，根部结构1采用具有能够弯曲或转动的带有关节的结构，可通过焊接、铆接或螺栓连接等方式与操控台100的底盘101连接，臂部结构2可以采用刚性结构，也可以采用能够弯曲或转动的带有关节的结构，手部结构3与臂部结构2连接，并且手部结构3的部分或者整体能够露出操控台100的台面。
本实施例中，如图5和图6所示，底盘101上设有安装位，根部结构1可通过安装板安装在安装位上，根部结构1与底盘101连接后其活动部分能够相对于底盘101进行转动或弯曲，臂部结构2也采用能够弯曲或转动的带有关节的结构，手部结构3与臂部结构2连接后其大部分能够露出操控台100的台面。
需要说明的是，操控台100的台面可以是实体结构，例如平台等结构，也可以是虚拟的平面，例如当操控台100为开放式的结构时，其位于底盘101上方的某一水平操作面可视作操控台100的台面，具体地，本实施例中，如图4和图5所示，扶手301的上端面所在平面可视作操控台100的台面。
这样，通过将根部结构1与操控台100的底盘101连接，臂部结构2的一端与根部结构1连接，臂部结构2的另一端与手部结构3连接，手部结构3适于露出操控台100的台面，使得操作者无论是采用站姿还是坐姿均能很方便地在手部结构3上进行操作，同时，根部结构1和臂部结构2能够隐藏在操控台100的台面以下，不仅不妨碍操作者观察显示器，而且可以根据需要合理设置显示器的位置以满足最佳观察距离，从而使得手术机器人操控设备的主操作手操作感受更好。
可选地，根部结构1包括位置肩部偏摆关节11和位置肩部俯仰关节12，位置肩部偏摆关节11适于与底盘101连接，并实现位置肩部偏摆的操作，位置肩部俯仰关节12与位置肩部偏摆关节11连接，并适于实现位置肩部俯仰的操作，臂部结构2包括大臂21、小臂22和位置肘部俯仰关节23，大臂21的一端与位置肩部俯仰关节12连接，大臂21的另一端与小臂22通过位置肘部俯仰关节23连接，位置肘部俯仰关节23适于实现位置肘部俯仰的操作，手部结构3包括通过骨架结构依次连接的姿态冗余偏摆关节31、姿态俯仰关节32、姿态偏摆关节33、姿态回转关节34和夹子捏合关节35，姿态冗余偏摆关节31与小臂22远离位置肘部俯仰关节23的一端连接，姿态冗余偏摆关节31适于实现姿态冗余偏摆的操作，姿态俯仰关节32适于实现姿态俯仰的操作，姿态偏摆关节33适于实现姿态偏摆的操作，姿态回转关节34适于实现姿态回转的操作，夹子捏合关节35与姿态回转关节34连接，并适于实现夹子捏合的操作，姿态冗余偏摆关节31、姿态俯仰关节32、姿态偏摆关节33以及姿态回转关节34的关节轴相交于一点。
如图1和图2所示，本实施例中，位置肩部俯仰关节12设置在位置肩部偏摆关节11上方，并与位置肩部偏摆关节11的活动部连接，位置肩部偏摆关节11可带动主操作手的主体实现根部转动。
位置肘部俯仰关节23设置在位置肩部俯仰关节12上方，并通过由四边形连杆机构组成的大臂21与位置肩部俯仰关节12连接，姿态冗余偏摆关节31设置在位置肘部俯仰关节23的一侧，并通过由刚性杆状结构组成的小臂22与位置肘部俯仰关节23连接，位置肩部俯仰关节12可带动大臂21以及与大臂21连接的结构实现与高度方向呈一定夹角的俯仰，位置肘部俯仰关节23可带动小臂22以及与小臂22连接的结构实现与水平面呈一定夹角的俯仰，姿态冗余偏摆关节31可带动手部结构3实现姿态冗余偏摆。
其中，如图1和图4所示，高度方向是指Z轴方向，水平面是指平行于XY面的平面。
姿态俯仰关节32设置在姿态冗余偏摆关节31的上方，并通过第一L形支架与姿态冗余偏摆关节31连接，姿态俯仰关节32可带动手部结构3实现姿态俯仰，姿态偏摆关节33设置在姿态俯仰关节32的一侧，并通过第 二L形支架与姿态俯仰关节32连接，姿态偏摆关节33可带动手部结构3实现姿态偏摆，姿态回转关节34设置在姿态偏摆关节33的一侧，并通过第三L形支架与姿态偏摆关节33连接，姿态回转关节34可带动手部结构3实现姿态回转，夹子捏合关节35与姿态回转关节34的端部连接，并能实现夹子捏合的操作。
需要说明的是，如图3所示，手部结构3的姿态冗余偏摆以及手部结构3的姿态偏摆是指手部结构3沿α轴旋转，手部结构3的姿态俯仰是指手部结构3沿β轴旋转，手部结构3的姿态回转是指手部结构3沿γ轴旋转。
其特征在于，α轴、β轴以及γ轴相交于一点，手部结构3的每个关节在运动过程中绕着轴线交汇点运动，相当于形成了一个球形关节，这种设计方式满足Pipper准则(即机器人的三个相邻关节轴交于一点或三轴线平行)，能使手部结构3运动非常灵活，进而可以简化运动学分析。
如图1和图2所示，本实施例中，位置肩部偏摆关节11包括安装板、电机、主轴、第一减速机构、副轴、电磁制动器以及编码器，第一减速机构包括减速皮带和减速齿轮，主轴和副轴分别贯穿安装在安装板上，电机为位置肩部偏摆关节11提供动力，并通过减速皮带带动套设在主轴上的减速齿轮转动，主轴随减速齿轮转动并带动安装板下侧设置在主轴上的增速齿轮转动，增速齿轮通过另一皮带带动副轴转动，副轴上安装有编码器和电磁制动器，编码器和电磁制动器分别位于安装板的上侧和下侧，电磁制动器可为位置肩部偏摆关节11提供制动，编码器用于检测位置肩部偏摆关节11的位置信息以使电机启动或停止。
这样，通过在位置肩部偏摆关节11中设置第一减速机构和编码器，可以在增加位置肩部偏摆关节11的电机输出转矩，使操作者在操作时更加省力和轻便的同时，可提高位置肩部偏摆关节11的柔顺性和位置精度，减小回程间隙，从而使位置肩部俯仰关节12的末端操作感受更好。
如图1和图2所示，本实施例中，位置肩部俯仰关节12包括两个能够向相反方向转动的转盘，分别为左转盘和右转盘，左转盘和右转盘同轴设置并通过主轴安装在位置肩部俯仰关节12的支撑部件上，支撑部件与位置肩部偏摆关节11的活动部连接，左转盘和右转盘各由一个电机提供动力，电 机可通过第二减速机构驱动左转盘和右转盘转动，四边形连杆机构的一个连杆与左转盘固定连接，四边形连杆机构的另一个连杆与右转盘通过转轴偏心连接，由此，可通过左转盘和右转盘的转动带动四边形连杆机构，从而实现位置肩部俯仰关节12的俯仰。
这样，通过在位置肩部俯仰关节12中设置第二减速机构，可以在增加位置肩部俯仰关节12的电机输出转矩，使操作者在操作时更加省力和轻便的同时，可提高位置肩部俯仰关节12的柔顺性，减小回程间隙，使得位置肩部俯仰关节12以及其上部结构的自身重力、惯性力以及摩擦力得到补偿，使得主操作手的操作更加柔顺，从而不会产生卡顿现象。
如图1和图2所示，本实施例中，由于丝传动机构具有摩擦力小、零回程以及受力均匀等特点，从而可以有效地减小关节摩擦、消除减速回程，提高手部结构3的反向驱动性能，减少回程间隙，有助于提高位置肘部俯仰关节23的末端柔顺性和操作感受。
如图1和图2所示，本实施例中，为了使手部结构3的运动更加灵活，方便操控，姿态冗余偏摆关节31、姿态俯仰关节32、姿态偏摆关节33以及姿态回转关节34均采用整体尺寸较小的结构，由于其安装位置空间较小，因此姿态冗余偏摆关节31、姿态俯仰关节32、姿态偏摆关节33以及姿态回转关节34均采用齿轮传动机构，由此，各个关节在提升扭矩的同时，可以通过电机反馈调节，实现对自身重力的自平衡，保证在不受外力时能停在动作范围的任意点，并通过软件算法实现各个关节的自由运动。
如图1和图2所示，本实施例中，夹子捏合关节35通过采用多连杆设计，可实现夹子的夹持动作并单独对应手术器械中夹子的捏合动作，主操作手整体采用仿生设计，与人体手臂以及腕部具有良好的相似性，灵活性好。
需要说明的是，为了保证主操作手具有良好的反向驱动性能，主操作手的位置关节处的摩擦力应该比较小，但同时为了满足负载要求，主操作手的位置关节需要具备一定的减速比，为此，位置肩部俯仰关节12和位置肘部俯仰关节23(负载最大的两个关节)的减速机构可采用二级丝传动结构；而对于姿态关节，由于负载要求低，关节的空间有限，因此不适合采用丝传动的方式，故而采用齿轮传动的方式，例如行星齿轮减速结构或锥齿传动结 构等方案。
需要说明的是，主操作手作为典型的人机交互机械臂，关节的驱动通常可采用直流伺服电机驱动，此种方式比较成熟，能源简单，速度变化范围大，效率高，速度和位置精度都很高。
需要说明的是，为了实现主操作手的全闭环控制以及避免寻零，需在主操作手的位置关节上安装编码器，例如绝对值编码器，同时，为了实现双备份码盘以提高位置精度和制动安全性，还可在每个位置关节驱动电机后端安装增量式编码器。
本发明的另一实施例提供一种手术机器人操控设备，包括操控台100和上述的主操作手，主操作手的根部结构1与操控台100的底盘101连接后，主操作手的手部结构3适于露出操控台100的台面。
可选地，该手术机器人操控设备还包括显示组件200和扶手组件300，显示组件200设置在操控台100上并位于主操作手的一侧，扶手组件300设置在操控台100上并位于主操作手远离显示组件200的一侧。
如图4、图5和图6所示，本实施例中，显示组件200包括主显示器201和副显示器202，操控台100包括底盘101和立柱102，立柱102设置在底盘101的前部中间位置处，主显示器201可直接通过支架安装在立柱102上部，立柱102上还连接有一个横向支撑杆，副显示器202设置在主显示器201的一侧，可通过另一支架安装在横向支撑杆上。
需要说明的是，立柱102采用可升降式立柱，方便调节显示组件200的高度以满足不同身高操作人员的使用需求，横向支撑杆可采用带有活动关节的结构，方便对副显示器202的位置和角度进行调节。
主操作手设置在显示组件200的后侧，并沿操控台100的高度方向设置，主操作手的根部结构1与底盘101连接，从而以正装的方式安装在操控台100上，主操作手的手部结构3能够露出台面并低于显示组件200的下沿，由此，主操作手不会遮挡显示组件200，从而使操作者在操作该手术机器人操控设备时方便观察显示组件200。
需要说明的是，正装是指将具有上下结构形式的主操作手沿操控台100的高度方向设置在底盘101上的安装方式，用于区别于通常情况下将主操作 手吊装在悬臂上的另一种安装方式。
其特征在于，如图4所示，操控台100的高度方向是指Z轴方向。
需要说明的是，主操作手并不仅限于正装安装在本实施例中的操控台100上，还可正装安装在例如医生控制台或远程设备等涉及到手术操控的其他手术设备上。
如图4、图5和图6所示，本实施例中，扶手组件300包括扶手301、触摸屏302和按键303，扶手301设置在操控台100的底盘101后部，包括平台部、左支腿和右支腿，左支腿的一端与底盘101后部左端连接，另一端与平台部的左端连接，右支腿的一端与底盘101后部右端连接，另一端与平台部的右端连接，触摸屏302和按键303均设置在平台部上，底盘101上与扶手301的平台部对应的位置处设有脚踏400，在操作时可将手臂放置在扶手301上，足部踩在脚踏400上，使得操作者可以采用更加舒适的操控姿势进行操控，从而防止疲劳操作。
另外，如图4、图5和图6所示，本实施例中，立柱22上位于显示组件1的下方处安装有推手500，推手500为环形结构，可避免妨碍操控主操作手，推手500上位于左主操作手和右操作手之间并正对操作者的位置处设有语音装置600，可以方便操作者与手术室进行语音通话，实时了解手术信息。
如图4、图5和图6所示，本实施例中，为了避免扶手组件300干扰主操作手的操控，同时为操作者提供一个更好的操控姿势，并适应不同体型的操作人员进行操作，手部结构3边缘至扶手301之间的水平距离可设置在200mm至240mm之间，例如220mm，手部结构3顶部至扶手301之间的垂直距离可设置在80mm至120mm之间，例如100mm。
相对于主操作手采用吊装形式安装的传统操控设备，本实施例中的手术机器人操控设备对扶手组件300以及整机的刚度要求更低，主操作手采用底盘正装的安装方式可以降低设备加工难度，减少吊装方式出现的共振现象，同时，底盘正装的安装方式使得整机重心更低，手术机器人操控设备的稳定性更好，主操作手的自平衡设计也更加简单可靠，结构上也可以优化的更加小巧，进而使得操作更加灵活。
另外，主操作手采用底盘正装的安装方式还可以保证3D显示器具有最佳的观察距离，主操作手整体采用仿生设计，与人体手臂以及腕部具有良好的相似性，灵活性好，运行更加顺畅。
虽然本公开披露如上，但本公开的保护范围并非仅限于此。本领域技术人员在不脱离本公开的精神和范围的前提下，可进行各种变更与修改，这些变更与修改均将落入本发明的保护范围。

Claims (10)

  1. 一种主操作手，其特征在于，包括根部结构(1)、臂部结构(2)和手部结构(3)，所述根部结构(1)适于与操控台(100)的底盘(101)连接，所述臂部结构(2)的一端与所述根部结构(1)连接，所述臂部结构(2)的另一端与所述手部结构(3)连接，所述根部结构(1)与所述底盘(101)连接后，所述手部结构(3)适于露出所述操控台(100)的台面。
  2. 根据权利要求1所述的主操作手，其特征在于，所述根部结构(1)包括位置肩部偏摆关节(11)，所述位置肩部偏摆关节(11)适于与所述底盘(101)连接，并实现位置肩部偏摆的操作。
  3. 根据权利要求2所述的主操作手，其特征在于，所述根部结构(1)还包括位置肩部俯仰关节(12)，所述位置肩部俯仰关节(12)与所述位置肩部偏摆关节(11)连接，并适于实现位置肩部俯仰的操作。
  4. 根据权利要求3所述的主操作手，其特征在于，所述臂部结构(2)包括大臂(21)、小臂(22)和位置肘部俯仰关节(23)，所述大臂(21)的一端与所述位置肩部俯仰关节(12)连接，所述大臂(21)的另一端与所述小臂(22)通过所述位置肘部俯仰关节(23)连接，所述位置肘部俯仰关节(23)适于实现位置肘部俯仰的操作。
  5. 根据权利要求4所述的主操作手，其特征在于，所述手部结构(3)包括通过骨架结构依次连接的姿态冗余偏摆关节(31)、姿态俯仰关节(32)、姿态偏摆关节(33)和姿态回转关节(34)，所述姿态冗余偏摆关节(31)与所述小臂(22)远离所述位置肘部俯仰关节(23)的一端连接，所述姿态冗余偏摆关节(31)适于实现姿态冗余偏摆的操作，所述姿态俯仰关节(32)适于实现姿态俯仰的操作，所述姿态偏摆关节(33)适于实现姿态偏摆的操作，所述姿态回转关节(34)适于实现姿态回转的操作。
  6. 根据权利要求5所述的主操作手，其特征在于，所述姿态冗余偏摆关节(31)、所述姿态俯仰关节(32)、所述姿态偏摆关节(33)以及所述姿态回转关节(34)的关节轴相交于一点。
  7. 根据权利要求5或6所述的主操作手，其特征在于，所述手部结构(3)还包括夹子捏合关节(35)，所述夹子捏合关节(35)与所述姿态回转关节 (34)连接，并适于实现夹子捏合的操作。
  8. 一种手术机器人操控设备，其特征在于，包括操控台(100)和如权利要求1至7中任一项所述的主操作手，所述主操作手的根部结构(1)与所述操控台(100)的底盘(101)连接后，所述主操作手的手部结构(3)适于露出所述操控台(100)的台面。
  9. 根据权利要求8所述的手术机器人操控设备，其特征在于，还包括显示组件(200)，所述显示组件(200)设置在所述操控台(100)上并位于所述主操作手的一侧。
  10. 根据权利要求9所述的手术机器人操控设备，其特征在于，还包括扶手组件(300)，所述扶手组件(300)设置在所述操控台(100)上并位于所述主操作手远离所述显示组件(200)的一侧。
PCT/CN2021/135985 2021-11-08 2021-12-07 一种主操作手及手术机器人操控设备 WO2023077605A1 (zh)

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