CN113729969A - Force feedback integrated minimally invasive surgery robot - Google Patents
Force feedback integrated minimally invasive surgery robotDownload PDFInfo
- Publication number
- CN113729969A CN113729969ACN202111183829.6ACN202111183829ACN113729969ACN 113729969 ACN113729969 ACN 113729969ACN 202111183829 ACN202111183829 ACN 202111183829ACN 113729969 ACN113729969 ACN 113729969A
- Authority
- CN
- China
- Prior art keywords
- arm
- joint
- effector
- transmission
- minimally invasive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000002324minimally invasive surgeryMethods0.000titleclaimsdescription11
- 230000007246mechanismEffects0.000claimsabstractdescription197
- 230000005540biological transmissionEffects0.000claimsabstractdescription82
- 239000012636effectorSubstances0.000claimsabstractdescription48
- 230000033001locomotionEffects0.000claimsabstractdescription27
- 229910000831SteelInorganic materials0.000claimsdescription53
- 239000010959steelSubstances0.000claimsdescription53
- 238000010008shearingMethods0.000claimsdescription24
- 210000000245forearmAnatomy0.000claimsdescription22
- 230000005571horizontal transmissionEffects0.000claimsdescription22
- 230000005570vertical transmissionEffects0.000claimsdescription20
- 238000006073displacement reactionMethods0.000claimsdescription15
- 210000000707wristAnatomy0.000claimsdescription14
- 238000010586diagramMethods0.000description9
- 238000000926separation methodMethods0.000description6
- 230000007306turnoverEffects0.000description5
- 210000003857wrist jointAnatomy0.000description5
- 210000001503jointAnatomy0.000description4
- 238000000034methodMethods0.000description4
- 230000008569processEffects0.000description4
- 238000001356surgical procedureMethods0.000description4
- 230000009471actionEffects0.000description3
- 210000002310elbow jointAnatomy0.000description3
- 230000000149penetrating effectEffects0.000description3
- 230000009956central mechanismEffects0.000description2
- 238000003756stirringMethods0.000description2
- 206010028347Muscle twitchingDiseases0.000description1
- 238000005452bendingMethods0.000description1
- 230000009286beneficial effectEffects0.000description1
- 238000003745diagnosisMethods0.000description1
- 230000000694effectsEffects0.000description1
- 230000010354integrationEffects0.000description1
- 230000000007visual effectEffects0.000description1
Images
Classifications
- 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—Leader-follower 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
- A61B34/71—Manipulators operated by drive cable mechanisms
- 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
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
Translated fromChinese
Description
Technical Field
The invention relates to the technical field of surgical robots, in particular to a force feedback integrated minimally invasive surgical robot.
Background
Minimally invasive surgery, also known as interventional surgery, is a surgery performed by making a number of small incisions (or natural cavities of the human body) in the body surface and extending surgical instruments through the body surface incisions into the body for treatment or diagnosis with the aid of image guidance of a visual display system.
The minimally invasive surgical robot can be generally divided into a master-slave separation mode and a master-slave integration mode from the operation mode, wherein the master-slave separation mode is the most important operation mode in the world at present; the master-slave separation type generally comprises a master hand console, slave mechanical arms and an endoscope camera system, wherein a master operation end and a slave operation end are structurally divided into two independent structures, and the master operation end and the slave operation end are communicated in an electric control mode; in addition, in the process of minimally invasive surgery, in order to prevent the body surface incision of a patient from being enlarged, a tail end execution mechanism of the robot is required to be kept still at the body surface incision, a far end motion central point is provided through a far end motion central mechanism in a common means, the structure of the far end motion central mechanism of the existing master-slave separation type surgical robot is complex, and meanwhile, due to the adoption of a split structure, a larger space is required for accommodating electric control equipment, so that the minimally invasive surgery is not facilitated.
Disclosure of Invention
The invention provides a force feedback integrated minimally invasive surgical robot, and aims to solve the problems that a master-slave separation type surgical robot occupies a large space, and is difficult to effectively determine the structural position relation, feed back the stress condition and the like.
In order to achieve the above object, an embodiment of the present invention provides a force-feedback integrated minimally invasive surgical robot, including: the device comprises a main manipulator mechanism, a power-assisted transmission mechanism, a primary adjustment mechanical arm mechanism, an extension arm mechanism and a tail end execution mechanism;
the primary adjustment mechanical arm mechanism, the stretching arm mechanism and the tail end executing mechanism are connected one by one, the primary adjustment mechanical arm mechanism is used for controlling the stretching arm mechanism and the tail end executing mechanism to rotate along the vertical direction, move along the horizontal direction and lift along the vertical direction, the stretching arm mechanism has a degree of freedom relative to the rotation of the primary adjustment mechanical arm, and the stretching arm mechanism is used for controlling the stretching of the tail end executing mechanism; the main manipulator mechanism is used for receiving hand movement of an operator or feeding back stress conditions of the tail end executing mechanism, and is in transmission connection with the tail end executing mechanism through the power-assisted transmission mechanism; the tail end executing mechanism drives and executes the motion received by the main manipulator mechanism through the power-assisted transmission mechanism.
The power-assisted transmission mechanism comprises a rack and a plurality of transmission shaft groups, the transmission shaft groups are arranged on the rack, each transmission shaft group comprises a vertical transmission shaft and a horizontal transmission shaft, and one end of the vertical transmission shaft is in transmission connection with one end of the horizontal transmission shaft; a group of receiving transmission steel wires are wound at the other end of each vertical transmission shaft, and the vertical transmission shafts are in transmission connection with the main manipulator mechanism through the receiving transmission steel wires; every the other end of horizontal transmission shaft all is around being equipped with a set of execution drive steel wire, horizontal transmission shaft pass through execution drive steel wire with end actuating mechanism transmission is connected.
The other end of each vertical transmission shaft is provided with a receiving pre-tightening roller, the receiving transmission steel wire is wound on the corresponding receiving pre-tightening roller, the other end of each horizontal transmission shaft is provided with an executing pre-tightening roller, and the executing driving steel wire is wound on the corresponding executing pre-tightening roller.
Wherein, be provided with hand shearing joint, wrist offset joint, the wrist joint of stretching, forearm rotary joint, forearm upset joint and the elbow joint of stretching that connects one by one on the main operation hand mechanism, be provided with between forearm rotary joint and the forearm upset joint the flexible displacement drive arrangement of arm, hand shearing joint, wrist offset joint, wrist bend and stretch joint, forearm rotary joint, forearm upset joint, elbow bend and stretch joint and the flexible displacement drive arrangement of arm all are connected with the correspondence receive the transmission steel wire.
The end-end executing mechanism comprises an actuator rotating device, an actuator arc-shaped moving device, an actuator telescopic device and an actuator driving device, wherein the actuator arc-shaped moving device is arranged at the bottom of the actuator rotating device, the actuator telescopic device is slidably arranged on the actuator arc-shaped moving device, the actuator driving device is slidably arranged on the actuator telescopic device, the actuator driving device is used for installing an actuator, a plurality of driving rods are arranged on the actuator driving device, and the actuator rotating device, the actuator arc-shaped moving device, the actuator telescopic device and the plurality of driving rods are respectively in transmission connection with the corresponding actuating driving steel wires.
Wherein, the executor includes the driver, shears mechanism, every single move mechanism, driftage mechanism and swinging boom, it rotates one by one to shear mechanism, every single move mechanism, driftage mechanism and swinging boom to connect, the swinging boom sets up with rotating in the driver, the driver is provided with a plurality of driven drive bars, and is a plurality of driven drive bar pass through the steel wire respectively with it connects to shear mechanism, every single move mechanism, driftage mechanism and swinging boom, the executor passes through the driver is installed on the executor drive arrangement, driven drive bar with correspond the actuating bar gomphosis is connected.
The primary adjustment mechanical arm mechanism comprises a rocker arm and a vertical arm, the rocker arm is rotatably mounted on the rack, the vertical arm is slidably arranged on the rocker arm through a mechanical arm guide rail, a rotary lifting assembly is movably connected in the vertical arm and comprises a supporting block and a guide shaft, the top end of the guide shaft is rotatably connected with the supporting block, the bottom end of the guide shaft extends downwards to form the vertical arm and is connected with a stretching arm joint, a screw nut is connected onto the supporting block, a lifting screw is rotatably connected in the vertical arm and is matched with the screw nut and cannot be self-locked, the vertical arm is further connected with a counterweight balancing part, and the counterweight balancing part is used for balancing the weight borne by the supporting block.
The first end of the first stretching arm is rotatably connected to the bottom end of the guide shaft through the stretching arm joint, the first end of the second stretching arm is rotatably connected to the second end of the first stretching arm through the first stretching joint, the first end of the third stretching arm is rotatably connected to the second end of the second stretching arm through the second stretching joint, the second end of the third stretching arm is provided with a third stretching joint, and the actuator rotating device is rotatably connected to the second end of the third stretching arm through the third stretching joint; the relative rotation angles of the first extension joint, the second extension joint and the third extension joint are consistent.
Wherein the linear distance between the first extension joint and the second extension joint is L1The linear distance between the second extension joint and the third extension joint is L2The linear distance between the third extension joint and the sticking point of the actuator is L3Of the first extension joint with a sticking point of the actuatorLinear distance L4，L1＝L3，L2＝L4。
Wherein, still include: a surgical vision mechanism disposed above the main manipulator mechanism.
The scheme of the invention has the following beneficial effects:
the force feedback integrated minimally invasive surgical robot can achieve force feedback, a doctor can adjust the position of the tail end executing mechanism through the primary adjustment mechanical arm mechanism and the stretching arm mechanism before the operation starts, and meanwhile, the tail end can be adjusted in the operation and the actuator is kept still at the sticking point because the tail end of the robot is the far-end motion center mechanism; the doctor can perceive the force of end actuating mechanism feedback in the operation process, can effectually avoid the tissue to be scratched when the operation like this. The invention mainly realizes the force feedback by directly transmitting the force of the tail end actuating mechanism to the main manipulator mechanism through the power-assisted transmission mechanism. The end executing mechanism and the main manipulator mechanism are provided with two groups, each group has seven degrees of freedom, the seven degrees of freedom are transmitted to the top of the robot through the executing driving steel wire and are connected with the executing pre-tightening idler wheel of the horizontal transmission shaft and pre-tightened, meanwhile, the pulling force transmitted by the executing driving steel wire is converted into torque, then the torque is transmitted to the receiving pre-tightening idler wheel of the vertical transmission shaft through the 14 horizontal transmission shafts and the 14 bevel gear groups, the receiving pre-tightening idler wheel is connected to the seven degrees of freedom of each group of main manipulator through the receiving transmission steel wire, so that the force of the end executing mechanism is transmitted to the main manipulator, when the same main manipulator operates, the power-assisted transmission mechanism is driven, and the force of the main manipulator is transmitted to the end executing mechanism, so that the functions of stretching, shearing, overturning and the like required by the operation are realized.
Drawings
FIG. 1 is a schematic structural view of a force feedback integrated minimally invasive surgical robot of the present invention;
FIG. 2 is a first schematic structural diagram of a power transmission mechanism of the force feedback integrated minimally invasive surgical robot of the present invention;
FIG. 3 is a schematic structural view of a power transmission mechanism of the force feedback integrated minimally invasive surgery robot of the present invention;
FIG. 4 is a third schematic structural view of a power transmission mechanism of the force feedback integrated minimally invasive surgical robot of the present invention;
FIG. 5 is a fourth schematic structural view of a power transmission mechanism of the force feedback integrated minimally invasive surgical robot of the present invention;
FIG. 6 is a first structural diagram of a main manipulator mechanism of the force feedback integrated minimally invasive surgical robot of the present invention;
FIG. 7 is a schematic structural diagram of a main manipulator mechanism of the force feedback integrated minimally invasive surgical robot of the present invention;
FIG. 8 is a third schematic structural view of a main manipulator mechanism of the force feedback integrated minimally invasive surgical robot of the present invention;
FIG. 9 is a fourth structural diagram of the main manipulator mechanism of the force feedback integrated minimally invasive surgical robot of the present invention;
FIG. 10 is a schematic structural diagram of a main manipulator mechanism of the force feedback integrated minimally invasive surgical robot of the present invention;
FIG. 11 is a first structural diagram of an end effector of the force feedback integrated minimally invasive surgical robot of the present invention;
FIG. 12 is a schematic structural view of a second end effector of the force feedback integrated minimally invasive surgical robot of the present invention;
FIG. 13 is a third schematic structural view of an end effector mechanism of the force feedback integrated minimally invasive surgical robot of the present invention;
FIG. 14 is a fourth schematic structural view of an end effector mechanism of the force feedback integrated minimally invasive surgical robot of the present invention;
FIG. 15 is a fifth structural diagram of an end effector mechanism of the force feedback integrated minimally invasive surgical robot of the present invention;
FIG. 16 is a first schematic structural diagram of a first mechanical arm mechanism of the force feedback integrated minimally invasive surgical robot of the present invention;
FIG. 17 is a second schematic structural view of a primary adjustment mechanical arm mechanism of the force feedback integrated minimally invasive surgical robot of the present invention;
FIG. 18 is a first schematic structural diagram of an extending arm mechanism of the force feedback integrated minimally invasive surgical robot of the present invention;
FIG. 19 is a second schematic structural view of the force feedback integrated minimally invasive surgery robot extending arm mechanism of the present invention.
[ description of reference ]
1-a main manipulator mechanism; 2-a power-assisted transmission mechanism; 3, initially adjusting the mechanical arm mechanism; 4-extending the arm mechanism; 5-an end effector; 6-surgical vision mechanism; 10-hand shear joint; 11-wrist offset joints; 12-wrist flexion and extension joints; 13-forearm revolute joint; 14-forearm turnover joint; 15-elbow flexion and extension joints; 16-arm extension displacement driving device; 101-a finger activity device; 102-a palm positioning device; 103-a shearing rotating shaft; 104-a first rack device; 105-an offset spindle; 106-anterior ring device; 107-arm rest device; 108-curved male rail; 109-inner ring arc female guide rail; 110-outer ring arc female guide rail; 111-arc rack; 112-bevel gear; 113-a mandrel; 114-arm rest base; 115-a slide rail; 116-displacement drive shaft; 117-drive gear; 118-a drive rack; 119-a second stent device; 120-bending and stretching the shaft tube; 201-a frame; 202-vertical drive shaft; 203-horizontal transmission shaft; 204-receiving a transmission wire; 205-executing the driving wire; 206-receiving a pre-tightening roller; 207-executing pre-tightening rollers; 208-drive bevel gears; 301-a rocker arm; 302-vertical arm; 303-mechanical arm guide rails; 304-a support block; 305-a guide shaft; 306-a counterbalance gas spring; 401-extending arm joint; 402-a first extension arm; 403-a second extending arm; 404-a third extending arm; 405-a first extension joint; 406-a second extension joint; 407-a third extension joint; 408-a first wire group; 409-a second wire group; 50-an actuator rotation device; 51-actuator arc motion device; 52-actuator telescoping device; 53-actuator drive means; 54-an actuator; 501-a shear drive rod; 502-pitch drive rod; 503-yaw drive rod; 504-rotating the drive rod; 505-a driver; 506-a rotating arm; 507-rotating the driven driving rod; 508-yaw driven drive rod; 509-pitch driven drive rod; 510-cutting the driven drive rod; 511-yaw joint axis; 512-yaw drive wheel; 513-yaw joint; 514-pitch joint axis; 515-pitch drive wheels; 516-pitch joint; 517-first cutting finger; 518-second cut finger; 519-shearing week; 520-shear bevel gear.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The invention provides a force feedback integrated minimally invasive surgical robot, aiming at the problems that the existing master-slave separation type surgical robot occupies a large space and is difficult to effectively determine the structural position relation, feed back the stress condition and the like.
As shown in fig. 1, an embodiment of the present invention provides a force-feedback integrated minimally invasive surgical robot, including: the device comprises amain manipulator mechanism 1, a power-assistedtransmission mechanism 2, a primary adjustmentmechanical arm mechanism 3, anextension arm mechanism 4 and a tailend execution mechanism 5; the primary adjustmentmechanical arm mechanism 3, the extendingarm mechanism 4 and the tailend executing mechanism 5 are connected one by one, the primary adjustmentmechanical arm mechanism 3 is used for controlling the extendingarm mechanism 4 and the tailend executing mechanism 5 to rotate along the vertical direction, move along the horizontal direction and lift along the vertical direction, the extendingarm mechanism 4 has the degree of freedom of rotation relative to the primary adjustmentmechanical arm 3, and the extendingarm mechanism 4 is used for controlling the extending of the tail end executing mechanism; the mainoperating hand mechanism 1 is used for receiving hand movement of an operator or feeding back stress conditions of the tailend executing mechanism 5, and the mainoperating hand mechanism 1 is in transmission connection with the tailend executing mechanism 5 through the power-assistedtransmission mechanism 2; theend executing mechanism 5 drives and executes the motion received by themain manipulator mechanism 1 through the power-assistedtransmission mechanism 2.
According to the force feedback integrated minimally invasive surgical robot disclosed by the embodiment of the invention, before the operation is started, a doctor can adjust the position of the tail end executing mechanism through the primary adjustmentmechanical arm mechanism 3 and thestretching arm mechanism 4, and meanwhile, as the tail end of the robot is a far-end motion center mechanism, the tail end can be adjusted in the operation and the actuator is kept still at the sticking point; the doctor can perceive the force fed back by theend actuating mechanism 5 in the operation process, so that the tissues can be effectively prevented from being scratched in the operation process. The force feedback is realized mainly by directly transmitting the force of theend actuating mechanism 5 to themain manipulator mechanism 1 through a mechanical structure. Theend executing mechanisms 5 and the main manipulator are provided with two groups, each group has seven degrees of freedom, theend executing mechanisms 5 with seven degrees of freedom are transmitted to the seven degrees of freedom of themain manipulator mechanism 1 through the power-assistedtransmission mechanism 2, so that the force of theend executing mechanisms 5 is transmitted to themain manipulator mechanism 5, when the samemain manipulator mechanism 1 operates, the power-assistedtransmission mechanism 2 is driven, and the force of themain manipulator mechanism 1 is transmitted to theend executing mechanisms 5, so that the functions of stretching, shearing, overturning and the like required by an operation are realized.
As shown in fig. 2 to 5, thepower transmission mechanism 2 includes a frame and a plurality of transmission shaft sets, the plurality of transmission shaft sets are mounted on theframe 201, each transmission shaft set includes avertical transmission shaft 202 and ahorizontal transmission shaft 203, one end of thevertical transmission shaft 202 is in transmission connection with one end of thehorizontal transmission shaft 203, one end of thevertical transmission shaft 202 and one end of thehorizontal transmission shaft 203 are both provided with atransmission bevel gear 208, and thetransmission bevel gear 208 of thevertical transmission shaft 202 is engaged with thetransmission bevel gear 208 of thehorizontal transmission shaft 203; a group of receivingtransmission steel wires 204 are wound at the other end of eachvertical transmission shaft 202, and thevertical transmission shafts 202 are in transmission connection with themain manipulator mechanism 1 through the receivingtransmission steel wires 204; the other end of eachhorizontal transmission shaft 203 is wound with a group of execution drivingsteel wires 205, and thehorizontal transmission shaft 203 is in transmission connection with theend executing mechanism 5 through the execution drivingsteel wires 205.
The other end of thevertical transmission shaft 202 is provided with a receiving pre-tighteningroller 206, the receivingtransmission steel wire 204 is wound on the corresponding receiving pre-tighteningroller 206, the other end of thehorizontal transmission shaft 203 is provided with an executing pre-tighteningroller 207, and the executingdriving steel wire 205 is wound on the corresponding executing pre-tighteningroller 207.
The frame is located horizontal transmission shaft's end is provided with the mounting bracket, a plurality of steel wire length limit steps have been seted up to the bottom of mounting bracket, be provided with steel wire length restriction spring pipe in the steel wire length limit step, it wears to establish to carry out the drive steel wire in the steel wire length restriction spring pipe.
According to the force feedback integrated minimally invasive surgical robot in the above embodiment of the present invention, thevertical transmission shaft 202 and thehorizontal transmission shaft 203 are in meshing transmission through thetransmission bevel gear 208, when the receivingtransmission steel wire 204 drives the receiving pre-tighteningroller 206 to rotate, thevertical transmission shaft 202 drives thehorizontal transmission shaft 203 to rotate, and further drives the executing drivingsteel wire 204 to move through the executing pre-tighteningroller 207, so that the torque of the power-assistedtransmission mechanism 2 can be adjusted by adjusting the diameters of the receiving pre-tighteningroller 206 and the executing pre-tighteningroller 207.
Wherein, be provided withhand shearing joint 10,wrist skew joint 11, thewrist joint 12 that bends and stretches of wrist, forearmrotary joint 13, forearmupset joint 14 and theelbow joint 15 that connect one by one on the mainoperating hand mechanism 1, be provided with between forearmrotary joint 13 and theforearm upset joint 14 the flexibledisplacement drive arrangement 16 of arm,hand shearing joint 10,wrist skew joint 11, the wrist bend andstretch joint 12, forearmrotary joint 13, forearmupset joint 14, the elbow bend andstretch joint 15 and the flexibledisplacement drive arrangement 16 of arm all are connected with the correspondence receivetransmission steel wire 204.
As shown in fig. 6 to 10, in this embodiment, thehand cutting joint 10 is composed of afinger moving device 101 and apalm positioning device 102, thefinger moving device 101 is rotatably disposed on the top of thepalm positioning device 102 through a cutting rotatingshaft 103, and a set of receivingtransmission wires 204 are wound on the cutting rotatingshaft 103; thewrist offset joint 11 is composed of afirst bracket device 104 and thepalm positioning device 102, the rear end of thepalm positioning device 102 is rotatably arranged on the upper part of thefirst bracket device 104 through anoffset rotating shaft 105, and a group of receivingtransmission steel wires 204 are wound on theoffset rotating shaft 105; the wrist flexion-extension joint 12 is composed of ananterior ring device 106 and thefirst support device 104, the lower part of thefirst support device 104 is rotatably arranged at the bottom of the front end of theanterior ring device 106 through a wrist flexion-extension rotating shaft, and a group of receiving transmission steel wires are wound on the wrist flexion-extension rotating shaft; the forearmrotary joint 13 consists of anarm support device 107 and thefront ring device 106, an arc-shapedmale guide rail 108 is fixedly arranged on thearm support device 107, an inner ring arc-shapedfemale guide rail 109 and an outer ring arc-shapedfemale guide rail 110 are fixedly arranged at the rear end of thefront ring device 106, and the arc-shapedmale guide rail 108 is slidably arranged between the inner ring arc-shapedfemale guide rail 109 and the outer ring arc-shapedfemale guide rail 110; the arc-shapedmale guide rail 108 is provided with an arc-shaped rack 111 along the circumferential direction, thefront ring device 106 is rotatably provided with abevel gear 112, amandrel 113 penetrates through the center of thebevel gear 112, thebevel gear 112 is in meshing transmission with the arc-shaped rack 111, and a group of receivingtransmission steel wires 204 are wound on themandrel 113; the horizontaldisplacement driving device 16 comprises anarm support base 114 and thearm support device 107, thearm support device 107 is slidably arranged on thearm support base 114 through two sets ofslide rails 115, adisplacement driving shaft 116 is rotatably arranged on the side surface of thearm support base 114 in a penetrating manner, adriving gear 117 is arranged at the end of thedisplacement driving shaft 116, adriving rack 118 is arranged on the side surface of thearm support device 107, thedriving gear 117 is meshed with thedriving rack 118, and a set of receivingtransmission steel wires 204 is wound on thedisplacement driving shaft 116; theforearm turnover joint 14 is composed of asecond bracket device 119 and thearm support base 114, thearm support base 114 is rotatably connected to the upper part of thesecond bracket device 119 through a turnover shaft tube, and a group of receiving transmission steel wires are wound on the turnover shaft tube; the elbow flexion andextension joint 15 comprises asecond support device 119, the bottom of thesecond support device 119 is rotatably disposed through a flexion andextension shaft tube 120, and a group of receiving transmission steel wires is wound on the flexion andextension shaft tube 120.
As shown in fig. 11 to 15, theend effector 5 includes aneffector rotating device 50, an effectorarcuate movement device 51, aneffector telescoping device 52, and aneffector driving device 53, the effectorarcuate movement device 51 is disposed at the bottom of theeffector rotating device 50, theeffector telescoping device 52 is slidably disposed on the effectorarcuate movement device 51, theeffector driving device 53 is slidably disposed on theeffector telescoping device 52, theeffector driving device 52 is used for mounting aneffector 54, theeffector driving device 52 is provided with a plurality of driving rods, and theeffector rotating device 50, the effectorarcuate movement device 51, theeffector telescoping device 52, and the plurality of driving rods are respectively in transmission connection with the correspondingeffector driving wires 205.
The actuator arc-shaped motion device 51 is provided with an arc-shaped guide rail sliding block, the arc-shaped guide rail sliding block is slidably arranged on the actuator arc-shaped motion device 51, the arc-shaped guide rail sliding block is fixedly arranged on a rotating shaft of theactuator rotating device 50, the rotating shaft of theactuator rotating device 50 is connected with a group of execution drivingsteel wires 205, and theactuator rotating device 50 and the elbow flexion-extension joint 15 synchronously move; a group of execution drivingsteel wires 205 are connected and arranged at two ends of the arc guide rail sliding block, and the actuatorarc motion device 51 and theforearm turnover joint 14 move synchronously; theactuator telescoping device 52 is provided with a telescoping slider which is slidably arranged on theactuator telescoping device 52, two ends of the telescoping slider are connected with a group of actuatingdrive steel wires 205, and theactuator telescoping device 52 and the horizontaldisplacement drive device 16 move synchronously; theactuator driving device 53 is provided with ashearing driving rod 501, apitching driving rod 502, ayawing driving rod 503 and arotary driving rod 504, theshearing driving rod 501, thepitching driving rod 502, theyawing driving rod 503 and therotary driving rod 504 are all connected and provided with a set of execution drivingsteel wires 205, theshearing driving rod 501 and the hand shearing joint 10 move synchronously, thepitching driving rod 502 and the wrist flexion-extension joint 12 move synchronously, the yawing drivingrod 503 and the wrist offset joint 11 move synchronously, and therotary driving rod 504 and the forearmrotary joint 13 move synchronously.
Wherein,executor 54 includesdriver 505, cuts mechanism, every single move mechanism, driftage mechanism and swingingboom 506, it rotates one by one to cut mechanism, every single move mechanism, driftage mechanism and swingingboom 506 and connects, swingingboom 506 sets up rotatoryly in thedriver 505,driver 505 is provided with a plurality of driven actuating levers, and is a plurality of driven actuating lever pass through the steel wire respectively with it connects to cut mechanism, every single move mechanism, driftage mechanism and swingingboom 506,executor 54 passes throughdriver 505 is installed onexecutor drive arrangement 54, driven actuating lever with correspond the actuating lever is provided with sunken and protruding gomphosis each other and is connected.
A rotary driven driving rod 507, a yaw driven driving rod 508, a pitch driven driving rod 509 and a shear driven driving rod 510 are arranged in the driver, the tail end of the rotatingarm 506 is rotationally arranged in thedriver 505, and the rotatingarm 506 is in transmission connection with the rotary driven driving rod 507 of the driver through a steel wire; the yawing mechanism comprises a yawingjoint shaft 511, ayawing driving wheel 512 and ayawing joint 513, the yawingjoint shaft 511 is rotatably arranged at the head end of the rotatingarm 506 in a penetrating manner, the yawing drivingwheel 512 is fixedly sleeved on the yawingjoint shaft 511, theyawing joint 513 is fixedly arranged on the yawingjoint shaft 511, and theyawing driving wheel 512 is in transmission connection with a yawing driven driving rod 508 of thedriver 505 through a steel wire; the pitching mechanism comprises apitching joint shaft 514, apitching driving wheel 515 and apitching joint 516, thepitching joint shaft 514 is rotatably arranged on theyawing joint 513 in a penetrating manner, thepitching driving wheel 515 is fixedly sleeved on the pitchingjoint shaft 514, thepitching joint 516 is fixedly arranged on the pitchingjoint shaft 514, and thepitching driving wheel 515 is in transmission connection with a pitching driven driving rod 509 of thedriver 505 through a steel wire; the shearing mechanism comprises a first shearingfinger 517, a second shearingfinger 518, ashearing shaft 519 and ashearing bevel gear 520, wherein theshearing bevel gear 520 is in transmission connection with a shearing driven driving rod 510 of thedriver 505 through a steel wire; when theactuator 54 is mounted to theactuator drive device 53 via thedriver 505, the rotation driven drive lever 507, the yaw driven drive lever 508, the pitch driven drive lever 509, and the shear driven drive lever 510 are respectively fitted and connected to therotation drive lever 504, theyaw drive lever 503, thepitch drive lever 502, and theshear drive lever 501.
As shown in fig. 16 and 17, the primary adjustmentmechanical arm mechanism 3 includes arocker arm 301 and avertical arm 302, therocker arm 301 is rotatably mounted on theframe 201, thevertical arm 302 is slidably disposed on therocker arm 301 through a mechanicalarm guide rail 303, a rotary lifting assembly is movably connected in thevertical arm 302, the rotary lifting assembly includes asupport block 304 and aguide shaft 305, a top end of theguide shaft 305 is rotatably connected to thesupport block 304, a bottom end of theguide shaft 305 extends downward out of thevertical arm 302 and is connected to an extendingarm joint 401, thesupport block 304 is connected to a screw nut, the vertical arm is rotatably connected to a lifting screw, the lifting screw is matched with the screw nut and cannot be self-locked, the vertical arm is further connected to a counterweight balancing portion, the counterweight balancing portion is acounterweight gas spring 306, and a bottom end of thecounterweight gas spring 306 is connected to a housing of thevertical arm 302, the end of the piston rod of theweighted gas spring 306 is connected with the supportingblock 304, and the weighted balancing part is used for balancing the weight carried by the supportingblock 304; the rotary lifting assembly is provided with a corresponding locking structure.
As shown in fig. X, the initial adjustment mechanical arm mechanism, wherein therocker arm 301 is horizontally disposed, and has a degree of freedom that rotates relative to a vertical axis, and this degree of freedom drives the whole mechanical arm to rotate, so as to achieve a large adjustment of the whole mechanical arm, meet adjustment requirements of different patient sizes and different operation types, and simultaneously, can ensure space requirements of other mechanical arms during operations, and avoid interference and collision. Thevertical arm 302 has a degree of freedom b which can horizontally translate relative to the rack, the degree of freedom generally has a horizontal movement stroke of 200 mm-300 mm, and the degree of freedom a is matched with the degree of freedom a, so that the end instrument can better reach a specified surgical position, and the operation of the whole mechanical arm is more flexible. Thevertical arm 302 has a vertical telescopic c-degree of freedom through the rotary lifting assembly, and the telescopic degree of freedom enables the lower end structure connected with the joint to be adjusted in a small range in the vertical direction, so that the terminal instrument can be positioned accurately in the initial condition.
As shown in fig. 18 and 19, the extending arm mechanism 4 includes a first extending arm 402, a second extending arm 403, a third extending arm 404 and the extending arm joint 401, a first end of the first extending arm 402 is rotatably connected to the bottom end of the guide shaft 305 through the extending arm joint 401, a first end of the second extending arm 403 is rotatably connected to a second end of the first extending arm 402 through a first extending joint 405, a first end of the third extending arm 404 is rotatably connected to a second end of the second extending arm 403 through a second extending joint 406, a second end of the third extending arm 404 is provided with a third extending joint 407, and the actuator rotating device 50 is rotatably connected to the second end of the third extending arm 404 through the third extending joint 407; the first extension joint 405 and the second extension joint 406 are driven by a first steel wire group 408, the second extension joint 406 and the third extension joint 407 are driven by a second steel wire group 409, and the relative rotation angles of the first extension joint 405, the second extension joint 406 and the third extension joint 407 are consistent; the first steel wire group 408 and the second steel wire group 409 are both provided with corresponding locking structures.
Wherein the linear distance between the first extension joint 405 and the second extension joint 406 is L1The linear distance between the second extension joint 406 and the third extension joint 407 is L2The linear distance between the third extension joint 407 and the sticking point of theactuator 54 is L3The linear distance between the first extension joint 405 and the sticking point of the actuator is L4，L1＝L3，L2＝L4。
The force feedback integrated minimally invasive surgery robot provided by the embodiment of the invention is provided with a four-degree-of-freedom far-end motion center mechanism, wherein the four degrees of freedom are respectively as follows: a first degree of freedom, wherein thefirst extension arm 402 can rotate circumferentially relative to the extension arm joint 401; with the second degree of freedom, the poking point P of theactuator 54 and the three joints of the extendingarm mechanism 4 together form four end points of a parallelogram, and meanwhile, the double-parallelogram mechanism can be opened and closed with L1 being L3 and L2 being L4; a third degree of freedom, wherein the actuatorarc motion device 51 and theactuator 54 arranged below theactuator rotation device 50 can rotate around the bottom of theactuator rotation device 50; and theactuator 54 mounted on theactuator telescoping device 52 can rotate by taking the circle center of the actuator arc-shapedmotion device 51 as a fixed point. The first degree of freedom and the second degree of freedom are initial adjustment degrees of freedom and are used for adjusting the position of the mechanism in a large range before an operation, and the third degree of freedom and the fourth degree of freedom are adjustable degrees of freedom in the operation and can be matched with the actuator to complete various actions in the operation; the first degree of freedom realizes that the mechanism integrally rotates, so that the state of the mechanical arm is adjusted according to the operation requirement, and a poking point P of the actuator is kept still during adjustment; the second degree of freedom realizes that the stretching arm mechanism is unfolded and folded, so that the state of the mechanical arm is adjusted according to the operation requirement; theactuator 54 can perform conical rotary motion around the sticking point P, so as to realize the intraoperative actions of the actuator, such as large displacement of the tail end and large tissue stirring; through the actuator arc motion device, theactuator 54 rotates around the sticking point P, so as to realize the action of the actuator in the operation, such as large displacement of the tail end, large tissue stirring or twitching.
Wherein, still include: asurgical vision mechanism 6, wherein thesurgical vision mechanism 6 is arranged above themain manipulator mechanism 1.
According to the force feedback integrated minimally invasive surgery robot, the surgery vision mechanism is used for helping a doctor to observe the surgery proceeding situation in real time.
Claims (10)
1. A force-feedback integrated minimally invasive surgical robot, comprising:
the device comprises a main manipulator mechanism, a power-assisted transmission mechanism, a primary adjustment mechanical arm mechanism, an extension arm mechanism and a tail end execution mechanism;
the primary adjustment mechanical arm mechanism, the stretching arm mechanism and the tail end executing mechanism are connected one by one, the primary adjustment mechanical arm mechanism is used for controlling the stretching arm mechanism and the tail end executing mechanism to rotate along the vertical direction, move along the horizontal direction and lift along the vertical direction, the stretching arm mechanism has a degree of freedom relative to the rotation of the primary adjustment mechanical arm, and the stretching arm mechanism is used for controlling the stretching of the tail end executing mechanism; the main manipulator mechanism is used for receiving hand movement of an operator or feeding back stress conditions of the tail end executing mechanism, and is in transmission connection with the tail end executing mechanism through the power-assisted transmission mechanism; the tail end executing mechanism drives and executes the motion received by the main manipulator mechanism through the power-assisted transmission mechanism.
2. The force-feedback integrated minimally invasive surgical robot according to claim 1, wherein the power-assisted transmission mechanism comprises a frame and a plurality of transmission shaft groups, the transmission shaft groups are mounted on the frame, each transmission shaft group comprises a vertical transmission shaft and a horizontal transmission shaft, and one end of the vertical transmission shaft is in transmission connection with one end of the horizontal transmission shaft; a group of receiving transmission steel wires are wound at the other end of each vertical transmission shaft, and the vertical transmission shafts are in transmission connection with the main manipulator mechanism through the receiving transmission steel wires; every the other end of horizontal transmission shaft all is around being equipped with a set of execution drive steel wire, horizontal transmission shaft pass through execution drive steel wire with end actuating mechanism transmission is connected.
3. The force feedback integrated minimally invasive surgery robot according to claim 2, wherein receiving pre-tightening rollers are arranged at the other ends of the vertical transmission shafts, receiving transmission steel wires are wound on the corresponding receiving pre-tightening rollers, executing pre-tightening rollers are arranged at the other ends of the horizontal transmission shafts, and executing driving steel wires are wound on the corresponding executing pre-tightening rollers.
4. The force-feedback integrated minimally invasive surgery robot according to claim 3, wherein a hand shearing joint, a wrist offset joint, a wrist flexion-extension joint, a forearm rotation joint, a forearm turning joint and an elbow flexion-extension joint which are connected one by one are arranged on the main operating hand mechanism, the arm stretching displacement driving device is arranged between the forearm rotation joint and the forearm turning joint, and the hand shearing joint, the wrist offset joint, the wrist flexion-extension joint, the forearm rotation joint, the forearm turning joint, the elbow flexion-extension joint and the arm stretching displacement driving device are connected with the corresponding receiving transmission steel wires.
5. The force feedback integrated minimally invasive surgical robot according to claim 4, wherein the end effector comprises an effector rotating device, an effector arc-shaped moving device, an effector telescoping device and an effector driving device, the effector arc-shaped moving device is arranged at the bottom of the effector rotating device, the effector telescoping device is slidably arranged on the effector arc-shaped moving device, the effector driving device is slidably arranged on the effector telescoping device, the effector driving device is used for installing an effector, a plurality of driving rods are arranged on the effector driving device, and the effector rotating device, the effector arc-shaped moving device, the effector telescoping device and the plurality of driving rods are in transmission connection with the corresponding actuating driving wires respectively.
6. The force feedback integrated minimally invasive surgical robot according to claim 5, wherein the actuator comprises a driver, a shearing mechanism, a pitching mechanism, a yawing mechanism and a rotating arm, the shearing mechanism, the pitching mechanism, the yawing mechanism and the rotating arm are connected in a rotating manner one by one, the rotating arm is rotatably arranged in the driver, the driver is provided with a plurality of driven driving rods, the driven driving rods are respectively connected with the shearing mechanism, the pitching mechanism, the yawing mechanism and the rotating arm through steel wires, the actuator is mounted on the actuator driving device through the driver, and the driven driving rods are connected with the corresponding driving rods in an embedded manner.
7. The force-feedback integrated minimally invasive surgical robot according to claim 5, the primary adjustment mechanical arm mechanism comprises a rocker arm and a vertical arm, the rocker arm is rotationally arranged on the rack, the vertical arm is arranged on the rocker arm in a sliding way through a mechanical arm guide rail, a rotary lifting component is movably connected in the vertical arm, the rotary lifting component comprises a supporting block and a guide shaft, the top end of the guide shaft is rotatably connected with the supporting block, the bottom end of the guide shaft extends downwards to form the vertical arm and is connected with the extending arm joint, the support block is connected with a screw nut, a lifting screw rod is rotationally connected in the vertical arm and is matched with the screw rod nut, and can not be self-locked, the vertical arm is also connected with a counterweight balancing part, and the counterweight balancing part is used for balancing the weight born by the supporting block.
8. The force feedback integrated minimally invasive surgical robot according to claim 7, wherein the extending arm mechanism comprises a first extending arm, a second extending arm, a third extending arm and the extending arm joint, a first end of the first extending arm is rotatably connected to the bottom end of the guide shaft through the extending arm joint, a first end of the second extending arm is rotatably connected to a second end of the first extending arm through a first extending joint, a first end of the third extending arm is rotatably connected to a second end of the second extending arm through a second extending joint, a second end of the third extending arm is provided with a third extending joint, and the actuator rotating device is rotatably connected to a second end of the third extending arm through the third extending joint; the relative rotation angles of the first extension joint, the second extension joint and the third extension joint are consistent.
9. The force-feedback integrated minimally invasive surgical robot according to claim 8, wherein the first extension joint and the second extension joint are at a linear distance L1The linear distance between the second extension joint and the third extension joint is L2The linear distance between the third extension joint and the sticking point of the actuator is L3The linear distance between the first extension joint and the sticking point of the actuator is L4，L1＝L3，L2＝L4。
10. The force-feedback integrated minimally invasive surgical robot of claim 1, further comprising: a surgical vision mechanism disposed above the main manipulator mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111183829.6ACN113729969B (en) | 2021-10-11 | 2021-10-11 | Force feedback integrated minimally invasive surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111183829.6ACN113729969B (en) | 2021-10-11 | 2021-10-11 | Force feedback integrated minimally invasive surgical robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113729969Atrue CN113729969A (en) | 2021-12-03 |
| CN113729969B CN113729969B (en) | 2023-05-16 |
Family
ID=78726375
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111183829.6AActiveCN113729969B (en) | 2021-10-11 | 2021-10-11 | Force feedback integrated minimally invasive surgical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113729969B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113787512A (en)* | 2021-10-13 | 2021-12-14 | 中南大学 | Arc motion steel wire rope driving mechanism |
| CN114474146A (en)* | 2022-03-02 | 2022-05-13 | 中南大学 | Seven degrees of freedom master manipulator robotic arm |
| CN119257754A (en)* | 2024-12-04 | 2025-01-07 | 中南大学 | A master-slave operation surgical robot system with force feedback |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140276952A1 (en)* | 1999-09-17 | 2014-09-18 | Intuitive Surgical Operations, Inc. | System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement |
| CN109009443A (en)* | 2018-08-15 | 2018-12-18 | 苏州大学张家港工业技术研究院 | Abdominal minimally invasive surgery robot |
| CN110996825A (en)* | 2017-07-13 | 2020-04-10 | 直观外科手术操作公司 | System and method for switching control between multiple instrument arms |
| CN111386085A (en)* | 2017-10-02 | 2020-07-07 | 直观外科手术操作公司 | End effector force feedback to main controller |
| CN111839740A (en)* | 2020-07-07 | 2020-10-30 | 天津大学 | Master-slave isomorphic teleoperated force feedback master hand of minimally invasive surgical robot |
| WO2020263629A1 (en)* | 2019-06-27 | 2020-12-30 | Auris Health, Inc. | Systems and methods for a medical clip applier |
| US20210145530A1 (en)* | 2019-11-14 | 2021-05-20 | Intuitive Surgical Operations, Inc. | Direct drive for mechanical arm assembly |
- 2021
- 2021-10-11CNCN202111183829.6Apatent/CN113729969B/enactiveActive
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140276952A1 (en)* | 1999-09-17 | 2014-09-18 | Intuitive Surgical Operations, Inc. | System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement |
| CN110996825A (en)* | 2017-07-13 | 2020-04-10 | 直观外科手术操作公司 | System and method for switching control between multiple instrument arms |
| CN111386085A (en)* | 2017-10-02 | 2020-07-07 | 直观外科手术操作公司 | End effector force feedback to main controller |
| CN109009443A (en)* | 2018-08-15 | 2018-12-18 | 苏州大学张家港工业技术研究院 | Abdominal minimally invasive surgery robot |
| WO2020263629A1 (en)* | 2019-06-27 | 2020-12-30 | Auris Health, Inc. | Systems and methods for a medical clip applier |
| US20210145530A1 (en)* | 2019-11-14 | 2021-05-20 | Intuitive Surgical Operations, Inc. | Direct drive for mechanical arm assembly |
| CN111839740A (en)* | 2020-07-07 | 2020-10-30 | 天津大学 | Master-slave isomorphic teleoperated force feedback master hand of minimally invasive surgical robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113787512A (en)* | 2021-10-13 | 2021-12-14 | 中南大学 | Arc motion steel wire rope driving mechanism |
| CN114474146A (en)* | 2022-03-02 | 2022-05-13 | 中南大学 | Seven degrees of freedom master manipulator robotic arm |
| CN119257754A (en)* | 2024-12-04 | 2025-01-07 | 中南大学 | A master-slave operation surgical robot system with force feedback |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113729969B (en) | 2023-05-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113729969A (en) | Force feedback integrated minimally invasive surgery robot | |
| JP7522777B2 (en) | Computer-aided medical system and method | |
| JP5715304B2 (en) | Mechanical remote control device for remote control | |
| CN112168359B (en) | Main hand clamping control device, main operating hand and minimally invasive surgery robot | |
| EP2429441B1 (en) | Remote centre of motion positioner | |
| US7043338B2 (en) | Manipulator | |
| KR102206647B1 (en) | Robot arm structure and manipulator for surgical robot comprising the same | |
| CN101444431B (en) | Three-dimensional force feedback master manipulator of assisted minimally invasive surgical robot | |
| CN109091238B (en) | Split type minimally invasive surgical instrument auxiliary system | |
| JP2020036920A (en) | Systems and methods for proximal control of surgical instruments | |
| CN107184275A (en) | A kind of robot for being used to aid in splanchnocoel Minimally Invasive Surgery | |
| CN209464087U (en) | A kind of laparoscope machinery holds mirror arm | |
| CN113749784B (en) | Force Feedback Transmission System of Surgical Robot | |
| CN100336640C (en) | Secondary manipulator of surgery operation robot | |
| CN106109017A (en) | Grasping force control in robotic surgery apparatus | |
| CN110179543A (en) | A laparoscopic surgery robot | |
| CN107683120A (en) | Operation manipulator | |
| DE102019201277A1 (en) | Device for guiding a medical flexible shaft | |
| CN113752280B (en) | Seven degrees of freedom decoupling master manipulator | |
| CN112370168A (en) | Minimally invasive surgery robot system | |
| CN111195155A (en) | Eight-degree-of-freedom minimally invasive surgery robot | |
| WO2019212583A2 (en) | Computer-assisted tele-operated surgery systems and methods | |
| CN116616995A (en) | Fundus blood vessel injection device and control method | |
| CN210228310U (en) | Laparoscopic surgery robot | |
| CN114474146A (en) | Seven degrees of freedom master manipulator robotic arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |