Force feedback main hand end effectorTechnical Field
The invention relates to the technical field of minimally invasive surgical robots, in particular to a force feedback main hand end effector.
Background
The robot-assisted minimally invasive surgery (RMIS) has the advantages of small trauma, accurate operation, difficult fatigue of doctors and quick recovery, and is widely applied to the surgery.
Minimally invasive surgical robots generally include an imaging system, a patient surgical platform, and a doctor console. The doctor sits on a doctor console for operation, and the surgical instruments and the three-dimensional high-definition endoscope are controlled through a main operation hand and a group of pedals. When the control system works, the control system collects pose signals sent by the master hand in real time and sends the pose signals to the slave hand according to a certain proportion, so that the slave hand reproduces the operation of a doctor, meanwhile, the slave hand transmits force information and pose information back to the control system in real time, and the control system sends the force information and the pose information to the master hand after processing, so that closed-loop control and force feedback are realized.
The main hand end effector is used for operating the surgical instrument, and a doctor is sleeved with fingers into the adhesive tape to operate the end effector, so that the surgical instrument is controlled to perform operations such as suturing and knotting, the stability degree, the flexibility degree and the accuracy degree of force feedback of the operation are directly influenced on the surgical quality, and therefore, the main hand end effector structure for improving the flexibility, the stability and the more accurate force feedback of the minimally invasive surgical robot during work is lacking at present.
Disclosure of Invention
The invention aims to provide a force feedback main hand end effector, which solves the problems of the prior art and can improve the flexibility, the stability and the more accurate force feedback of a minimally invasive surgery robot during working.
In order to achieve the above object, the present invention provides the following solutions:
The invention provides a force feedback main hand end effector which comprises a first L-shaped rod part, a second L-shaped rod part and a third L-shaped rod part, wherein the first L-shaped rod part is arranged on a second bevel gear shaft in the second L-shaped rod part, the second L-shaped rod part is arranged on a third bevel gear shaft in the third L-shaped rod part, the first L-shaped rod part comprises a handle part, a linear transmission part and a rotary transmission part, the linear transmission part can transmit opening and closing operations of the handle part to a surgical instrument after being processed by a control system so as to enable the surgical instrument to perform the same opening and closing operations, the rotary transmission part can transmit the rotary operations of the handle part to the surgical instrument after being processed by the control system so as to enable the surgical instrument to perform the same rotary operations, the second L-shaped rod part can transmit the rotary operations of the first L-shaped rod part to the surgical instrument after being processed by the control system so as to enable the surgical instrument to perform the same rotary operations, the first L-shaped rod part rotates to be a left and right rotary operations relative to the handle part, the third L-shaped rod part can transmit the rotary operation information to the surgical instrument after being processed by the control system so as to enable the second L-shaped rod part to perform the axial operations relative to the surgical instrument to perform the same operations.
The handle part comprises a second mounting seat, a handle, a first cushion block, a first bearing, a second bearing, a connecting rod, a third bearing, a transition plate, a linear bearing, a base plate and an adhesive tape, wherein the adhesive tape is connected with the base plate through a screw, the base plate is connected with the handle through a screw, the second bearing is in interference fit with the handle and is embedded into a middle through hole of the handle, the first bearing is embedded into the handle head through hole, two sides of the first bearing are respectively contacted with one cushion block, the second bearing is fixedly embedded into the second mounting seat head, the third bearing is in interference fit with the transition plate and is embedded into the transition plate, the inner ring of the third bearing is fixedly in interference fit with the connecting rod, and the linear bearing is embedded into the bottom of the mounting seat and can drive the transition plate to perform axial linear motion through opening and closing movement of the handle.
The linear transmission part comprises a central shaft, a shaft sleeve, a fourth bearing, a shaft sleeve end cover, a second cushion block, a mounting plate, a fifth bearing, a guide wheel, a support, a gasket, a sixth bearing, a wire guide wheel, a wire pre-tightening block, a steel wire, a first motor and a wire barrel, wherein the first motor is fixed at the tail part of the first mounting seat through a screw, the wire barrel is fixed on a motor shaft through a jackscrew, two sides of the sixth bearing, which are embedded in the wire guide wheel, are respectively contacted with one gasket and together are fixedly embedded in the head part of the support, the support is fixed with the first mounting seat through a screw, the bottom of the second cushion block is contacted with the first mounting seat, the top of the second cushion block is contacted with the mounting plate, the mounting plate is fixed on the first mounting seat through the screw and the pin, the fifth bearing is in interference fit with the guide wheel, the inner ring of the fifth bearing is fixed with the mounting plate through the screw, the inner ring of the fourth bearing is contacted with the tail end of the central shaft and is compressed by a nut, the outer ring of the fourth bearing is embedded in the shaft sleeve, the shaft sleeve is compressed by the screw, the shaft sleeve is fixed on the shaft sleeve through the screw, the central shaft passes through the linear bearing, the transition plate is fixed with the pin, one end of the transition plate is passed through the motor through one end of the shaft sleeve and passes through the wire pre-tightening block, the other end cover passes through the wire guide wheel, and the wire pre-tightening block is fixed on the other end sleeve, and the other side of the wire guide wheel is also passed through the guide wheel, and the wire is fixed on the other side, and can be in turn, and the guide wheel, and the guide part is and when the guide, and the angle, and can be fixed by when the speed or when the speed and is and the speed and is when.
The seventh bearing is embedded into the first mounting seat and is tightly pressed by the first bearing end cover, the first bearing end cover is fixed on the first mounting seat through a screw, the seventh bearing inner ring is contacted with the bottom of the second mounting seat and is tightly pressed by the big bevel gear, the big bevel gear is fixed on the second mounting seat through a screw, the second motor is fixed with the first mounting seat through a screw, the small bevel gear is fixed on a motor shaft through a screw, the big bevel gear is meshed with the small bevel gear, the first end cover is fixed with the first mounting seat through interference fit, the first shell is fixed on the first mounting seat through a screw, and when the handle part rotates, operations such as angle data reading and force feedback providing are performed on the motor through gear transmission.
The second L-bar part comprises a third mounting seat, a second shell, a second end cover, a first limiting pin, a third motor, a first bevel gear shaft, an eighth bearing, a ninth bearing and a second bearing end cover, wherein the ninth bearing is embedded into the bottom of the third mounting seat, an inner ring of the ninth bearing is contacted with the bottom of the first bevel gear shaft, the top of the first bevel gear shaft is contacted with an inner ring of the eighth bearing, the eighth bearing is embedded into the top of the third mounting seat and is tightly pressed by the second bearing end cover, the second bearing end cover is fixed on the third mounting seat through a screw, the third motor is fixed with the third mounting seat through a screw, the first bevel gear is fixed on a motor shaft through a screw, the first bevel gear is meshed with the first bevel gear shaft, the first limiting pin is fixed on the third mounting seat through an interference fit, the top of the first bevel gear shaft is embedded into the left side of the first mounting seat and is fixed through a screw, when the first L-bar part rotates, the angle data is read and feedback force is provided for the motor through gear transmission.
Optionally, the third L-bar part comprises a fourth mounting seat, a third shell, a third end cover, a second limiting pin, a fourth motor, a second bevel gear shaft, a tenth bearing, an eleventh bearing and a third bearing end cover, wherein the eleventh bearing is embedded in the bottom of the fourth mounting seat, an eleventh bearing inner ring is contacted with the bottom of the second bevel gear shaft, the top of the second bevel gear shaft is contacted with an tenth bearing inner ring, the tenth bearing is embedded in the top of the fourth mounting seat, the third bearing end cover is pressed by the third bearing end cover, the third bearing end cover is fixed on the fourth mounting seat through a screw, the fourth motor is fixed with the fourth mounting seat through a screw, the second bevel gear is fixed on a motor shaft through a screw, the second bevel gear is meshed with the second bevel gear shaft, the second limiting pin penetrates through the third bearing end cover and is fixed with the fourth mounting seat through an interference fit, the third shell is fixed on the fourth mounting seat through a screw, the top of the second bevel gear shaft is embedded in the left side of the third mounting seat and is fixed through a screw, when the second L-bar part rotates, the motor is driven by a gear to conduct angle reading and feedback data operation and the like.
Compared with the prior art, the invention has the following technical effects:
According to the invention, four motors are adopted to provide three-degree-of-space and one-opening-and-closing-degree-of-freedom gesture information, so that the gesture separation from the main manipulator is realized, and the whole modeling calculation of the main manipulator is simpler and more convenient. The invention adopts the silk transmission to transmit the opening and closing information of the surgical instrument, and compared with the traditional gear transmission, the transmission precision is higher, thereby realizing more accurate force feedback. According to the invention, through the radial supporting function of the guide wheel and the cooperation of the linear bearing, the stability of the central shaft during translation is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of the first L-bar portion of the present invention;
FIG. 3 is a schematic view of the handle portion of the present invention;
FIG. 4 is a cross-sectional view of a handle portion of the present invention;
FIG. 5 is a cross-sectional view of a first L-bar section of the present invention;
FIG. 6 is a partial schematic view of a wire drive portion of the present invention;
FIG. 7 is a second schematic illustration of a portion of a wire drive portion of the present invention;
FIG. 8 is a partial cross-sectional view of a wire drive portion of the present invention;
FIG. 9 is a schematic view of the structure of a second L-bar portion of the present invention;
FIG. 10 is a schematic view of the structure of a third L-bar portion of the present invention;
Reference numerals illustrate: 1 is a first L-shaped rod part, 1-1 is a first mounting seat, 1-2 is a first shell, 1-3 is a first end cover, 1-4 is a handle part, 1-4-1 is a second mounting seat, 1-4-2 is a handle, 1-4-3 is a first cushion block, 1-4-4 is a first bearing, 1-4-5 is a second bearing, 1-4-6 is a connecting rod, 1-4-7 is a third bearing, 1-4-8 is a transition plate, 1-4-9 is a linear bearing, 1-4-10 is a base plate, 1-4-11 is a sticky tape, 1-5 is a linear transmission part, 1-5-1 is a central shaft, 1-5-2 is a shaft sleeve 1-5-3 is a fourth bearing, 1-5-4 is a sleeve end cover, 1-5-5 is a second cushion block, 1-5-6 is a mounting plate, 1-5-7 is a fifth bearing, 1-5-8 is a guide wheel, 1-5-9 is a bracket, 1-5-10 is a gasket, 1-5-11 is a sixth bearing, 1-5-12 is a wire guide wheel, 1-5-13 is a wire pre-tightening block, 1-5-14 is a steel wire, 1-5-15 is a first motor, 1-5-16 is a wire cylinder, 1-6 is a rotary transmission part, 1-6-1 is a seventh bearing, 1-6-2 is a first bearing end cover, 1-6-3 is a large bevel gear, 1-6-4 is a bevel pinion, 1-6-5 is a second motor, 2 is a second L-shaped rod part, 2-1 is a third mounting seat, 2-2 is a second shell, 2-3 is a second end cover, 2-4 is a first limiting pin, 2-5 is a third motor, 2-6 is a first bevel gear, 2-7 is a first bevel gear shaft, 2-8 is an eighth bearing, 2-9 is a ninth bearing, 2-10 is a second bearing end cover, 3 is a third L-shaped rod part, 3-1 is a fourth mounting seat, 3-2 is a third shell, 3-3 is a third end cover, 3-4 is a second limiting pin, 3-5 is a fourth motor, 3-6 is a second bevel gear, 3-7 is a second bevel gear shaft, 3-8 is a tenth bearing, 3-9 is an eleventh bearing, and 3-10 is a third bearing end cover.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a force feedback main hand end effector, which solves the problems of the prior art and can improve the flexibility, the stability and the more accurate force feedback of a minimally invasive surgery robot during working.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Referring to fig. 1, a schematic overall structure of a force feedback main hand end effector of the present invention is shown, and the device is used for a main manipulator end gesture part of a minimally invasive surgery robot, and the structure of the device comprises a first L-bar part 1, a second L-bar part 2 and a third L-bar part 3.
As shown in fig. 1 and 2, the first L-bar portion 1 includes a first mount 1-1, a first housing 1-2, a first end cap 1-3, a handle portion 1-4, a linear transmission portion 1-5, and a rotation transmission portion 1-6.
As shown in fig. 3 and 4, the handle portion 1-4 includes a second mount 1-4-1, a grip 1-4-2, a first pad 1-4-3, a first bearing 1-4-4, a second bearing 1-4-5, a link 1-4-6, a third bearing 1-4-7, a transition plate 1-4-8, a linear bearing 1-4-9, a pad 1-4-10, and an adhesive tape 1-4-11. The adhesive tape 1-4-11 is connected with the backing plate 1-4-10 through a screw, the backing plate 1-4-10 is connected with the handle 1-4-2 through a screw, the second bearing 1-4-5 is in interference fit with the handle 1-4-2 and is embedded into a middle through hole of the handle 1-4-2, the first bearing 1-4-4 is embedded into a head through hole of the handle 1-4-2, two sides of the first bearing are respectively contacted with one cushion block 1-4-3 and are embedded into the head of the second mounting seat 1-4-1 together, the first bearing and the third bearing are fixed through pins, the third bearing 1-4-7 is in interference fit with the transition plate 1-4-8 and is embedded into the transition plate 1-4-8, an inner ring of the third bearing 1-4-7 is fixed through interference fit with the connecting rod 1-4-6, and the linear bearing 1-4-9 is embedded into the bottom 1-4-1 of the mounting seat.
As shown in figures 2 and 5-8, the linear transmission part 1-5 mainly comprises a central shaft 1-5-1, a shaft sleeve 1-5-2, a fourth bearing 1-5-3, a shaft sleeve end cover 1-5-4, a second cushion block 1-5-5, a mounting plate 1-5-6, a fifth bearing 1-5-7, a guide wheel 1-5-8, a bracket 1-5-9, a gasket 1-5-10, a sixth bearing 1-5-11, a wire guide wheel 1-5-12, a wire pre-tightening block 1-5-13, a wire 1-5-14, a first motor 1-5-15 and a wire cylinder 1-5-16, wherein the first motor 1-5-15 is fixed at the tail part of the first mounting seat 1-1 through screws, the wire cylinder 1-5-16 is fixed on a motor shaft through jackscrews, two sides of a sixth bearing 1-5-11 embedded into a wire guide wheel 1-5-12 are respectively contacted with a gasket 1-5-10, the two sides are embedded into the head of a bracket 1-5-9 together, the two parts are fixed by pins, the bracket 1-5-9 and a first mounting seat 1-1 are fixed by screws, the bottom of a second cushion block 1-5-5 is contacted with the first mounting seat 1-1, the top of the second cushion block 1-5-5 is contacted with a mounting plate 1-5-6, the mounting plate 1-5-6 is fixed on the first mounting seat 1-1 by screws and pins, the fifth bearing 1-5-7 is in interference fit with the guide wheel 1-5-8 and is embedded into the guide wheel 1-5-8, the inner rings of the fifth bearings 1-5-7 are fixed with the mounting plates 1-5-6 in an interference fit manner, the inner rings of the two fourth bearings 1-5-3 are contacted with the tail end of the central shaft 1-5-1, the inner rings are compressed by nuts, the outer rings of the fourth bearings 1-5-3 are embedded into the shaft sleeve 1-5-2, the shaft sleeve end covers 1-5-4 are compressed by the shaft sleeve end covers 1-5-4, the shaft sleeve end covers 1-5-4 are fixed on the shaft sleeve 1-5-2 through screws, the central shaft 1-5-1 passes through the linear bearings 1-4-9 and is fixed with the transition plates 1-4-8 through pins, one end of the steel wire 1-5-14 passes through and is fixed on the shaft sleeve 1-5-2, the other end of the steel wire passes through the wire guide wheel 1-5-12 and is fixed on the wire pre-tightening block 1-5-13, the wire pre-tightening block 1-5-13 is fixed on the shaft sleeve 1-5-2 through screws, pre-tightening of the steel wire is realized through tightening screws, and the other side of the shaft sleeve 1-5-2 is contacted with the guide wheel 1-5-8. When the handle part 1-4 is opened and closed, the central shaft 1-5-1 is driven to axially move through the connecting rod 1-4-6, meanwhile, the stability of the axial movement is guaranteed through the linear bearing 1-4-9 and the guide wheel 1-5-8, vibration in the movement process is reduced, the linear movement of the central shaft 1-5-1 is converted into the rotary movement of the wire cylinder 1-5-16 through the steel wire, an opening and closing angle is read by an encoder on the first motor 1-5-15 and is sent to the control system, the control system processes the opening and closing angle and then sends the opening and closing angle to the surgical instrument, the surgical instrument is enabled to perform the same opening and closing operation, meanwhile, the force information sent to the control system by the surgical instrument can be sent to the first motor 1-5-15 after being processed, the first motor 1-5-15 provides a certain transmission resistance for the central shaft 1-5-1 through wire transmission, and the clamping force of the surgical instrument end is fed back.
As shown in fig. 2 and 5, the rotary transmission part 1-6 mainly comprises a seventh bearing 1-6-1, a first bearing end cover 1-6-2, a large bevel gear 1-6-3, a small bevel gear 1-6-4 and a second motor 1-6-5, wherein the seventh bearing 1-6-1 is embedded in the first mounting seat 1-1, is tightly pressed by the first bearing end cover 1-6-2, the first bearing end cover 1-6-2 is fixed on the first mounting seat 1-1 through a screw, an inner ring of the seventh bearing 1-6-1 is contacted with the bottom of the second mounting seat 1-4-1, is tightly pressed by the large bevel gear 1-6-3, the large bevel gear 1-6-3 is fixed on the second mounting seat 1-4-1 through a screw, the second motor 1-6-5 is fixed on the first mounting seat 1-1 through a screw, the small bevel gear 1-6-4 is fixed on the motor shaft through a screw, the large bevel gear 1-6-3 is meshed with the small bevel gear 1-6-4, the first end cover 1-3 is in interference fit with the first mounting seat 1-4, and is fixed on the first housing 1-2 through the first housing 1-1. The large bevel gear 1-6-3 rotates simultaneously with the handle part 1-4, the small bevel gear 1-6-4 is used for transmitting the rotation angle to the second motor 1-6-5, an encoder on the second motor 1-6-5 reads the rotation angle and transmits the rotation angle to the control system, the control system processes the rotation angle and transmits the rotation angle to the surgical instrument, the surgical instrument performs the same rotation operation, meanwhile, the force information transmitted to the control system by the surgical instrument can also be transmitted to the second motor 1-6-5 after being processed, and the second motor 1-6-5 provides certain transmission resistance for the handle part 1-4 through gear transmission so as to realize force feedback of the surgical instrument end.
As shown in fig. 9, the second L-shaped shaft portion 2 mainly includes a third mounting seat 2-1, a second housing 2-2, a second end cap 2-3, a first stopper pin 2-4, a third motor 2-5, a first bevel gear 2-6, a first bevel gear shaft 2-7, an eighth bearing 2-8, a ninth bearing 2-9 and a second bearing end cap 2-10, the ninth bearing 2-9 is embedded in the bottom of the third mounting seat 2-1, an inner ring of the ninth bearing 2-9 contacts with the bottom of the first bevel gear shaft 2-7, the top of the first bevel gear shaft 2-7 contacts with the inner ring of the eighth bearing 2-8, the eighth bearing 2-8 is embedded in the top of the third mounting seat 2-1, the third motor 2-5 is pressed by the second bearing end cap 2-10, the second bearing end cap 2-10 is fixed on the third mounting seat 2-1 by screws, the first bevel gear shaft 2-6 is fixed on the motor shaft 2-6 by screws, the first bevel gear shaft 2-6 contacts with the first bevel gear shaft 2-7 contacts with the inner ring of the eighth bearing 2-8, the first bevel gear shaft 2-7 is meshed with the first outer cap 2-1 by the first stopper pin 2-10, and the first stopper pin 2-1 is embedded in the top of the third mounting seat 2-1 by the third housing 2-1. The first L-shaped rod part 1 and the first bevel gear shaft 2-7 rotate simultaneously, the first bevel gear 2-6 is used for transmitting the rotation angle to the third motor 2-5, an encoder on the third motor 2-5 reads the rotation angle and transmits the rotation angle to the control system, the control system processes the rotation angle and transmits the rotation angle to the surgical instrument, the surgical instrument performs the same rotation operation, meanwhile, the force information transmitted to the control system by the surgical instrument can also be transmitted to the third motor 2-5 after being processed, the third motor 2-5 provides certain transmission resistance for the first L-shaped rod part 1 through gear transmission so as to realize force feedback of the surgical instrument end, and the rotation of the first L-shaped rod part 1 is left and right rotation operation relative to the axial direction of the handle part.
As shown in fig. 10, the third L-shaped rod portion 3 mainly includes a fourth mount 3-1, a third housing 3-2, a third end cap 3-3, a second stopper pin 3-4, a fourth motor 3-5, a second bevel gear 3-6, a second bevel gear shaft 3-7, a tenth bearing 3-8, an eleventh bearing 3-9 and a third bearing end cap 3-10, the eleventh bearing 3-9 is embedded in the bottom of the fourth mount 3-1, an inner ring of the eleventh bearing 3-9 contacts with the bottom of the second bevel gear shaft 3-7, the top of the second bevel gear shaft 3-7 contacts with the inner ring of the tenth bearing 3-8, the tenth bearing 3-8 is embedded in the top of the fourth mount 3-1, the third bearing end cap 3-10 is compressed by the third bearing end cap 3-10, the third bearing end cap 3-10 is fixed on the fourth mount 3-1 by a screw, the fourth motor 3-5 is fixed with the fourth mount 3-1 by a screw, the second bevel gear 3-6 is fixed on the motor shaft by a screw, the second bevel gear shaft 3-6 is meshed with the third bevel gear shaft 3-7 by the second bevel gear shaft 3-7 and the fourth bearing 3-8 by the interference fit with the third bearing 3-8, and the fourth bearing 3-1 is embedded in the top of the fourth mount 3-1 by the third end cap 3-1. The second L-shaped rod part 2 and the second bevel gear shaft 3-7 rotate simultaneously, the second bevel gear 3-6 is used for transmitting the rotation angle to the fourth motor 3-5, an encoder on the fourth motor 3-5 reads the rotation angle and transmits the rotation angle to the control system, the control system processes the rotation angle and transmits the rotation angle to the surgical instrument, the surgical instrument performs the same rotation operation, meanwhile, the force information transmitted to the control system by the surgical instrument can also be transmitted to the fourth motor 3-5 after being processed, the fourth motor 3-5 provides certain transmission resistance for the second L-shaped rod part 2 through gear transmission so as to realize force feedback of the surgical instrument end, and the rotation of the second L-shaped rod part 2 is the up-down rotation operation relative to the axial direction of the handle part.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "top", "bottom", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided herein to facilitate understanding of the principles and embodiments of the present invention and to provide further advantages and practical applications for those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.