技术领域technical field
本实现新型涉及机器人的操作主手，属于一种用于手术机器人的主操作手，用于传感手术过程中医生手部位置和方向，控制从机器人手术器械的运动，并提供力反馈。The present invention relates to a master operating hand of a robot, which belongs to a master operating hand for a surgical robot, and is used for sensing the position and direction of a doctor's hand during an operation, controlling the movement of a slave robot surgical instrument, and providing force feedback.
背景技术Background technique
机器人系统特别是手术机器人系统需要人机交互，用户需要通过输入设备控制机器人的实时运行，因此操作主手应运而生。操作主手主要用于实时检测操作人员的手部动作，如平移、旋转、夹取，并提供一定的力反馈，以提高操作的便利性、安全性。目前大部分的医疗机器人采用并联结构，运动精度高，但是结构复杂、运动空间小，很难满足手术机器人动作灵活，转动角度大的要求。Robotic systems, especially surgical robotic systems, require human-computer interaction, and users need to control the real-time operation of the robot through input devices, so the main operating hand emerges as the times require. The main operating hand is mainly used to detect the operator's hand movements in real time, such as translation, rotation, and gripping, and provide certain force feedback to improve the convenience and safety of operation. At present, most medical robots adopt a parallel structure with high motion precision, but the complex structure and small motion space make it difficult to meet the requirements of flexible movements and large rotation angles of surgical robots.
实用新型内容Utility model content
有鉴于此，本实用新型的目的是提供一种新型手术机器人主操作手，解决手术机器人并联操作手结构复杂、运动空间小，很难满足手术机器人动作灵活，转动角度大的问题。In view of this, the purpose of this utility model is to provide a new type of surgical robot main operator, which solves the problems of complex structure and small movement space of the surgical robot parallel operator, which makes it difficult to satisfy the flexible operation and large rotation angle of the surgical robot.
本实用新型的目的是通过这样的技术方案实现的，一种新型手术机器人主操作手，包括底座、第一支撑柱、第二支撑柱、旋转关节一、转关节二、旋转关节三、旋转关节四、旋转关节五、旋转关节六、平行四边形结构和连杆，第一支撑柱垂直的设置于底座上，第二支撑柱通过旋转关节一设置于第一支撑柱的顶端上，第二支撑柱的顶端设置有旋转关节二，所述平行四边形结构的第一顶部通过旋转关节二连接于第二支撑柱的顶端，所述连杆的一端与平行四边形结构的第二顶部连接，第二顶部设置所述的旋转关节三，第二顶部与第一顶部相邻设置且分别位于平行四边形结构长边的两端部；旋转关节四设置于连杆的另一端，旋转关节五通过第一连接部与旋转关节四连接，旋转关节六通过第二连接部与旋转关节五连接，旋转关节六的端部设置有夹取结构；所述第一连接部包括第一连接臂和与第一连接臂垂直设置的第二连接臂，所述第二连接部包括第三连接臂和与第三连接臂垂直设置的第四连接臂，第一连接臂的一端与第二连接臂的一端连接，第一连接臂的中部与旋转关节四连接，旋转关节五设置于第二连接臂的另一端，第三连接臂的中部与旋转关节五连接，第三连接臂的一端与第四连接臂的一端连接，第四连接臂的另一端设置所述的旋转关节六。The purpose of this utility model is achieved through such a technical solution. A new type of surgical robot main operator includes a base, a first support column, a second support column, a first rotary joint, a second rotary joint, a third rotary joint, and a rotary joint 4. Revolving joint 5. Revolving joint 6. Parallelogram structure and connecting rod. The first support column is vertically arranged on the base, and the second support column is arranged on the top of the first support column through the revolving joint 1. The second support column The top end of the parallelogram structure is provided with a rotary joint 2, the first top of the parallelogram structure is connected to the top of the second support column through the rotary joint 2, one end of the connecting rod is connected with the second top of the parallelogram structure, and the second top is set In the third rotary joint, the second top is arranged adjacent to the first top and is located at both ends of the long side of the parallelogram structure; the fourth rotary joint is arranged at the other end of the connecting rod, and the fifth rotary joint is connected to the Revolving joint four is connected, revolving joint six is connected with revolving joint five through a second connecting part, and the end of revolving joint six is provided with a clamping structure; the first connecting part includes a first connecting arm and a The second connecting arm, the second connecting part includes a third connecting arm and a fourth connecting arm perpendicular to the third connecting arm, one end of the first connecting arm is connected with one end of the second connecting arm, and the first connecting arm The middle part of the connecting arm is connected with the fourth connecting arm, the rotating joint five is arranged at the other end of the second connecting arm, the middle part of the third connecting arm is connected with the rotating joint five, one end of the third connecting arm is connected with one end of the fourth connecting arm, and the fourth connecting arm The other end of the connecting arm is provided with the said rotary joint six.
进一步，所述旋转关节一与旋转关节二的旋转轴相互垂直；所述旋转关节三与旋转关节二的旋转轴平行。Further, the rotation axes of the first rotation joint and the second rotation joint are perpendicular to each other; the third rotation joint is parallel to the rotation axis of the second rotation joint.
进一步，所述平行四边形结构包括第一连接杆、第二连接杆、第三连接杆和第四连接杆，第一连接杆的一端与第二连接杆的一端活动连接，第二连接杆的另一端与第三连接杆的一端活动连接，第三连接杆的另一端与第四连接杆的一端活动连接，第四连接杆的另一端与旋转关节二连接，第一连接杆的另一端与旋转关节二连接；所述第三连接杆与第四连接杆连接处为所述旋转关节三；所述连杆由所述第三连接杆由第二顶部直线延伸形成。Further, the parallelogram structure includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, one end of the first connecting rod is movably connected with one end of the second connecting rod, and the other end of the second connecting rod One end is movably connected with one end of the third connecting rod, the other end of the third connecting rod is movably connected with one end of the fourth connecting rod, the other end of the fourth connecting rod is connected with the second rotating joint, and the other end of the first connecting rod is connected with the rotating joint The joint two is connected; the connection between the third connecting rod and the fourth connecting rod is the rotating joint three; the connecting rod is formed by the linear extension of the third connecting rod from the second top.
进一步，所述旋转关节一、旋转关节二和旋转关节三由电机驱动，并设置有编码器。Further, the first rotary joint, the second rotary joint and the third rotary joint are driven by motors and provided with encoders.
进一步，所述旋转关节四的旋转轴平行于连杆的长轴；旋转关节四的旋转轴、旋转关节五的旋转轴、旋转关节六的旋转轴相互垂直用交于一点。Further, the rotation axis of the fourth rotation joint is parallel to the long axis of the connecting rod; the rotation axes of the fourth rotation joint, the fifth rotation joint, and the sixth rotation joint are perpendicular to each other and intersect at one point.
由于采用了上述技术方案，本实用新型具有如下的优点：Owing to adopting above-mentioned technical scheme, the utility model has following advantage:
该手术机器人主操作手结构简单，动作灵活，运动范围大，驱动电机可后置，减轻前端负载。The main operator of the surgical robot has a simple structure, flexible movements, and a large range of motion. The driving motor can be placed at the rear to reduce the front load.
附图说明Description of drawings
为了使本实用新型的目的、技术方案和优点更加清楚，下面将结合附图对本实用新型作进一步的详细描述，其中：In order to make the purpose, technical solutions and advantages of the present utility model clearer, the utility model will be further described in detail below in conjunction with the accompanying drawings, wherein:
图1为一种手术机器人主操作手整体示意图；Fig. 1 is an overall schematic diagram of a main operator of a surgical robot;
图2为图1中A处的放大图。Fig. 2 is an enlarged view of point A in Fig. 1 .
具体实施方式Detailed ways
以下将结合附图，对本实用新型的优选实施例进行详细的描述；应当理解，优选实施例仅为了说明本实用新型，而不是为了限制本实用新型的保护范围。The preferred embodiments of the present utility model will be described in detail below in conjunction with the accompanying drawings; it should be understood that the preferred embodiments are only for illustrating the present utility model, rather than limiting the protection scope of the present utility model.
图1所示为一种手术机器人主操作手示意图，包括底座13、第一支撑柱、第二支撑柱、旋转关节一1、转关节二4、旋转关节三7、旋转关节四9、旋转关节五11、旋转关节六10、平行四边形结构6和连杆8，第一支撑柱垂直的设置于底座上，第二支撑柱通过旋转关节一设置于第一支撑柱的顶端上，第二支撑柱的顶端设置有旋转关节二4，所述平行四边形结构的第一顶部通过旋转关节二连接于第二支撑柱的顶端，所述连杆的一端与平行四边形结构的第二顶部连接，第二顶部设置所述的旋转关节三，第二顶部与第一顶部相邻设置且分别位于平行四边形结构长边的两端部；旋转关节四设置于连杆的另一端，旋转关节五通过第一连接部与旋转关节四连接，旋转关节六通过第二连接部与旋转关节五连接，旋转关节六的端部设置有夹取结构12；所述第一连接部包括第一连接臂91和与第一连接臂垂直设置的第二连接臂92，所述第二连接部包括第三连接臂111和与第三连接臂垂直设置的第四连接臂112，第一连接臂的一端与第二连接臂的一端连接，第一连接臂的中部与旋转关节四连接，旋转关节五设置于第二连接臂的另一端，第三连接臂的中部与旋转关节五连接，第三连接臂的一端与第四连接臂的一端连接，第四连接臂的另一端设置所述的旋转关节六。Figure 1 is a schematic diagram of a main operator of a surgical robot, including a base 13, a first support column, a second support column, a revolving joint 1, a revolving joint 2 4, a revolving joint 3 7, a revolving joint 4 9, and a revolving joint 5. 11. Revolving joint 6. 10. Parallelogram structure 6 and connecting rod 8. The first supporting column is vertically arranged on the base, and the second supporting column is arranged on the top of the first supporting column through rotating joint 1. The second supporting column The top of the top is provided with a rotary joint 2 4, the first top of the parallelogram structure is connected to the top of the second support column through the rotary joint 2, one end of the connecting rod is connected with the second top of the parallelogram structure, and the second top The above-mentioned revolving joint 3 is set, the second top is arranged adjacent to the first top and respectively located at both ends of the long side of the parallelogram structure; It is connected with rotary joint 4, and rotary joint 6 is connected with rotary joint 5 through a second connecting part, and the end of rotary joint 6 is provided with a clamping structure 12; the first connecting part includes a first connecting arm 91 and is connected with the first The second connecting arm 92 arranged perpendicularly to the arm, the second connecting part includes a third connecting arm 111 and a fourth connecting arm 112 arranged perpendicular to the third connecting arm, one end of the first connecting arm is connected to one end of the second connecting arm connection, the middle part of the first connecting arm is connected with the rotary joint 4, the rotary joint 5 is set at the other end of the second connecting arm, the middle part of the third connecting arm is connected with the rotary joint 5, and one end of the third connecting arm is connected with the fourth connecting arm One end of the fourth connecting arm is connected, and the other end of the fourth connecting arm is provided with the rotary joint six.
在本实施例中，底座用于固定及支撑本设备。In this embodiment, the base is used to fix and support the device.
所述旋转关节一与旋转关节二的旋转轴相互垂直；所述旋转关节三与旋转关节二的旋转轴平行。The rotation axes of the first rotation joint and the second rotation joint are perpendicular to each other; the third rotation joint is parallel to the rotation axis of the second rotation joint.
所述平行四边形结构包括第一连接杆15、第二连接杆16、第三连接杆17和第四连接杆14，第一连接杆的一端与第二连接杆的一端活动连接，第二连接杆的另一端与第三连接杆的一端活动连接，第三连接杆的另一端与第四连接杆的一端活动连接，第四连接杆的另一端与旋转关节二连接，第一连接杆的另一端与旋转关节二连接；所述第三连接杆与第四连接杆连接处为所述旋转关节三；所述连杆由所述第三连接杆由第二顶部直线延伸形成。Described parallelogram structure comprises a first connecting rod 15, a second connecting rod 16, a third connecting rod 17 and a fourth connecting rod 14, one end of the first connecting rod is movably connected with an end of the second connecting rod, and the second connecting rod The other end of the third connecting rod is movably connected with one end of the third connecting rod, the other end of the third connecting rod is movably connected with one end of the fourth connecting rod, the other end of the fourth connecting rod is connected with the second rotating joint, and the other end of the first connecting rod It is connected with the second rotating joint; the joint between the third connecting rod and the fourth connecting rod is the third connecting rod; the connecting rod is formed by the linear extension of the third connecting rod from the second top.
所述旋转关节一、旋转关节二和旋转关节三由电机3、5驱动，并设置有编码器2。The first rotary joint, the second rotary joint and the third rotary joint are driven by motors 3 and 5 and are provided with an encoder 2 .
所述旋转关节四的旋转轴平行于连杆的长轴；旋转关节四的旋转轴、旋转关节五的旋转轴、旋转关节六的旋转轴相互垂直用交于一点。The rotation axis of the fourth rotary joint is parallel to the long axis of the connecting rod; the rotary shafts of the fourth rotary joint, the fifth rotary joint, and the sixth rotary joint are perpendicular to each other and intersect at one point.
在本实施例中，前3个关节(旋转关节一，旋转关节二、旋转关节三)每个关节均配置有电机和编码器，实现操作手末端点的位置检测及提供力反馈；另外后3个自由度的旋转关节(旋转关节四、旋转关节五、旋转关节六)用于实现操作手末端点的方向检测。夹取机构用于检测用户手指的闭合In this embodiment, each of the first three joints (revolving joint 1, revolving joint 2, and revolving joint 3) is equipped with a motor and an encoder to detect the position of the operator’s end point and provide force feedback; in addition, the latter 3 joints Rotary joints with four degrees of freedom (fourth, fifth, and sixth) are used to detect the direction of the operator's end point. Gripping mechanism is used to detect the closure of the user's fingers
在本实用新型中，采用平行四边形机构，因此可以将电机及编码器后置，靠近底座，减轻机械臂前端重量。In the utility model, a parallelogram mechanism is adopted, so the motor and the encoder can be placed behind, close to the base, and the weight of the front end of the mechanical arm can be reduced.
以上所述仅为本实用新型的优选实施例，并不用于限制本实用新型，显然，本领域的技术人员可以对本实用新型进行各种改动和变型而不脱离本实用新型的精神和范围。这样，倘若本实用新型的这些修改和变型属于本实用新型权利要求及其等同技术的范围之内，则本实用新型也意图包含这些改动和变型在内。The above descriptions are only preferred embodiments of the utility model, and are not intended to limit the utility model. Obviously, those skilled in the art can make various changes and modifications to the utility model without departing from the spirit and scope of the utility model. In this way, if these modifications and variations of the utility model fall within the scope of the claims of the utility model and equivalent technologies thereof, the utility model is also intended to include these modifications and variations.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720407651.1UCN207745191U (en) | 2017-04-18 | 2017-04-18 | A kind of novel operation robot main manipulator |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720407651.1UCN207745191U (en) | 2017-04-18 | 2017-04-18 | A kind of novel operation robot main manipulator |
| Publication Number | Publication Date |
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| CN207745191Utrue CN207745191U (en) | 2018-08-21 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201720407651.1UExpired - Fee RelatedCN207745191U (en) | 2017-04-18 | 2017-04-18 | A kind of novel operation robot main manipulator |
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| CN (1) | CN207745191U (en) |
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| CN108858247A (en)* | 2018-08-23 | 2018-11-23 | 中科新松有限公司 | Mechanical arm and ping-pong robot with it |
| CN112168359A (en)* | 2020-09-10 | 2021-01-05 | 武汉联影智融医疗科技有限公司 | Main hand clamping control device, main operating hand and minimally invasive surgery robot |
| CN113069212A (en)* | 2021-04-06 | 2021-07-06 | 天津大学医疗机器人与智能系统研究院 | Main operation arm for surgical robot |
| US20220185603A1 (en)* | 2020-12-14 | 2022-06-16 | Charles A. Statton | Systems and Methods Related to Transfer Sampling of Particle Mixtures |
| CN116172722A (en)* | 2023-02-06 | 2023-05-30 | 天津大学 | Force feedback main hand of a minimally invasive surgical robot |
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| CN108858247A (en)* | 2018-08-23 | 2018-11-23 | 中科新松有限公司 | Mechanical arm and ping-pong robot with it |
| CN112168359A (en)* | 2020-09-10 | 2021-01-05 | 武汉联影智融医疗科技有限公司 | Main hand clamping control device, main operating hand and minimally invasive surgery robot |
| US20220185603A1 (en)* | 2020-12-14 | 2022-06-16 | Charles A. Statton | Systems and Methods Related to Transfer Sampling of Particle Mixtures |
| CN113069212A (en)* | 2021-04-06 | 2021-07-06 | 天津大学医疗机器人与智能系统研究院 | Main operation arm for surgical robot |
| CN116172722A (en)* | 2023-02-06 | 2023-05-30 | 天津大学 | Force feedback main hand of a minimally invasive surgical robot |
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