Utility model content
The purpose of this utility model is to provide a kind of endoscopic surgery robot control terminal, structure is simple, userJust, a variety of endoscopic surgeries are able to carry out, and can be avoided and unnecessary damage is caused to patient.
The utility model provides a kind of technical solution about endoscopic surgery robot control terminal:
A kind of endoscopic surgery robot control terminal is used for robot system, and the robot system includes robot.InstituteStating endoscopic surgery robot control terminal includes terminal body, display equipment, control handle, control pedal and control module.InstituteStating display equipment includes the first display and second display, first display and the second display with the endSubject activity connection is held, first display and the second display are electrically connected with the control module, with controlThe display content of first display and the second display.The control handle includes first handle component and second-handHandle component, the first handle component and the second handle component connect with the terminal body and with the control mouldBlock electrical connection, the first handle component is for generating the first control instruction and first control instruction being transmitted to the controlMolding block, the second handle component is for generating the second control instruction and second control instruction being transmitted to the controlModule.The control pedal connect with the terminal body and is electrically connected with the control module, and the control pedal is for giving birth toThe control module is transmitted at third control instruction and by the third control instruction.The control module is used for and the machineDevice people communication connection, the control module are also used to according to first control instruction, second control instruction and described theThree control instructions send control instruction to the robot.
Further, the first handle component includes installation chassis, position adjustment structure, intermediate connector, posture tuneSection structure and operating parts, the both ends of the position adjustment structure connect with the installation chassis and intermediate connector rotation respectivelyIt connects, the both ends of the attitude regulation structure are connect with the intermediate connector and the operating parts respectively.
Further, the position adjustment structure includes the first linking arm, the first control motor, the second linking arm, secondIt controls motor, third linking arm and third and controls motor；The first control motor, the second control motor and the thirdControl motor be installed on the installation chassis spaced reciprocally, and it is described first control motor, it is described second control motor andThe third control motor is electrically connected with the control module；One end of first linking arm and the first control motorRotation connection, the other end and the intermediate connector are rotatablely connected；One end of second linking arm and the second control electricityMachine rotation connection, the other end are connect with the intermediate connector rotating member；One end of the third linking arm and the third controlMotor rotation connection processed, the other end and the intermediate connector are rotatablely connected.
Further, first linking arm includes the first arm body, first rotating shaft, the second arm body and the second shaft, describedFirst rotating shaft and it is described first control motor rotation connection and the first rotating shaft both ends respectively with the first arm body and instituteState the connection of the second arm body, second shaft and the intermediate connector be rotatablely connected and the both ends of second shaft respectively withThe first arm body is connected with the other end of the second arm body.
Further, in the first control motor, the second control motor and third control motor threeAngle arbitrarily between the two is equal.
Further, the attitude regulation structure include the first connector, first motor, the second connector, the second motor,Third connector and third motor；One end of first connector is connect with the intermediate connector, the other end and described theThe connection of one motor；One end of second connector is connect with the output end of the first motor, the other end and second electricityMachine connection；One end of the third connector is connect with the output end of second motor, and the other end and the third motor connectIt connects, the operating parts is connect with the output end of the third motor.
Further, the rotation direction of the output end of the first motor, second motor output end rotation sideTo and the rotation direction three of output end of the third motor be mutually perpendicular to.
Further, the terminal body is provided with support frame, and is arranged between support frame as described above and the terminal bodyThere is space, the control handle is located in the space.
Further, the terminal body is additionally provided with multiple castors.
The another object of the utility model is to provide a kind of robot system, and structure is simple, easy to use, Neng GoujinThe a variety of endoscopic surgeries of row, and can be avoided and unnecessary damage is caused to patient.
The utility model also provides a kind of technical solution about robot system:
A kind of robot system, including robot and endoscopic surgery robot control terminal.The endoscopic surgery robotControlling terminal includes terminal body, display equipment, control handle, control pedal and control module.The display equipment includes theOne display and second display, first display and the second display are flexibly connected with the terminal body,First display and the second display are electrically connected with the control module, with control first display andThe display content of the second display.The control handle includes first handle component and second handle component, and described firstHandleset and the second handle component connect with the terminal body and are electrically connected with the control module, and describedOne handle component is for generating the first control instruction and first control instruction being transmitted to the control module, and described secondHandleset is for generating the second control instruction and second control instruction being transmitted to the control module.The control is stepped onPlate connect with the terminal body and is electrically connected with the control module, and the control pedal is for generating third control instruction simultaneouslyThe third control instruction is transmitted to the control module.The control module with the robot communication for connecting, instituteControl module is stated to be also used to according to first control instruction, second control instruction and the third control instruction to describedRobot sends control instruction, and the control module is connect with the robot communication.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearerAttached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described.Obviously, it is retouchedThe embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Usually here in attached drawing description andThe component of the utility model embodiment shown can be arranged and be designed with a variety of different configurations.
Therefore, requirement is not intended to limit to the detailed description of the embodiments of the present invention provided in the accompanying drawings belowThe scope of the utility model of protection, but it is merely representative of the selected embodiment of the utility model.Based in the utility modelEmbodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, allBelong to the range of the utility model protection.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang YiIt is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be understood that term " on ", "lower", "inner", "outside", "left", "right" etc.The orientation or positional relationship of instruction be based on the orientation or positional relationship shown in the drawings or the utility model product use whenThe orientation or positional relationship that the orientation or positional relationship or those skilled in the art usually put usually understand, be only forConvenient for description the utility model and simplify description, rather than the equipment of indication or suggestion meaning or element must have specificallyOrientation is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
In addition, term " first ", " second " etc. are only used for distinguishing description, it is not understood to indicate or imply relatively importantProperty.
In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, " setting ",Terms such as " connections " shall be understood in a broad sense, for example, " connection " may be a fixed connection, may be a detachable connection, or oneGround connection；It can be mechanical connection, be also possible to be electrically connected；Can be and be directly connected to, can also by between intermediary in successionIt connects, can be the connection inside two elements.For the ordinary skill in the art, can understand as the case may beThe concrete meaning of above-mentioned term in the present invention.
With reference to the accompanying drawing, specific embodiment of the present utility model is described in detail.
Fig. 1 to Fig. 8 is please referred to, present embodiments provides a kind of robot system 10, structure is simple, userJust, a variety of endoscopic surgeries are able to carry out, and can be avoided and unnecessary damage is caused to patient.
Robot system 10 provided in this embodiment is for implementing digestive endoscopy interventional procedure comprising the both arms for executionRobot 200 and the endoscopic surgery robot control terminal 100 acted for controlling tow-armed robot 200.
Tow-armed robot 200 provided in this embodiment includes robot body 210, the first multi-degree-of-freemechanical mechanical arm 220, theTwo multi-degree-of-freemechanical mechanical arms 230 send mirror structure 240 and hold mirror structure 250.Robot body 210 includes supportive body 212 and peaceMain body 211 is filled, mounting body 211 and supportive body 212 are rotatablely connected, and the first multi-degree-of-freemechanical mechanical arm more than 220 and second is freelyDegree mechanical arm 230 is respectively arranged in mounting body 211, send mirror structure 240 to be set to the first multi-degree-of-freemechanical mechanical arm 220 separateThe end of mounting body 211 holds mirror structure 250 and is installed on the second end of the multi-degree-of-freemechanical mechanical arm 230 far from mounting body 211Portion holds mirror structure 250 for fixing digestive endoscopy, send mirror structure 240 for driving the intervention pipe 11 of digestive endoscopy to move.FirstMulti-degree-of-freemechanical mechanical arm 220 and the second multi-degree-of-freemechanical mechanical arm 230 are used to communicate with endoscopic surgery robot control terminal 100Connection, to control the first multi-degree-of-freemechanical mechanical arm more than 220 and second respectively freely by endoscopic surgery robot control terminal 100Mechanical arm 230 is spent to move.Mounting body 211 is used to communicate to connect with endoscopic surgery robot control terminal 100, to pass through scopeOperating robot controlling terminal 100 controls mounting body 211 and rotates relative to supportive body 212.
In the present embodiment, mounting body 211 is set as humanoid, to reduce patient to mechanical rejection feeling, promotes patientMedical treatment experience.Mounting body 211 is rotatablely arranged on supportive body 212 by shaft.Optionally, supportive body 212Castor or other driving equipments can be set, in order to carry.
When in use, the second multi-degree-of-freemechanical mechanical arm 230 is used to fix the main body of digestive endoscopy, the first multi freedom degree mechanicalArm 220 is used to the intervention pipe 11 of digestive endoscopy being sent into human body.When work, hold mirror structure 250 with to send mirror structure 240 be synchronous dynamicMake.It holds mirror structure 250 and is accomplished that fixed digestive endoscopy, the specific structure of mirror structure 240 is sent to be referred to current single armed machineDevice people, details are not described herein.
In addition, the first multi-degree-of-freemechanical mechanical arm 220 and the second multi-degree-of-freemechanical mechanical arm 230 be mechanical arm mechanical structure andDriving device is provided with decelerating motor or servo motor etc. in each multi-degree-of-freemechanical mechanical arm.Optionally, more than first certainlyIt is the mechanical arm of seven freedom by degree mechanical arm 220 and the second multi-degree-of-freemechanical mechanical arm 230.It is appreciated that above-mentioned scope handWhat art robot control terminal 100 and the communication connection of the first multi-degree-of-freemechanical mechanical arm 220 and the second multi-degree-of-freemechanical mechanical arm 230 referred toBe with its driving device communicate to connect, with by driving device control mechanical arm state, according to actual requirement realization hold mirror withSend mirror function.
In the present embodiment, tow-armed robot 200 further includes force snesor, and force snesor is set to the end of intervention pipe 11And it is electrically connected with endoscopic surgery robot control terminal 100；Force snesor is used to detect the stress of intervention 11 end of pipe, and will answerPower is transmitted to endoscopic surgery robot control terminal 100.
It is appreciated that the effect of force snesor is the active force between detection intervention pipe 11 and human body, and by the active forceEndoscopic surgery robot control terminal 100 is fed back to, in real time in order to which operator in operation can be suitable according to feedback dynamicsWhen control treatment operation, unexpected occur is reduced.
In the present embodiment, tow-armed robot 200 further includes vision module 260, and vision module 260 is installed on mounting bodyOn 211 and for being communicated to connect with endoscopic surgery robot control terminal 100；Vision module 260 is for detecting more than first freelyThe action message of mechanical arm 220 and the second multi-degree-of-freemechanical mechanical arm 230 is spent, and action message is transmitted to endoscopic surgery robotControlling terminal 100.
It is appreciated that long-range operation may be implemented by vision system doctor, and then avoid direct contact with the saliva of patientLiquid, gastro-intestinal Fluid, secretion and blood of pollution etc., are effectively reduced professional risk.The vision module 260 can be using camera etc.Equipment, and two cameras can be respectively set respectively to the first multi-degree-of-freemechanical mechanical arm 220 and the second multi freedom degree mechanicalThe action message of arm 230 is acquired, to improve efficiency.
Endoscopic surgery robot control terminal 100 provided in this embodiment includes terminal body 110, display equipment 120, controlHandle 130, control pedal 140 and control module processed.
In this example it is shown that equipment 120 includes the first display 121 and second display 122, the first display121 and second display 122 be flexibly connected with terminal body 110, so that operator can be adjusted as needed when in useFirst display 121 and second display 122；First display 121 and second display 122 electrically connect with control moduleIt connects, when in use, the first display 121 is used to show the image information of vision module 260, and second display 122 is for showingThe image information of digestive endoscopy.Vision module 260 is for detecting the first multi-degree-of-freemechanical mechanical arm 220 and the second multi freedom degree mechanicalThe action message of arm 230, and action message is transmitted to control module, control module is used for aobvious according to action message control firstShow the display content of device 121 and second display 122.
In the present embodiment, control handle 130 includes first handle component 131 and second handle component 132, first handleComponent 131 and second handle component 132 connect with terminal body 110 and are electrically connected with control module, first handle component131 for generating the first control instruction and the first control instruction being transmitted to control module, and second handle component 132 is for generatingSecond control instruction is simultaneously transmitted to control module by the second control instruction.Control pedal 140 connect with terminal body 110 and with controlThe electrical connection of molding block, control pedal 140 is for generating third control instruction and third control instruction being transmitted to control module.ControlMolding block is used to communicate to connect with tow-armed robot 200, and control module is also used to control more than first certainly according to the first control instructionIt is moved by degree mechanical arm 220, control module is also used to control the second multi-degree-of-freemechanical mechanical arm 230 fortune according to the second control instructionDynamic, control module is also used to control mounting body 211 according to third control instruction and rotate relative to supportive body 212.
First handle component 131 and second handle component 132 can be respectively to the first multi-degree-of-freemechanical mechanical arms 220 and secondMulti-degree-of-freemechanical mechanical arm 230 carries out control manipulation, while the stress of force snesor detection intervention 11 end of pipe can also be fed back toFirst handle component 131 and second handle component 132, and to first handle component 131 and the setting feedback of second handle component 132Power.It can be between the stress that first handle component 131 and the feedback force on second handle component 132 and force snesor detectIt is configured according to preset ratio, which can be configured according to the actual conditions of surgical environments and operator.
It is appreciated that can be behaviour by the cooperation of force snesor and first handle component 131 and second handle component 132Author experiences the dynamics of digestive endoscopy, and then the operation treated according to force feedback in real time, with reduce to patient need notDamage and avoid accident.
Meanwhile it is to be appreciated that in the present embodiment, the structure one of first handle component 131 and second handle component 132It causes, first handle component 131 is illustrated below, second handle component 132 is referred to following explanation and is configured.
In the present embodiment, first handle component 131 includes installation chassis 133, position adjustment structure 134, intermediate connectionPart 135, attitude regulation structure 136 and operating parts 137, the both ends of position adjustment structure 134 respectively with installation chassis 133 and centreConnector 135 is rotatablely connected, and the both ends of attitude regulation structure 136 are connect with intermediate connector 135 and operating parts 137 respectively.
Further, in the present embodiment, position adjustment structure 134 includes that the first linking arm 1341, first controls motor1342, the second linking arm 1343, second control motor 1344, third linking arm 1345 and third control motor 1346；First controlMotor 1342, second processed controls motor 1344 and third control motor 1346 is installed on spaced reciprocally on installation chassis 133, andFirst control motor 1342, second controls motor 1344 and third control motor 1346 is electrically connected with control module；First connectsThe one end and the first control motor 1342 for connecing arm 1341 are rotatablely connected, and the other end and intermediate connector 135 are rotatablely connected；Second connectsThe one end and the second control motor 1344 for connecing arm 1343 are rotatablely connected, and the other end is connect with 135 rotating member of intermediate connector；ThirdOne end of linking arm 1345 and third control motor 1346 are rotatablely connected, and the other end and intermediate connector 135 are rotatablely connected；ControlModule is also used to be arranged according to stress the power that the first control motor 1342, second controls motor 1344 and third control motor 1346Square size.
Further, in the present embodiment, the first linking arm 1341 include the first arm body 1347, first rotating shaft 1348,Second arm body 1349 and the second shaft 1340, first rotating shaft 1348 and the first control motor 1342 rotation connection and first rotating shaft1348 both ends are connect with the first arm body 1347 and the second arm body 1349 respectively, the second shaft 1340 with 135 turns of intermediate connectorThe both ends of dynamic connection and the second shaft 1340 are connect with the other end of the first arm body 1347 and the second arm body 1349 respectively.
In the present embodiment, attitude regulation structure 136 includes the first connector 1361, the connection of first motor 1362, secondPart 1363, the second motor 1364, third connector 1365 and third motor 1367；One end and centre of first connector 1361 connectFitting 135 connects, and the other end is connect with first motor 1362；One end of second connector 1363 and the output of first motor 1362End connection, the other end are connect with the second motor 1364；The output end of one end of third connector 1365 and the second motor 1364 connectsIt connects, the other end is connect with third motor 1367, and operating parts 137 is connect with the output end of third motor 1367；Control module is also usedAccording to stress setting first motor 1362, the torque size of the second motor 1364 and third motor 1367.
It is appreciated that the first linking arm 1341, the second linking arm 1343 and third linking arm 1345 are parallel with one another threeA freedom degree can be realized the adjustment to mechanical arm position；First connector 1361, the second connector 1363 and third connector1365 be the three degree of freedom being serially connected, and can be realized the adjustment to mechanical arm posture and position.
In the present embodiment, first motor 1362, the second motor 1364, third motor 1367, first control motor 1342,Second control motor 1344 and third control motor 1346 are torque motor, while being configured to torque motor and can make to graspAuthor has prestressing force when in use, and then the stress that force snesor detects is fed back to operator.
In the present embodiment, the rotation direction of the output end of first motor 1362, the second motor 1364 output end turnThe rotation direction three of the output end of dynamic direction and third motor 1367 is mutually perpendicular to.
In the present embodiment, terminal body 110 is provided with support frame 112, and between support frame 112 and terminal body 110It is provided with space 113, control handle 130 is located in space 113.
In the present embodiment, terminal body 110 is additionally provided with multiple castors.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for thisFor the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility modelWithin, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.