CN109171985A - A kind of cup-and-ball joint operating robot and its control device - Google Patents
A kind of cup-and-ball joint operating robot and its control device Download PDFInfo
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- CN109171985A CN109171985A CN201811152867.3A CN201811152867A CN109171985A CN 109171985 A CN109171985 A CN 109171985A CN 201811152867 A CN201811152867 A CN 201811152867A CN 109171985 A CN109171985 A CN 109171985A
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- 238000000429 assembly Methods 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 10
- 230000006872 improvement Effects 0.000 description 7
- 238000009434 installation Methods 0.000 description 7
- 238000001356 surgical procedure Methods 0.000 description 7
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- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
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- 238000007912 intraperitoneal administration Methods 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- 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
- A61B34/74—Manipulators with manual electric input means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- 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
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Manipulator (AREA)
Abstract
The present invention provides a kind of cup-and-ball joint operating robot and control device, with the cup-and-ball joint being made of ball-type part and socket joint, have in socket joint for driving ball-type part in the first driving assembly and the second driving assembly of wherein three-dimensional rotation, the surgical instrument movement that the center of ball-type part can be driven jointly to wear.Ball-type part center can also be equipped with third driving assembly, increase the freedom degree of surgical instrument.Present invention simultaneously provides the control devices based on identical structural principle.The present invention simplifies the structure of operating robot and control device using the three-dimensional rotation ability of cup-and-ball joint, and control device is identical with executive device structure, improves the portability and operability of operating robot.
Description
Technical field
The present invention relates to a kind of surgical robot systems, and in particular to a kind of cup-and-ball joint operating robot and its control dress
It sets.
Background technique
With the development of science and technology more and more micro-wound surgical operations start to popularize.Minimally Invasive Surgery small, patient with wound
It is easier to the advantages that restoring, with the development of medical endoscope technology, Minimally Invasive Surgery is increasingly widely used.But it is micro-
The field of view of invasive procedures is narrow, operative region is not flexible, therefore its operating difficulty is than general general surgery difficulty bigger
It is more.It needs an operator doctor and one is held mirror operation Shi Jinhang and perfectly cooperated, an operation can just be made to reach ideal effect
Fruit.And tacit agreement between the two needs operator doctor and holds mirror operation teacher's phase cooperate and could be formed, and there is also much not for centre
Stable factor.Endoscope is entered by the fixed small notch of body surface in micro-wound surgical operation completes operation in vivo, in view of body surface
The constraint of notch and the operation safety of patient, it is desirable that endoscope does fixed-point motion in incision.
Leonardo da Vinci robot is that commercialization and the most successful minimally invasive robot of clinicization, the robot use in the world at present
Open loop parallelogram telecentricity positioning mechanism, parallel four sides mechanism is realized by synchronous steel belt constraint, the shortcomings that the mechanism
It is to need to find telecentricity anchor point by device in assembly.Passive arm is integrated using the mechanical arm based on mobile platform, this
The shortcomings that mode is that entire mechanical system volume is larger, and needing passive arm tool for the ease of preoperative adjustment, there are four freedom degrees, is led
Cause cantilever beam longer, so that robot overall stiffness reduces.Patent wall for Leonardo da Vinci's minimally invasive robot in this respect simultaneously
It builds and considers, and the driving of most of Surgical instrument is often to make to drive in this way by motor direct-drive now
Motor is arranged in the top of platform, causes top-heavy, the driving moment in joint is increased, so that mechanical arm system is easy to produce
Vibration, most endoscopes driving device uses the nut screw kind of drive, but this mode is not easy to manually implemented preoperative tune
Whole, vertically movable device drives nut screw mode to move up and down to realize using motor, and overall volume is bigger.Therefore it researches and develops
A kind of novel minimally invasive robot mechanical arm system is of great significance to the development of China minimally invasive robot field.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of cup-and-ball joint surgical machine
People and its control device.
Technical solution: in order to solve the above technical problems, cup-and-ball joint operating robot provided by the invention, has by ball-type
The cup-and-ball joint of part and socket joint composition, the socket joint have locating part, have at least two groups driving group in the socket joint
Part, the driving component is for driving ball-type part to move；The ball-type part is equipped with surgical instrument.It is preferred that the ball-type part
There is through-hole at center, is equipped with surgical instrument in the through-hole.It is preferred that surgical instrument is laparoscope.It is preferred that socket joint passes through spring
It is mounted in joint motion frame, the joint motion frame is connect with the fixed bracket of operating robot.
Specifically, two groups of driving assemblies are the same or similar first driving assembly of structure and the second driving assembly.
It is preferred that first driving assembly and the second driving assembly installation site is mutually perpendicular to.
Specifically, third driving assembly is installed, the third driving assembly is for driving surgical instrument in the through-hole
Movement.It is preferred that the third driving assembly is engaged with the surgical instrument.
Specifically, the driving component includes actuator and driving motor, and actuator and driving motor are directly connected to or lead to
Cross transmission device connection.
Specifically, the locating part is the through-hole on socket joint shell, and the through-hole diameter is less than ball-type part diameter.
Specifically, the locating part is the highlight bar on the strip groove and ball-type part in socket joint.
Specifically, the ball-type part and locating part are located at the eccentric position of cup-and-ball joint seat shell.
Specifically, the ball-type part is equipped with telescopic rod, and the telescopic rod is equipped with surgical instrument.It is preferred that can stretch
Contracting bar is driven flexible by servo motor.
It specifically, further include remote control device.Preferred wireless remote control device.It is also equipped with battery on cup-and-ball joint, can and control
Platform processed mutually sends and receivees control signal.
Present invention simultaneously provides a kind of control devices of cup-and-ball joint operating robot, it is characterised in that: is in the above institute
In the structure basis for stating cup-and-ball joint operating robot, using the driving group of inductive component replacement cup-and-ball joint operating robot
Part, the inductive component is for incuding movement of the ball-type part with respect to cup-and-ball joint shell.It is preferred that the control of cup-and-ball joint operating robot
Device processed is mounted on hand-held surgical instrument or mask.
Present invention simultaneously provides a kind of cup-and-ball joint operating robots of tactile feedback, it is characterised in that: is above
It further include inductor, actuator and inductor in the driving component in the structure basis of the cup-and-ball joint operating robot
It is directly connected to or is coupled by transmission device, the rotary motion of the inductor induction actuator.
Operator executes left and right, pitching, rotation or advance etc. by control device remote control ball-and-socket operation on joint robot and moves
Make.Can be just like under type: 1, assistant controls the movement of cup-and-ball joint operating robot by remote control device under operating table.
2, on operating table, oneself is controlled with hand by the remote-control lever on hand-held apparatus operating doctor.3, operating doctor is on operating table,
Oneself is controlled by the remote-control lever on mask.
The utility model has the advantages that
1. Simple portable.Single cup-and-ball joint replaces complicated mechanical arm.Each cup-and-ball joint can independent packed and transported, body
Product is small, light-weight, easy to carry and assembling.It can also be applied in field rescue, space flight and aviation.
2. convenient for batch production.Since the control device under operating table is identical with executive device structure, when use, can be mutual
Mutually replace.Same production line can be shared when production, same packaging and same storage.New portion can be replaced after damage at any time
Part can also be used as medical disposable material use.
3. reducing surgical staff configuration.The system can allow operating doctor in both hands operation, moreover it is possible to by words and foot
Other mechanical arms are freely controlled, several hands has been equivalent to mostly, has reduced a lifting-mirror doctor or assistant doctor, be also avoided that two people
The obstacle occurred when communication.
4. structure is simple, installation, debugging are simple.The component for needing to control is few, and system is simple, breaks down few, maintenance is held
Easily.Good economy performance reduces the financial burden of patient.
5. possessing haptic feedback system.
Except it is above-described present invention solves the technical problem that, constitute technical solution technical characteristic and by these technologies
Outside advantage brought by the technical characteristic of scheme.To keep the object of the invention, technical scheme and beneficial effects clearer, below will
In conjunction with the attached drawing in the embodiment of the present invention, to other for including in the other technologies problem of the invention that can solve, technical solution
The advantages of technical characteristic and these technical characteristics are brought does apparent, complete description, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.Therefore, below to the reality of the invention provided in the accompanying drawings
The detailed description for applying example is not intended to limit the range of claimed invention, but is merely representative of selected implementation of the invention
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
Every other embodiment, shall fall within the protection scope of the present invention.
Detailed description of the invention
Fig. 1 is the schematic diagram of cup-and-ball joint operating robot；
Fig. 2 is cup-and-ball joint operating robot schematic diagram of internal structure；
Fig. 3 is the structural schematic diagram of driving assembly；
Fig. 4 is cup-and-ball joint operating robot scheme of installation during surgery in embodiment one
Fig. 5 is the structural schematic diagram of joint support device；
Fig. 6 is the schematic illustration that cup-and-ball joint deflects in joint support device；
Fig. 7 is console overall structure diagram；
Fig. 8 is the structural schematic diagram of inductive component component；
Fig. 9 is that have driving assembly overall structure diagram in embodiment two in ball-type part；
Figure 10 is the structural schematic diagram of anti-deflection fixed frame in embodiment three；
Figure 11 is that have driving assembly overall structure diagram in example IV in ball-type part；
It is structural schematic diagram that socket joint is oval-shaped shell that Figure 12, which is in embodiment five,；
Wherein: wherein: 1- ball-type part, 2- cup-and-ball joint, 3- joint support device, 4- laparoscope, 5- driving assembly, 6- sense group
Part, 7- control device, 8- hand-held apparatus；
11- ball-type part shell, 12- ball-type part through-hole, 13- third driving assembly
21- socket joint, the anti-rotational crossbeam of 22-, the anti-rotational fixed frame of 23-, 24- battery, 25- signal receive generator,
31- joint motion frame, 32- pendulum spring, 33- support rod, 34- support frame,
51- actuator, 52- driving motor, 53- transmission device, 54- actuator fixed frame, the first driving assembly of 55-, 56- second
Driving assembly,
61- induction pieces, 62- rotary encoder, 63- transmission device, 64- induction pieces fixed frame,
71- manual control socket joint, 72- manual control ball-type part, 73- hand lever, 74- display, 75- console bracket, 76- console branch
Bar.
Specific embodiment
Embodiment one
The present embodiment is used for laparoscopic surgery, and cup-and-ball joint operating robot of the invention, which is used as, holds handel, substitutes an operation
Assistant.As shown in Figure 1, ball-and-socket robot is made of ball-type part 1 and socket joint 21, there are circular open, open circles in socket joint 21
Diameter is less than 1 diameter of ball-type part, and ball-type part 1 is limited in socket joint 21 as locating part.
As shown in Fig. 2, socket joint 21 is two symmetric parts to being combined into, ball-type part 1 is positioned in socket joint 21 after pairing
It is interior, it is clamped jointly by 4 fixed driving assemblies 5 of inside.Driving assembly 5 is fixed on by Fixing clamp-seat and actuator fixed frame 54
In socket joint 21, be symmetric with the contact point of ball-type part 1 around 1 central point of ball-type part, and all with socket joint 21
In the parallel plane in bottom surface.The driving direction of two the first driving assemblies 55 and two the second driving assemblies 56 is respectively vertical
In two planes, there are mark in the type of driving assembly and position on institute installation position corresponding joint shell surface.In a non-limit
In embodiment processed, joint shell is made of transparent material, can be with the position of visible directly internal different components.
As shown in figure 3, driving assembly 5 is driven by driving motor 52, power is reached by actuator 51 by transmission device 53.
Actuator 51 is roller bearing spline structure in the present embodiment, is also possible to ball spline structure in another embodiment.It is solid by actuator
Determine frame 54 to be fixed in socket joint 21.Cup-and-ball joint operating robot can drive laparoscope 4 to realize pitching, wave, with manpower
Operation laparoscopic instrument progress pitching, the movement waved are identical.
As shown in Figure 4 and Figure 5, cup-and-ball joint operating robot is by 32 elastic connection of pendulum spring in joint motion frame 31
Interior, joint motion frame 31 is erected at patients surgery overlying regions by the support rod 33 and support frame 34 being fixed on operating bed.
The through-hole 12 that laparoscope 4 passes through the ball-type part 1 in cup-and-ball joint operating robot center enters intraperitoneal, operating doctor both hands difference
Operation hand-held apparatus 8 is performed the operation.The movement that mirror doctor is remotely controlled ball-and-socket robot under platform is held, without being clipped in operating doctor two again
Its movement is interfered between hand.
Laparoscope 4 enters body cavity by the puncture orifice on patient skin, and using this puncture orifice as center rotary moveable.Therefore
It is required that laparoscope 4 will also rotate while rotating around 1 center of ball-type part centered on skin penetrating mouth, two central points
Spacing distance is at least the radius size of ball-type part 1.When laparoscope 4 is rotated, there may be the unnecessary of the skin to patient
Damage, and the tension of skin also will affect the precision of the rotation of ball-type part 1.In order to solve this problem, by cup-and-ball joint surgical machine
People is coupled by pendulum spring 32 with joint motion frame 31, and cup-and-ball joint operating robot can live in joint motion frame 31
It is dynamic, so that laparoscope 4 be allow easily to rotate around skin penetrating mouth.
As shown in fig. 6, the central point of the rotation of imaginary laparoscope 4 can be preset in stomach wall in non-limiting embodiment
Specific position O point in puncture sheath, when 1 deflection angle of ball-type part is 0 degree, cup-and-ball joint operating robot is pulled by spring around,
The center of ball-type part 1 is set to be located at the central point A point of joint motion frame 31, straight line AO is the axis of laparoscope 4 at this time.When ball-and-socket closes
After section operating robot starts rotation by motor drive, 4 axis AO of laparoscope deflects into BO using O point as the point of rotation, forces ball
Type part 1 is moved to B point.Joint motion frame 31 is rectangular parallelepiped structure, 3 points of ABO one right angle trigonometries of composition in one embodiment
Shape, AO ratio BO is short, and AO deflects into the generated displacement of BO can be by giving bit shift compensation after Framework computing.In another embodiment
In, joint motion frame 31 is semiglobe, and AO is identical as BO length or differs very little, and it is 0 that AO, which deflects into displacement caused by BO,
Or very little, compensation displacement can not had to.
Cup-and-ball joint operating robot is used for open surgery in one embodiment, due in open surgery without skin
Drawing limitation, cup-and-ball joint operating robot can not need joint motion frame 31, directly be coupled with support rod 33.Long-range meeting
The doctor examined can control the surgical instrument passed through from ball-type part through-hole 12 with long-distance remote control cup-and-ball joint operating robot,
Surgical procedure is participated in jointly with the doctor of local hand-held apparatus.
As shown in fig. 7, the control device 7 of ball-and-socket robot is mounted on console strut 76, control device 7 and ball-and-socket are closed
It is essentially identical to save operating robot structure, manual socket joint 71 and manual ball-type part 72 and 1 structure of socket joint 21 and ball-type part
Identical, hand lever 73 is similar with the shape of laparoscope 4.Difference is that each of control device 7 driving assembly 5 is executing
The corresponding position of device is inductive component 6, and the inductive component 6 of each of control device 7 is in the correspondence position of executive device
Setting is driving assembly 5.
In another embodiment, manual joint is installed on the handle of hand-held apparatus, operating doctor thumb control
The pitching and oscillating motion of hand lever 73 processed.
As shown in figure 8, inductive component 6 is identical as 5 structure of driving assembly, difference is that driving motor 52 is changing rotation into
Encoder 62.
Laparoscope 4 in the executive device identical position in control device is hand lever 73.Operator operates hand lever
73 movement drives manual ball-type part 72 to move, and is broken down into pitching, oscillating motion, drives different positions in manual socket joint 71
The induction pieces 61 set rotate, and drive rotary encoder 62 also proportionally to rotate through transmission device 63, generate electric signal.Electric signal
It is transmitted to ball-and-socket robot through signal processing, the driving assembly 5 for controlling corresponding position moves, and drive laparoscope 4 is done and operator
Hand similarly moves.
In another embodiment, driving assembly 5 and induction are all installed simultaneously in ball-and-socket robot and its control device
Component 6, each of control device driving assembly 5 are inductive component in the corresponding position of cup-and-ball joint operating robot
6, the inductive component 6 of each of control device is driving assembly 5 in the corresponding position of cup-and-ball joint operating robot.
When the movement of the synchronous execution operator of cup-and-ball joint operating robot, ball-type part 1 is acquired also by inductive component 6
Moving displacement is transmitted to control device through signal processing, and the internal corresponding driving assembly 5 of control moves, and drives manual ball-type part
72 and hand lever 73 move.Since hand lever 73 is held in the hand by operator at this time, can be generated to operator with force feedback
The tactile of true touching tissue and the size for experiencing reaction force.
In another embodiment, same driving assembly 5 all is installed simultaneously in ball-and-socket robot and its control device,
Inductive component is installed in the driving assembly, can recorde the movement of the driving assembly.Cup-and-ball joint operating robot and control
Driving assembly in device control by the signal that the inductive component of other side acquires mutually, the size using software adjustment signal with prolong
Chi Du.Make cup-and-ball joint operating robot and control device structure even more like in this way, simplifies production, use and maintenance process.
Cup-and-ball joint operating robot may need to meet conflicting needs.It is, working as cup-and-ball joint surgical engine
When device human action, it is necessary to be placed close to patient, while making medical staff again etc. can be close to patient without obstacle, and when dynamic
When making, cup-and-ball joint operating robot must above the body of patient, while guarantee again it is sterile, so as to eliminate patient infection
Danger.In addition, cup-and-ball joint operating robot must be provided for the intensity of enough ranks of movement, accuracy and flexibly
Property, while characteristic small and exquisite, that size is very thin and light-weight is provided, and cup-and-ball joint operating robot must be in a stable manner
It is mounted, while the area that can be moved freely and occupy is small.In addition, cup-and-ball joint operating robot must before surgery
It is provided freely in preparation to patient and medical staff.
Present embodiments provide the ideal feature set of such as above-mentioned cup-and-ball joint operating robot.Different from traditional
The construction of cup-and-ball joint operating robot, each robots arm is coupled with main body in the construction of traditional operating robot, so that
Robot volume is big, and mobility is low, and acts complexity, and the present embodiment cup-and-ball joint operating robot passes through against patient's
Joint support device 3 is fixed, above laparoscope length can be limited within 50cm, joint support device 3 can distinguish
It connect, is connect again with a fixed bracket after can also being connected with each other with several fixed frames, to realize cup-and-ball joint with fixed bracket
The area for moving freely and occupying of operating robot is small.
The various instruments that operation needs, laparoscopic camera, clamper, suction tube, actuator etc. can be with this realities
Apply the mounting means installation of laparoscope 4 in example.
Embodiment two
The present embodiment is as shown in figure 9, be improvement on the basis of embodiment one, theing improvement is that has third drive in ball-type part 1
Dynamic component 13, increases one degree of freedom, can carry out rotation driving to laparoscope 4.The structure of third driving assembly and first
Or second driving assembly structure it is similar, be fixed on the inner wall of ball-type part shell 11, the outer wall of actuator and laparoscope 4 is nibbled
It closes.Third driving assembly 13 passes through wired or wireless reception signal by the way that wired, wirelessly or electrically pond powers.Other structures and reality
It is identical to apply scheme one.
Embodiment three
The present embodiment is as shown in Figure 10, is improvement on the basis of embodiment two.When cup-and-ball joint operating robot is for driving
When instrument, the change of team of tissue back spin is clamped by resistance.Ball-type part is in the same of driving surgical instrument rotation in order to prevent
When, it may be reversely rotated in socket joint along the axis of surgical instrument.To theing improvement is that in socket joint 21 for embodiment two
It inside increases and puts swing bolster 22 and anti-rotational fixed frame 23 as locating part.The strip groove that anti-rotational fixed frame is, it is interior
It is embedding rod-shaped to put swing bolster 22.Anti-rotational 22 one end of crossbeam is fixed on ball-type part shell 11, and the other end is free in anti-rotational
In the groove of fixed frame 23.The groove of anti-rotational fixed frame 23 and the plane perpendicular of socket joint 21.In addition also increase in socket joint
Battery 24 and signal receive generator 25, so that the ball-and-socket robot is accomplished wireless remote control.
Example IV
The present embodiment is as shown in figure 11, similar to the structure of embodiment two, and difference is that the driving direction of third actuator is to drive
The advance and retreat of dynamic laparoscope 4.Other structures are identical as embodiment two.
Embodiment five
The present embodiment is as shown in figure 12, similar to the structure of embodiment three, and difference is that socket joint is ellipse shell, and shape is more
It is small, it is more convenient to use on operating table.Ball-type part and locating part are located at the eccentric position of cup-and-ball joint seat shell.
Embodiment six
The present embodiment is improvement on the basis of embodiment two, the improvement is that worn in ball-type part 1 be not laparoscope 4 and
It is the electronic strut of front end installation drag hook.Electronic strut includes screw rod, screw rod outer tube, spring, inner sleeve and outer sleeve, Mei Getao
Cylinder is fixedly connected with one end of one end of screw rod or screw rod outer tube respectively, and spring pocket is set to outside screw rod and screw rod outer tube, spring
Both ends are individually fixed in the end in two sleeves, and screw rod is matched with screw rod outer tube, and screw rod turns in the cavity of screw rod outer tube
Dynamic to do straight reciprocating motion, two sleeve one end are socketed, and screw rod does straight reciprocating motion and inner sleeve is driven to slide in outer sleeve.
Outer sleeve penetrates in the ball-type part 1 of driving rotation, while being driven to rotate, front end drag hook can also be driven to move forward and backward.
Other structures are identical as embodiment one.
Embodiment seven
The robot controller of the station control device and control cup-and-ball joint operating robot running that are connect with station,
And station control device is connect with robot controller.In use, cup-and-ball joint operating robot is controlled by station, behaviour
The instruction for making platform is assigned by station control device, is reached by RTC instant messaging from end robot controller, robot control
It would be communicated to cup-and-ball joint operating robot after device reception instruction processed to be acted accordingly.Cup-and-ball joint operating robot
Status summary is communicated by RTC by robot controller to robot controller and reaches station control device, grasped simultaneously
The status information aggregation process of the status information and cup-and-ball joint operating robot of making platform control device reaches station, and feeds back
To staff.
Be provided on station control device for monitoring personnel whether monitoring device in place and for showing behaviour
Make the display of the status information of platform and robot.Monitoring device, then can be according to monitoring result when monitoring abnormal condition
Braking or power operation are carried out, is carried out with the safety for ensuring to perform the operation.Preferably, above-mentioned monitoring device includes the photography of 3D body-sensing
Machine (Kinect) and floor push can carry out cup-and-ball joint hand when 3D body-sensing video camera monitors staff in place
The partial function of art robot operates, and when staff steps on floor push at this time, cup-and-ball joint operating robot just can be opened
Begin to operate；Staff not in place when, and do not step on floor push, the braking of cup-and-ball joint operating robot, to avoid it is non-just
Cup-and-ball joint operating robot is mobile caused by the running of operation interface caused by Chang Yinsu.
The inductive component 6 for recording laparoscope 4 is provided on robot controller, inductive component 6 is able to record abdomen
The displacement of hysteroscope 4, to record the motion profile of laparoscope 4.The information recorded by inductive component 6 can judge automatically abdomen
Whether the motion path of hysteroscope 4 meets operation demand, when with multiple cup-and-ball joint operating robots, can monitor each
Whether the motion path of surgical instrument can interfere, to plan new motion path again, guarantee the movement of surgical instrument
Safety.
The motor driver and reaction machine for obtaining motor status information are also provided on robot controller
The dynamic braking device of people's state, when monitoring danger signal, dynamic braking device automatic braking.Above-mentioned motor driver
It can be used cooperatively with encoder, deposit when abnormal, compile in the motion path of encoders monitor to cup-and-ball joint operating robot
Information can be fed back to motor driver by code device, and motor driver driving motor is made to start new operating path.
Further include having motor communication device on above-mentioned robot controller, is filled with real-time monitoring motor and motor driven
It sets, the feedback states between motor driver and cup-and-ball joint operating robot, and monitoring information is fed back into staff,
In case of a failure, motor communication device can carry out Brake lamp operation according to monitoring information, to guarantee surgical machine
The normal operation of people, or fault message is fed back into staff, enable the quick handling failure of staff.
In addition, station control device is for recording cup-and-ball joint operating robot parameter information and/or station parameter
The data recordin module of information, in order to search fault message.Specifically, the data recordin module includes running log and control
Hand data, for example in control hand data, staff's operation handle is passed to cup-and-ball joint operation by station controller
Robotic end, makes cup-and-ball joint surgical machine human action, and information when cup-and-ball joint surgical machine human action passes through encoder, electricity
Machine actuating device feedback forms feedback mechanism to station controller, if operation data and encoder or motor data occur not
Unanimously, then system adjust automatically breaks down if not adjusting, and needs to check data in control hand data and looks for event
Hinder place.
Preferably, being provided with the emergency stop switch for emergency braking on station control device with right in the event of a failure
Robot carries out emergency braking, and then reduces loss caused by failure.
In one embodiment of the application, monitoring is also respectively provided on robot controller and station control device
Voltage and the first ups power (uninterruptible power supply) and the second ups power for protecting circuit.Size and power grid for monitoring voltage
Stable case enable above-mentioned ups power and in the event of a power failure, guarantee the smooth progress of operation, and will monitor resulting
Information feeds back to staff by station controller.
Each position circuit shape of monitor controller is also respectively provided on robot controller and station control device
The the first power monitor and second source power monitor of state, the voltage of circuit, current values are in preset parameter range
It is then worked normally when interior, when being more than parameter preset, then faulty presence is braked immediately or powered off.
It is artificial that display cup-and-ball joint surgical machine is also respectively provided on robot controller and station control device
Make the first state indicator light of state and the second status indicator lamp of display operation platform working condition.Above-mentioned indicator light can be by machine
The working condition of device people end and station is most intuitively presented to staff, staff according to the display situation of indicator light,
By checking error code, guilty culprit can be quickly found out.Specifically, above-mentioned indicator light can specifically be provided with it is normal,
It awaits orders, alert, the instruction situation such as danger, so as to the use state of personnel monitoring robot.
Control device provided in an embodiment of the present invention specifically includes station control device and robot controller, with
The state of station and cup-and-ball joint operating robot is controlled respectively, and station control device and robot control fill
Connection is set, to realize information connection and feedback between the two, enables staff in operation end to cup-and-ball joint hand
Art robot is operated to implement to perform the operation.In surgical procedure, monitoring device can real-time monitoring staff whether in place, from
And judge whether to brake, effectively avoid the running of cup-and-ball joint operating robot under the maloperation of part；Display energy
Enough show all status informations of station and robot is presented directly to staff, enables staff quick and precisely
Discovery system there are the problem of, and then quickly solve the problems, such as, guarantee the safety of operation；In addition, on robot controller
Encoder is able to record the turnning circle of motor, to record the motion profile of mechanical arm, passes through the information of encoder feedback
System can judge automatically motion path with the presence or absence of problem, and judge whether send out when the movement of multiple cup-and-ball joint operating robots
Raw interference can ensure the more accurate trouble free service of each cup-and-ball joint operating robot according to its feedback information, and then improve
The safety of operation.
The control device provided based on the above embodiment, the embodiment of the present invention also provide a kind of operating robot, including behaviour
Make platform, cup-and-ball joint operating robot, and the control device connecting respectively with station and cup-and-ball joint operating robot；And it controls
Device processed is the control device of any of the above-described.For the structure of the rest part of above-mentioned operating robot, existing skill is referred to
Art, repeats no more herein.
Since the operating robot has above-mentioned control device, to a certain extent, which also has
Higher safety in utilization.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It 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 noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
Solution is indication or suggestion relative importance.
The foregoing is merely the preferred embodiment of the present invention, are not intended to restrict the invention, for this field
For technical staff, the invention may be variously modified and varied, in the range of the principle of the present invention and technical idea, to this
A little embodiments carry out a variety of variations, modifications, equivalent substitutions and improvements etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of cup-and-ball joint operating robot has the cup-and-ball joint being made of ball-type part and socket joint, it is characterised in that: institute
Socket joint is stated with locating part, the socket joint is interior to have at least two groups driving assembly, and the driving component is for driving ball-type
Part movement；The ball-type part is equipped with surgical instrument.
2. cup-and-ball joint operating robot according to claim 1, it is characterised in that: two groups of driving assemblies are structures
The same or similar first driving assembly and the second driving assembly.
3. cup-and-ball joint operating robot according to claim 1, it is characterised in that: the center of the ball-type part has logical
Hole is equipped with surgical instrument in the through-hole.
4. cup-and-ball joint operating robot according to claim 3, it is characterised in that: be equipped with third drive in the through-hole
Dynamic component, the third driving assembly is for driving surgical instrument movement.
5. cup-and-ball joint operating robot according to claim 1, it is characterised in that: the ball-type part is equipped with scalable
Bar, the telescopic rod are equipped with surgical instrument.
6. cup-and-ball joint operating robot according to claim 1, it is characterised in that: the locating part is socket joint shell
On through-hole, the through-hole diameter be less than ball-type part diameter.
7. cup-and-ball joint operating robot according to claim 1, it is characterised in that: the driving component includes actuator
And driving motor, actuator and driving motor are directly connected to or are coupled by transmission device.
8. operating robot combined drive according to claim 1, it is characterised in that: the ball-type part and limit
Part is located at the eccentric position of cup-and-ball joint seat shell.
9. a kind of control device of cup-and-ball joint operating robot, it is characterised in that: be any ball in claim 1-7
In the structure basis of nest operation on joint robot, using the driving assembly of inductive component replacement cup-and-ball joint operating robot, institute
Inductive component is stated for incuding the movement of ball-type part opposed articulation seat.
10. a kind of cup-and-ball joint operating robot of tactile feedback, it is characterised in that: with any of such as claim 1-7
The structure, further includes inductor in the driving component, and actuator and inductor are directly connected to or are joined by transmission device
It connects, the movement of the inductor induction actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811152867.3A CN109171985A (en) | 2018-09-30 | 2018-09-30 | A kind of cup-and-ball joint operating robot and its control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811152867.3A CN109171985A (en) | 2018-09-30 | 2018-09-30 | A kind of cup-and-ball joint operating robot and its control device |
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| CN109171985A true CN109171985A (en) | 2019-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811152867.3A Pending CN109171985A (en) | 2018-09-30 | 2018-09-30 | A kind of cup-and-ball joint operating robot and its control device |
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