CN204484326U - The main hands of a kind of peritoneoscope micro-wound operation robot principal and subordinate's isomorphism formula remote operating - Google Patents
The main hands of a kind of peritoneoscope micro-wound operation robot principal and subordinate's isomorphism formula remote operating Download PDFInfo
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- CN204484326U CN204484326U CN201520147779.XU CN201520147779U CN204484326U CN 204484326 U CN204484326 U CN 204484326U CN 201520147779 U CN201520147779 U CN 201520147779U CN 204484326 U CN204484326 U CN 204484326U
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- nipple assembly
- cating nipple
- angular transducer
- cradle head
- remote operating
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Abstract
The utility model discloses the main hands of a kind of peritoneoscope micro-wound operation robot principal and subordinate isomorphism formula remote operating, mainly comprise pedestal, be arranged on cating nipple assembly I on pedestal and the cating nipple assembly II connected by articulation part correspondence successively, III, IV, thumb parts and forefinger parts, on described cating nipple assembly I, II, III and IV, correspondence is provided with angular transducer S1, angular transducer S2, angular transducer S3, displacement transducer S4, angular transducer S5, angular transducer S6 and angular transducer S7; The freedom of motion one_to_one corresponding of this remote operating master each joint freedom degrees on hand and operation actuating station operating theater instruments, achieve principal and subordinate's isomorphism, directly can pass through the main hands of corresponding (mapping) relational implementation remote operating to the control of operation actuating station and adjustment, the time is resolved in the motion avoided needed for principal and subordinate's isomery remote operating, reduces system delay; Also make the intuitive of remote operating itself be enhanced, effectively reduce operation easier and operate miss.
Description
Technical field
This utility model belongs to medical robot field, is specifically related to the main hands of a kind of peritoneoscope micro-wound operation robot principal and subordinate isomorphism formula remote operating.
Background technology
Remote operating minimally-invasive surgery robot system is the operating environment that surgeon provides traditional Minimally Invasive Surgery, and can assist a physician meticulousr surgical action, to tremble caused damage when reducing operation due to the tired and maloperation that produces or because of hand; Also because it has that damage is little, healing is fast, can be patient and bring more preferably surgical outcome and being widely used.At present, Leonardo da Vinci's minimally-invasive surgery robot system (da Vinci System) of the U.S. has obtained clinical practice widely, receives the affirmative of surgeon.
Peritoneoscope minimally-invasive surgery robot system of the prior art generally adopt main-from formula remote operating control mode, namely obtain with wired or wireless communication modes the control signal that main operation end operates main hands from operating side surgical engine mechanical arm and carry out corresponding operation technique.The remote operating control of operating robot is led-realized from the mode of isomery to current unique business peritoneoscope micro-wound operation robot Leonardo da Vinci's system in the world and other famous minimally-invasive surgery robot system as Raven, DLR and IBIS etc. all adopt.The remote operating mode of this principal and subordinate's isomery needs system first to decompose the motion of main manipulator mechanism, go again to control to carry out corresponding operation technique from the corresponding joint of operating side operating robot, that is, operating robot main manipulator and incomplete same joint freedom degrees is arranged from operating side surgical robot arm, thus, this mode of operation can increase system delay, also there is room for improvement in the intuitive of remote operating simultaneously.
Summary of the invention
In view of this, the purpose of this utility model is to provide a kind of main hands of principal and subordinate's isomorphism formula remote operating for peritoneoscope micro-wound operation robot reducing system delay, directly can realize remote operating simultaneously to operation instrument end.
For achieving the above object, this utility model provides following technical scheme: the main hands of a kind of peritoneoscope micro-wound operation robot principal and subordinate isomorphism formula remote operating, mainly comprises pedestal, cating nipple assembly I, cating nipple assembly II, cating nipple assembly III, cating nipple assembly IV, thumb parts and forefinger parts;
Described cating nipple assembly I is arranged on pedestal, described cating nipple assembly II is by cradle head J1, cradle head J2 is connected with cating nipple assembly I, described cating nipple assembly III is connected with cating nipple assembly II by cradle head J3, described cradle head J3 is provided with the telescoping mechanism J4 carrying out rectilinear motion along cradle head J3 axis, described cating nipple assembly IV is by cradle head J5, cradle head J6 is connected with cating nipple assembly III, described thumb parts and forefinger parts are all connected with cating nipple assembly IV by cradle head J7,
On described cating nipple assembly I, corresponding being provided with to rotate the angular transducer S1 and angular transducer S2 that movable joint J1, J2 axis rotates for detecting cating nipple assembly II;
On described cating nipple assembly II, correspondence is provided with angular transducer S3 and displacement transducer S4, described angular transducer S3 for detect cating nipple assembly III rotate movable joint J3 axis rotate rotational angle, institute displacement sensors S4 is for detecting the displacement of cating nipple assembly III along the movement of cradle head J3 axis direction;
On described cating nipple assembly III, corresponding being provided with to rotate the angular transducer S5 and angular transducer S6 that movable joint J5, J6 axis rotates for detecting cating nipple assembly IV;
Described cating nipple assembly IV is provided with and rotates for detecting thumb parts and the forefinger parts movable joint J7 axis that rotates the S7 of angular transducer in relative rotation produced.
The beneficial effects of the utility model are: compared with existing principal and subordinate's isomery remote operating mode, the main hands structure of this remote operating achieves principal and subordinate's isomorphism, namely there is one-to-one relationship between each movable joint of the main hands of remote operating and each freedom of motion of operation actuating station surgical instruments, directly can pass through the main hands of corresponding (mapping) relational implementation remote operating to the control of operation actuating station and adjustment, without the need to carrying out sports coupling and parsing again, the time is resolved in the motion avoided needed for principal and subordinate's isomery remote operating, reduces system delay; Meanwhile, the main hands of this remote operating also makes the intuitive of remote operating itself be enhanced with corresponding (mapping) relation of its generation, effectively reduces operation easier and operate miss.
Accompanying drawing explanation
In order to make the purpose of this utility model, technical scheme and beneficial effect clearly, this utility model provides following accompanying drawing to be described:
Fig. 1 is structural representation of the present utility model;
Fig. 2 is that the main hands of remote operating contrasts figure with the joint at operation actuating station place;
Fig. 3 is correspondence (mapping) graph of a relation of Fig. 2.
Detailed description of the invention
Below in conjunction with accompanying drawing, preferred embodiment of the present utility model is described in detail.
As shown in Figure 1, the main hands of peritoneoscope micro-wound operation robot principal and subordinate isomorphism formula remote operating in this utility model, mainly comprises pedestal 1, cating nipple assembly I 2, cating nipple assembly II 3, cating nipple assembly III 4, cating nipple assembly IV 5, thumb parts 6 and forefinger parts 7, described cating nipple assembly I 2 is arranged on pedestal 1, described cating nipple assembly II 3 is by cradle head J1, cradle head J2 is connected with cating nipple assembly I 2, described cating nipple assembly III 4 is connected with cating nipple assembly II 3 by cradle head J3, described cradle head J3 is provided with the telescoping mechanism J4 carrying out rectilinear motion along cradle head J3 axis, described cating nipple assembly III 4 moves up and down by linear joint J4, described cating nipple assembly IV 5 is by cradle head J5, cradle head J6 is connected with cating nipple assembly III 4, described thumb parts 6 and forefinger parts 7 are all connected with cating nipple assembly IV 5 by cradle head J7, on described cating nipple assembly I 2, corresponding being provided with to rotate the angular transducer S1 and angular transducer S2 that movable joint J1, J2 axis rotates for detecting cating nipple assembly II 3, on described cating nipple assembly II 3, correspondence is provided with angular transducer S3 and displacement transducer S4, described angular transducer S3 for detect cating nipple assembly III 4 rotate movable joint J3 axis rotate rotational angle, institute displacement sensors S4 is for detecting the displacement of cating nipple assembly III 4 along the movement of cradle head J3 axis direction, on described cating nipple assembly III 4, corresponding being provided with to rotate the angular transducer S5 and angular transducer S6 that movable joint J5, J6 axis rotates for detecting cating nipple assembly IV 5, described cating nipple assembly IV 5 is provided with and rotates for detecting thumb parts 6 and the forefinger parts 7 movable joint J7 axis that rotates the S7 of angular transducer in relative rotation produced.
In the present embodiment, cating nipple assembly I 2 is arranged on pedestal 1, and cating nipple assembly I 2, cating nipple assembly II 3, cating nipple assembly III 4, cating nipple assembly IV 5, thumb parts 6 and forefinger parts 7 are connected by articulation part correspondence successively; Concrete, cating nipple assembly II 3 can rotate respectively movable joint J1, J2 pivot center rotate, telescoping mechanism J4 carries out rectilinear motion along the pivot center of cradle head J3, namely cating nipple assembly III 4 both can rotate movable joint J3 pivot center rotate, the displacement along cradle head J3 axis direction (J4) can be produced again, cating nipple assembly IV 5 can rotate respectively movable joint J5, J6 pivot center rotate, thumb parts 6 and forefinger parts 7 can rotate movable joint J7 pivot center rotate, between the two formed an angle theta produced when relatively rotating.
Compared with existing principal and subordinate's isomery remote operating mode, the main hands structure of this remote operating achieves principal and subordinate's isomorphism, namely there is one-to-one relationship between each movable joint of the main hands of remote operating and each freedom of motion of operation actuating station surgical instruments, directly can pass through the main hands of corresponding (mapping) relational implementation remote operating to the control of operation actuating station and adjustment, without the need to carrying out sports coupling and parsing again, the time is resolved in the motion avoided needed for principal and subordinate's isomery remote operating, reduces system delay; Meanwhile, the main hands of this remote operating also makes the intuitive of remote operating itself be enhanced with corresponding (mapping) relation of its generation, effectively reduces operation easier and operate miss.
Its operation principle is shown in accompanying drawing 2 and accompanying drawing 3, to be the main hands of remote operating with the joint at operation actuating station place contrast accompanying drawing 2 schemes, wherein left side is the main hands of peritoneoscope micro-wound operation robot principal and subordinate isomorphism formula remote operating, and right side is peritoneoscope minimally invasive robotic surgery actuating station schematic diagram, when performing the operation, doctor operates thumb parts 6 and forefinger parts 7 motion carries out operation technique, angular transducer S1, angular transducer S2, angular transducer S3, displacement transducer S4, angular transducer S5, angular transducer S6, angular transducer S7 detects cating nipple assembly II 3 respectively and to rotate movable joint J1, the rotational angle of J2, cating nipple assembly III 4 rotates the rotational angle of movable joint J3 and the axial displacement along cradle head J3, and cating nipple assembly IV 5 rotates movable joint J5, the rotational angle of J6, thumb parts 6 and forefinger parts 7 rotate the relative angle θ of movable joint J7 when rotating, and the operating theater instruments then controlling peritoneoscope minimally invasive robotic surgery actuating station by one_to_one corresponding (mapping) relation (see Fig. 3) rotates movable joint G1, cradle head G2, cradle head G3, straight-line displacement degree of freedom G4 (motion in operating theater instruments turnover abdominal cavity), cradle head G5, cradle head G6 and cradle head G7 produces corresponding quantity of motion φ (equal or proportional convergent-divergent).
What finally illustrate is, above preferred embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail this utility model by above preferred embodiment, but those skilled in the art are to be understood that, various change can be made to it in the form and details, and not depart from this utility model claims limited range.
Claims (1)
1. the main hands of peritoneoscope micro-wound operation robot principal and subordinate isomorphism formula remote operating, is characterized in that: mainly comprise pedestal, cating nipple assembly I, cating nipple assembly II, cating nipple assembly III, cating nipple assembly IV, thumb parts and forefinger parts;
Described cating nipple assembly I is arranged on pedestal, described cating nipple assembly II is by cradle head J1, cradle head J2 is connected with cating nipple assembly I, described cating nipple assembly III is connected with cating nipple assembly II by cradle head J3, described cradle head J3 is provided with the telescoping mechanism J4 carrying out rectilinear motion along cradle head J3 axis, described cating nipple assembly IV is by cradle head J5, cradle head J6 is connected with cating nipple assembly III, described thumb parts and forefinger parts are all connected with cating nipple assembly IV by cradle head J7,
On described cating nipple assembly I, corresponding being provided with to rotate the angular transducer S1 and angular transducer S2 that movable joint J1, J2 axis rotates for detecting cating nipple assembly II;
On described cating nipple assembly II, correspondence is provided with angular transducer S3 and displacement transducer S4, described angular transducer S3 for detect cating nipple assembly III rotate movable joint J3 axis rotate rotational angle, institute displacement sensors S4 is for detecting the displacement of cating nipple assembly III along the movement of cradle head J3 axis direction;
On described cating nipple assembly III, corresponding being provided with to rotate the angular transducer S5 and angular transducer S6 that movable joint J5, J6 axis rotates for detecting cating nipple assembly IV;
Described cating nipple assembly IV is provided with and rotates for detecting thumb parts and the forefinger parts movable joint J7 axis that rotates the S7 of angular transducer in relative rotation produced.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520147779.XU CN204484326U (en) | 2015-03-13 | 2015-03-13 | The main hands of a kind of peritoneoscope micro-wound operation robot principal and subordinate's isomorphism formula remote operating |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520147779.XU CN204484326U (en) | 2015-03-13 | 2015-03-13 | The main hands of a kind of peritoneoscope micro-wound operation robot principal and subordinate's isomorphism formula remote operating |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106667583A (en) * | 2017-02-17 | 2017-05-17 | 吉林大学 | Minimally invasive surgery robot 7-degree freedom operation master manipulator |
| CN106826789A (en) * | 2017-03-10 | 2017-06-13 | 蒙柳 | A kind of modular remote operating machinery arm controller |
| CN109171969A (en) * | 2018-09-30 | 2019-01-11 | 泗洪县正心医疗技术有限公司 | A kind of operating robot based on gimbal suspension |
| CN109965981A (en) * | 2018-09-30 | 2019-07-05 | 深圳市精锋医疗科技有限公司 | Starting method, readable access to memory and the operating robot of operating robot |
-
2015
- 2015-03-13 CN CN201520147779.XU patent/CN204484326U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106667583A (en) * | 2017-02-17 | 2017-05-17 | 吉林大学 | Minimally invasive surgery robot 7-degree freedom operation master manipulator |
| CN106826789A (en) * | 2017-03-10 | 2017-06-13 | 蒙柳 | A kind of modular remote operating machinery arm controller |
| CN109171969A (en) * | 2018-09-30 | 2019-01-11 | 泗洪县正心医疗技术有限公司 | A kind of operating robot based on gimbal suspension |
| CN109965981A (en) * | 2018-09-30 | 2019-07-05 | 深圳市精锋医疗科技有限公司 | Starting method, readable access to memory and the operating robot of operating robot |
| CN109965981B (en) * | 2018-09-30 | 2020-09-22 | 深圳市精锋医疗科技有限公司 | Starting method of surgical robot, readable memory and surgical robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150722 Effective date of abandoning: 20160720 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20150722 Effective date of abandoning: 20160720 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |