WO2022161497A1 - 一种用于机器人的主手操控装置及机器人 - Google Patents
一种用于机器人的主手操控装置及机器人 Download PDFInfo
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Definitions
- the present specification relates to the technical field of medical devices, and in particular, to a master hand control device for a robot and a robot.
- CT computed tomography
- Surgical operations guided by CT images can be judged in real time and adjusted in time under the premise of CT imaging, which greatly improves the success rate of surgery, reduces the risk of surgery, and improves the recovery speed and quality of life of patients.
- CT equipment all use X-rays, ⁇ -rays, etc. to complete the imaging work. Completing the operation on the CT side will expose the doctor to the radiation environment for a long time, which will pose a great threat to the health of the body.
- the master-slave teleoperated robot came into being.
- the master-slave teleoperated robot is a surgical method with an auxiliary surgical mode as the front end of the comparison. Controlling the image-guided robot to perform surgical operations by remote operation can effectively prevent doctors from being exposed to radiation.
- the current master-slave teleoperated robot cannot simulate the operation of the doctor to control the posture of the surgical tool, which may increase the risk and uncertainty of the operation, increase the operation time, reduce the operation efficiency, and affect the success rate of the operation. Therefore, there is a need for a master-slave teleoperated robot capable of simulating the operation of a doctor to control the posture of a surgical tool.
- the main hand control device includes: an end control assembly; and an attitude adjustment component, the attitude adjustment component includes a first rotation mechanism and a second rotation mechanism , the first rotating mechanism is connected to the end control assembly, the second rotating mechanism is connected to the first rotating mechanism, and the end control assembly drives the first rotating mechanism to rotate around the first rotating mechanism The axis rotates, and the end control assembly drives the first rotation mechanism and the second rotation mechanism to rotate around the rotation axis of the second rotation mechanism.
- the first rotating mechanism includes a first rotating shaft, a first mounting seat and a second mounting seat; the end control assembly is fixedly arranged on the first mounting seat, and the first mounting seat is connected to the first mounting seat.
- the first rotating shaft is fixedly connected, and the first rotating shaft is rotatably arranged on the second mounting seat;
- the second rotating mechanism includes a second rotating shaft and a third mounting seat, and the second rotating shaft It is rotatably arranged on the third mounting seat, and the second rotating shaft is fixedly connected with the second mounting seat; the angle between the rotation axis of the first rotating shaft and the rotation axis of the second rotating shaft greater than 10°.
- the included angle between the rotation axis of the first rotation shaft and the rotation axis of the second rotation shaft is greater than 85°.
- the rotational axis of the first rotational shaft and the rotational axis of the second rotational shaft intersect.
- the second rotating shaft includes a first part and a second part arranged with the rotating shaft, the first part and the second part can rotate synchronously, and the first part and the first part can rotate synchronously.
- the second mounting seat is arranged between the two parts, so that the first rotating shaft and the second rotating shaft are located on the same plane.
- it further includes: a first information collection device, the first information collection device detects the rotation angle of the first rotation mechanism, and transmits it to a communication device; a second information collection device, the second information The acquisition device detects the rotation angle of the second rotation mechanism and transmits it to the communication device.
- the first information collection device includes a first encoder
- the second information collection device includes a second encoder
- it further includes: a first feedback component, the first feedback component applies an attitude adjustment resistance to the first rotation mechanism based on the first feedback information; a second feedback component, the second feedback component is based on the first feedback component.
- the second feedback information applies an attitude adjustment resistance to the second rotation mechanism.
- an end of the first rotating shaft is connected to a first feedback component
- the first feedback component includes a first deceleration component and a first feedback motor
- the first feedback motor is decelerated by the first
- the assembly is connected with the first rotating shaft;
- the end of the second rotating shaft is connected with a second feedback assembly,
- the second feedback assembly includes a second reduction assembly and a second feedback motor, and the second feedback motor passes through the The second deceleration assembly is connected with the second rotating shaft.
- the first deceleration assembly includes a first synchronizing wheel and a second synchronizing wheel, the radius of the first synchronizing wheel is larger than that of the second synchronizing wheel, and the first synchronizing wheel is disposed at the the end of the first rotating shaft, the second synchronizing wheel is arranged at the output end of the first force feedback motor, the first synchronizing wheel and the second synchronizing wheel are drive-connected;
- the second speed reduction assembly It includes a third synchronizing wheel and a fourth synchronizing wheel, the radius of the third synchronizing wheel is larger than that of the fourth synchronizing wheel, the third synchronizing wheel is arranged at the end of the second rotating shaft, and the Four synchronizing wheels are arranged at the output end of the second force feedback motor, and the third synchronizing wheel and the fourth synchronizing wheel are in driving connection.
- the first synchronizing pulley and the second synchronizing pulley are connected by a double-rope drive; the third synchronizing pulley and the fourth synchronizing pulley are connected by a double-rope drive.
- the first rotation mechanism includes an attitude adjustment seat and an attitude adjustment ring, the attitude adjustment seat is rotatably connected with the attitude adjustment ring, and the attitude adjustment ring is fixedly connected with the end control assembly;
- the The second rotation mechanism includes a third rotation shaft, and the third rotation shaft is fixedly connected with the attitude adjustment seat; the angle between the rotation axis of the attitude adjustment ring and the rotation axis of the second rotation shaft is greater than 10° .
- the included angle between the rotation axis of the attitude adjustment ring and the rotation axis of the third rotation shaft is greater than 85°.
- the rotation axis of the attitude adjustment ring and the rotation axis of the third rotation axis intersect.
- it further includes: a third information collection device, the third information collection device detects the rotation angle of the first rotating mechanism, and transmits it to a communication device; a fourth information collection device, the fourth information The acquisition device detects the rotation angle of the second rotation mechanism and transmits it to the communication device.
- the third information collection device includes a third encoder
- the fourth information collection device includes a fourth encoder
- it further includes: a third feedback component, the third feedback component applies an attitude adjustment resistance to the first rotating mechanism based on the third feedback information; a fourth feedback component, the fourth feedback component is based on the third feedback information.
- the four feedback information applies a posture adjustment resistance to the second rotation mechanism.
- the third feedback assembly includes a third feedback motor, and the third feedback motor is fixedly connected with the attitude adjustment ring or the attitude adjustment seat;
- the fourth feedback assembly includes a fourth feedback motor , the fourth feedback motor is fixedly connected with the third rotating shaft.
- the posture adjustment member further includes a locking mechanism.
- the locking mechanism includes: a first braking member that locks/unlocks the rotation of the first rotation mechanism; a second braking member that locks/unlocks the rotation of the first rotation mechanism; Lock/unlock the rotation of the second rotation mechanism.
- the locking mechanism includes a plurality of electromagnets and a plurality of state detection units corresponding to the plurality of electromagnets, the plurality of electromagnets are arranged along the circumference of the end control assembly, and the A plurality of electromagnets are connected/disconnected from the terminal control assembly by powering on/off, so as to lock/unlock the posture of the terminal control assembly; the plurality of state detection units detect the states of the plurality of electromagnets and transmit them to communication device.
- the posture adjustment component further includes a plurality of posture adjustment touch switches, and the plurality of posture adjustment touch switches are arranged along a peripheral side of the distal end control assembly.
- the attitude adjustment component further includes a plurality of inclination angle detection members, the plurality of inclination angle detection members are arranged along the peripheral side of the end control assembly, and the plurality of inclination angle detection members detect the end control assembly and transmit it to the communication device.
- a base is further included, the base includes a base body and a rotating platform, the rotating platform is fixedly connected with the second rotating mechanism of the posture adjusting component, and the rotating platform is connected to the base
- the body is rotatably connected, the rotation plane of the rotating platform relative to the base body is parallel to the plane where the base body is located, and the rotating platform is associated with at least one joint motion of the robot.
- the base further includes a driving member and a transmission assembly, and the driving member drives the rotating platform to rotate through the transmission assembly.
- the transmission assembly includes a worm and a worm wheel that mesh with each other, the worm is connected to the output end of the driving member, and the worm wheel is fixedly connected to the rotating platform.
- the transmission assembly includes a driving wheel and a driven wheel, a timing belt is sleeved on the driving wheel and the driven wheel, the driving wheel is connected with the output end of the driving member, and the driven wheel is connected to the output end of the driving member.
- the rotating platform is fixedly connected.
- the rotating platform is provided with a fifth encoder, and the fifth encoder detects the rotation angle of the rotating platform and transmits it to the communication device.
- the distal control assembly includes an distal control force feedback assembly that applies resistance to the distal control assembly based on distal control force feedback information.
- the distal end control assembly is at least one of a puncture needle assembly, a surgical shear assembly, or a suturing assembly.
- One of the embodiments of this specification provides a robot, including a robot body, an end effector, and the above-mentioned master hand manipulation device; the end effector is connected to the robot body, the robot body is electrically connected to a communication device, and the robot body is electrically connected to a communication device.
- the main hand manipulation device is electrically connected to the communication device and the end effector.
- FIG. 1 is an application scenario diagram of a robot according to some embodiments of the present specification
- FIG. 2 is a schematic structural diagram of a master hand control device according to some embodiments of the present specification
- FIG. 3 is a schematic structural diagram of an attitude adjustment component according to some embodiments of the present specification.
- FIG. 4 is a partial structural schematic diagram of an attitude adjustment component according to some embodiments of the present specification.
- FIG. 5 is a partial structural schematic diagram of an attitude adjustment component according to some embodiments of the present specification.
- FIG. 6 is a partial structural schematic diagram of an attitude adjustment component according to some embodiments of the present specification.
- FIG. 7 is a partial structural schematic diagram of an attitude adjustment component according to some embodiments of the present specification.
- FIG. 8 is a partial structural schematic diagram of an attitude adjustment component according to some embodiments of the present specification.
- Figure 9 is a schematic diagram of a double rope drive according to some embodiments of the present specification.
- FIG. 10 is a schematic diagram of a master hand control device of another structure according to some embodiments of the present specification.
- FIG. 11 is a top view of a master hand manipulation device according to some embodiments of the present specification.
- FIG. 12 is a schematic structural diagram of a base according to some embodiments of the present specification.
- FIG. 13 is a schematic diagram of the principle of multi-degree-of-freedom attitude adjustment of a robot according to another structure of the main hand manipulation device associated motion shown in some embodiments of the present specification;
- Fig. 14 is a schematic diagram before and after the posture adjustment of the master hand manipulation device according to another structure shown in some embodiments of the present specification.
- system means for distinguishing different components, elements, parts, parts or assemblies at different levels.
- device means for converting components, elements, parts, parts or assemblies to different levels.
- Surgical robot is a medical device integrating clinical medicine, biomechanics, mechanics, computer science, microelectronics and many other disciplines. Surgical robots assist doctors to perform complex surgical operations in the form of minimally invasive surgery through a clear imaging system and flexible robotic arms, completing intraoperative positioning, cutting, puncturing, hemostasis, suturing and other operations. Under the guidance of CT imaging equipment, medical personnel can use surgical robots to assist in surgical treatment. However, performing surgery on the CT side will expose medical personnel to radiation environment for a long time, which poses a great threat to health. Therefore, master-slave surgery can be used.
- the telerobot controls the image-guided robot to perform surgical operations through remote operation.
- the current robots often cannot accurately simulate the operation process of medical personnel, and cannot feedback the magnitude of the force.
- the lack of force perception by medical personnel may increase the risk and uncertainty of surgery, and affect the efficiency of surgery.
- some embodiments of the present specification provide a robot for surgery, which includes a main hand manipulation device for manipulating the end effector of the robot, the main hand manipulation device can simulate the operation of medical personnel and can provide force Feedback to avoid risks in the surgical process and improve surgical efficiency.
- FIG. 1 is an application scenario diagram of a robot according to some embodiments of the present specification.
- the robot may include a robot body 110 , an end effector 130 and a main hand manipulation device 200 .
- the end effector 130 is connected to the robot body 110 (for example, disposed at the end of the robot arm of the robot body 110 ), the robot body 110 is electrically connected to the communication device 120 , and the main hand manipulation device 200 is electrically connected to the communication device 120 and the end effector 130 , thereby The end effector 130 is controlled to perform a synchronous operation.
- the robot body 110 When the robot is actually used, the robot body 110 is located in the scanning room.
- the robot body 110 includes a robotic arm, which can drive the end effector 130 installed at the end of the robotic arm to move, so as to adjust the posture of the functional components at the end of the robotic arm.
- the end effector 130 is provided on the robot body 110 for performing synchronized actions (eg, puncturing, suturing, etc.).
- the console of the imaging equipment is installed in the control room, and there is a concrete wall between the control room and the scanning room to shield the radiation.
- a master hand control device 200 is also set in the control room. The doctor can control the robot body 110 in the scanning room by operating the master hand control device 200 in the control room, so as to complete the master-slave teleoperated surgical operation.
- FIG. 2 is a schematic structural diagram of a master hand manipulation device 200 according to some embodiments of the present specification.
- the main hand control device 200 involved in the embodiments of the present specification will be described in detail below. It should be noted that the following examples are only used to explain the present application, and do not constitute a limitation to the present application.
- the main hand manipulation device 200 for a robot may include an end control assembly 210 and a posture adjustment component 220 .
- the end control assembly 210 is used to control the end effector 130 to perform operations, for example, to perform operations such as puncturing, suturing, and the like.
- the end control assembly 210 may be a hollow cylindrical structure for easy handling.
- the end control assembly 210 may be adaptively designed according to the operating habits of medical personnel and the structure of the end effector 130 to facilitate use.
- the end control assembly 210 can be correspondingly configured as a puncture needle assembly, a surgical scissors assembly or a suture needle assembly according to different end effectors 130 (such as puncture needles, surgical scissors, sewing needles, etc.), and its shape can be configured as a corresponding functional component shape or other shapes that are convenient for operation, which are not limited here.
- the distal control assembly 210 includes a distal control force feedback component that applies resistance to the distal control assembly 210 based on the distal control force feedback information.
- the feedback information of the end control force may include the magnitude and direction of the resistance.
- the end effector 130 may be a puncture needle. When the puncture needle is pierced into the patient's body, the body tissue will produce a reaction force on the puncture needle, which is the resistance of the puncture. sensor detection.
- the end control component 210 controls the end effector 130 (eg, a puncture needle) to operate
- the puncture needle encounters a puncture resistance, which can be fed back to the robot body 110, and the robot body 110 can control the end control force feedback component to
- the tip control assembly 210 applies a resistance comparable to the puncture resistance.
- the medical staff performs the puncture operation, they can feel the needle insertion resistance of the puncture needle through the puncture resistance fed back by the end control force feedback component, so as to truly simulate the situation of holding the needle for puncture.
- the end control force feedback assembly may include an actuator motor and a position detection unit.
- the position detection unit can detect the current position state of the slider, identify the movement stroke of the slider, and feed back to the robot body 110 .
- the robot body 110 controls the execution motor to apply a certain current to generate torque action.
- the resistance produced by this torque is consistent with the resistance of the actual needle insertion of the puncture needle.
- the resistance acts on the hands of the medical staff through the slip ring on the terminal puncture assembly 210, and the doctor will feel the resistance when moving the slip ring, so as to realize the feedback function of the puncturing force.
- the end control force feedback assembly can detect the distance of the linear motion of the slip ring and feed it back to the robot body 110.
- the robot body 110 converts the distance of the linear motion of the slip ring into a linear displacement
- the robot body 110 controls the robotic arm to drive the puncture needle to perform the puncture operation through the linear displacement.
- the end control force feedback component can be connected with the roller of the linear motion component. When the roller rotates, the end control force feedback component can detect the distance of the linear motion of the slip ring, and feedback it to the robot body 110 to control the puncture needle to puncture.
- the main hand manipulation device 200 may be electrically connected to the communication device 120 and the end effector 130 , and the communication device 120 is electrically connected to the robot body 110 .
- the resistance information received by the end effector 130 can be transmitted to the robot body 110; the robot body 110 can send corresponding force feedback information to the main hand manipulation device 200 through the communication device 120 according to the resistance information, thereby realizing signal transmission.
- the connection manner of the communication device 120 to the main hand manipulation device 200 and the robot body 110 may include wired connection, wireless connection or a combination of the two.
- Wired connections may include connections via electrical, optical, or telephone lines, etc., or any combination thereof.
- Wireless connections may include connections via Bluetooth, Wi-Fi, WiMax, WLAN, ZigBee, mobile networks (eg, 3G, 4G, or 5G, etc.), or any combination thereof.
- FIG. 3 is a partial structural schematic diagram of the posture adjusting component 220 according to some embodiments of the present specification.
- the posture adjusting component 220 is a device for adjusting the posture of the end control assembly 210 .
- the posture adjustment component 220 may include a first rotation mechanism 221 and a second rotation mechanism 222, the first rotation mechanism 221 is connected to the end control assembly 210, the second rotation mechanism 222 is connected to the first rotation mechanism 221, and the end control assembly 210 drives the first rotating mechanism 221 to rotate around the rotation axis A of the first rotating mechanism 221, that is, the movement of the first rotating mechanism 221 driven by the end control assembly 210 has no effect on the second rotating mechanism 222;
- the rotation mechanism 221 and the second rotation mechanism 222 rotate around the rotation axis B of the second rotation mechanism 222 , that is, when the end control assembly 210 drives the posture adjustment member 220 to rotate around the rotation axis B of the second rotation mechanism 222 , the first rotation mechanism 221 and the second
- the movement of the end control assembly 210 in the first direction corresponds to the first rotational degree of freedom of the first rotation mechanism 221 , and the movement of the end control assembly 210 and the first rotation mechanism 221 as a whole in the second direction Corresponding to the second rotational degree of freedom of the second rotating mechanism 222 .
- the rotation of the first rotation mechanism 221 does not affect the second rotation mechanism 222, but the rotation of the second rotation mechanism 222 can drive the direction of the rotation axis A of the first rotation mechanism 221 to change.
- the actual posture adjustment movement of the end control assembly 210 is: The first rotation mechanism 221 and the second rotation mechanism 222 rotate the superimposed vector sum.
- the first rotation mechanism 221 can be connected with the bottom of the end control assembly 210, and the movement of the end control assembly 210 in the first direction can drive the first rotation mechanism 221 to rotate around the rotation axis A of the first rotation mechanism 221,
- the end control assembly 210 moves in the second direction, it and the first rotation mechanism 221 form a whole with a fixed relative position, and the whole can drive the second rotation mechanism 222 to rotate around the rotation axis B of the second rotation mechanism 222 .
- FIG. 4 is a partial structural schematic diagram of the posture adjusting component 220 according to some embodiments of the present specification.
- FIG. 5 is a partial structural schematic diagram of the posture adjustment component 220 according to some embodiments of the present specification.
- FIG. 6 is a partial structural schematic diagram of the posture adjustment component 220 according to some embodiments of the present specification.
- FIG. 7 is a partial structural schematic diagram of the posture adjusting component 220 according to some embodiments of the present specification.
- FIG. 8 is a partial structural schematic diagram of the posture adjustment component 220 according to some embodiments of the present specification.
- the posture adjustment component 220 involved in the embodiments of the present specification will be described in detail below. It should be noted that the following examples are only used to explain the present application, and do not constitute a limitation to the present application.
- the first rotating mechanism may include a first rotating shaft 310 , a first mounting seat 320 and a second mounting seat 330 .
- the first rotation shaft 310 is rotatable around the rotation axis A of the first rotation mechanism, and has a first rotation degree of freedom.
- the first mount 320 may be used to mount the end control assembly 210 .
- the second mounting seat 330 can be used for the rotatable installation of the first rotating shaft 310.
- the first rotating shaft 310 can be mounted on the second mounting seat 330 through a bearing, so that the rotation of the first rotating shaft 310 is stable and reliable, and the The bearing end cover is limited.
- the end control assembly 210 is fixedly disposed on the first mounting seat 320, and the first mounting seat 320 is fixedly connected with the first rotating shaft 310.
- the structure of the first mounting seat 320 is not limited, as long as the end control assembly can be connected
- the bottom of the assembly 210 can be connected with the first rotating shaft 310 .
- the first mounting seat 320 may include two parts, and the two parts are combined to form a cavity for connection with the first rotating shaft 310, and both ends of the first rotating shaft 310 may protrude from the first mounting seat 320, To connect with other parts or install other parts.
- the second rotating mechanism may include a second rotating shaft 410 and a third mounting seat 420 .
- the second rotation shaft 410 is rotatable around the rotation axis B of the second rotation mechanism, and has a second rotational degree of freedom.
- the third mounting seat 420 can be used for the rotatable installation of the second rotating shaft 410.
- the second rotating shaft 410 can be mounted on the third mounting seat 420 through a bearing, so that the rotation of the second rotating shaft 410 is stable and reliable, and The bearing end cover is limited.
- the second rotating shaft 410 is fixedly connected with the second mounting seat 330 . Therefore, when the first rotating shaft 310 rotates in the second mounting seat 330 , the second rotating shaft 410 has no influence, while the second rotating shaft 310 rotates. When the shaft 410 rotates, it will drive the second mounting base 330 fixedly connected thereto and the first rotating shaft 310 disposed therein to move. In addition, when the first rotating shaft 310 is in the locked state, that is, when the first rotating shaft 310 cannot rotate, the second rotating shaft 410 has no influence. The rotation of the second rotating shaft 410 will drive the second mounting seat 330 fixedly connected to it and the first rotating shaft 310 disposed therein moves.
- the included angle between the rotation axis of the first rotation shaft 310 and the rotation axis of the second rotation shaft 410 may be greater than 10°, for example, set at any angle within 10-180° (eg, set at 60°, 90° setting, 135° setting, etc.). In some embodiments, the included angle between the rotation axis of the first rotation shaft 310 and the rotation axis of the second rotation shaft 410 may be greater than 85°, for example, the rotation axis of the first rotation shaft 310 and the rotation axis of the second rotation shaft 410 The included angle of the rotation axis B can be 90°.
- the rotation axis of the first rotation shaft 310 and the rotation axis of the second rotation shaft 410 may or may not intersect.
- the first rotation shaft 310 may be disposed in a space above the second rotation shaft 410 .
- the plane on which the rotation axis of the first rotation shaft 310 and the rotation axis of the second rotation shaft 410 are located may be parallel to the horizontal plane, or may be parallel to the horizontal plane Not parallel.
- the second rotating shaft 410 may include two shaft segments arranged with the rotating shaft, that is, a first part and a second part that can rotate around the same rotating shaft, the first part and the second part can rotate synchronously.
- the second mounting seat 420 may be disposed between the first part and the second part, so that the first rotation shaft 310 and the second rotation shaft 410 are located on the same plane (the rotation axis of the first rotation shaft 310 and the rotation of the second rotation shaft 410 axes intersect).
- the first rotating shaft 310 can rotate relative to the second mounting seat 330 to achieve a first rotational degree of freedom.
- the second rotating shaft 410 can be driven to rotate relative to the third mounting base 420 by the first rotating shaft 310 and the second mounting seat 330 , so as to realize the second rotational degree of freedom.
- the main hand manipulation device 200 may further include a first information collection device and a second information collection device, and the first information collection device may detect the rotation angle of the first rotation mechanism 221 and transmit it to the communication device 120; The second information collection device can detect the rotation angle of the second rotation mechanism 222 and transmit it to the communication device 120 .
- the first information collection device may include a first encoder 360. As shown in FIG. 7, the first encoder 360 may be disposed at the end of the first rotating shaft 310; the second information collection device may include a first encoder 360. Two encoders 430 , as shown in FIG. 8 , the second encoder 430 may be disposed at the end of the second rotating shaft 410 .
- An encoder is a device that compiles and converts signals or data into signal forms for communication, transmission and storage.
- the encoder usually includes a magnetic disk and a reading head, and the rotation angle can be detected through the cooperation of the magnetic disk and the reading head.
- the first encoder 360 and the second encoder 430 can detect the rotation angle of the first rotation axis 310 and the rotation angle of the second rotation axis 410 and feed them back to the robot body 110 , and control the end execution through the robot body 110
- the controller 130 adjusts the spatial posture according to the rotation angle, and completes the operation requirements.
- the main hand manipulation device 200 may further include a first feedback component and a second feedback component, the first feedback component applies an attitude adjustment resistance to the first rotation mechanism 221 based on the first feedback information; the second feedback component is based on the first feedback information.
- the second feedback information applies an attitude adjustment resistance to the second rotation mechanism 222 .
- the first feedback assembly may be connected to the end of the first rotating shaft 310 , the first feedback assembly may include a first deceleration assembly and a first feedback motor 340 , and the first feedback motor 340 may pass through the first deceleration assembly Connected to the first rotating shaft 310 .
- the first speed reduction assembly may include a first synchronizing wheel 370 and a second synchronizing wheel 380 .
- the second feedback component may be connected to the end of the second rotating shaft 410, the second feedback component may include a second reduction component and a second feedback motor 450, and the second feedback motor 450 may pass through the second reduction component Connected with the second rotating shaft 410 .
- the second reduction assembly may include a third synchronizing wheel 460 and a fourth synchronizing wheel 470 .
- the second feedback component may also be disposed at the end of the first part of the second rotating shaft 410 or at the end of the second part of the second rotating shaft 410 .
- the feedback component is a component for applying attitude adjustment resistance
- the first feedback component and the second feedback component can respectively apply attitude adjustment resistance to the first rotation axis 310 and the second rotation axis 410 based on the first feedback information and the second feedback information.
- the first feedback information and the second feedback information are resistance information in different directions received by the end effector 130 when performing an attitude adjustment operation.
- the end control assembly 210 drives the first rotating shaft 310 to rotate, it can drive the first feedback motor 340 to rotate through the first deceleration assembly, and when the end control assembly 210 drives the second rotating shaft 410 to rotate, it can pass the second deceleration assembly
- the second feedback motor 450 is driven to rotate.
- the first feedback motor 340 can apply a resistance opposite to the rotation direction to the first rotating shaft 310 through the first deceleration assembly, and the second deceleration assembly to the first rotating shaft 310 through the second deceleration assembly.
- the two rotating shafts 410 exert a resistance opposite to the rotating direction to realize force feedback.
- the first rotation shaft 310 can be locked and no longer rotate, so as to prevent the rotation of the first rotation shaft 310 from affecting the spatial posture of the end effector 130 during subsequent operations ;
- the second rotation shaft 410 can be locked and no longer rotate, so as to prevent the rotation of the second rotation shaft 410 from affecting the end effector during subsequent operations 130 space attitude.
- the first feedback component and the second feedback component can feedback the resistance during posture adjustment, so as to simulate the posture adjustment process of the actual puncture needle, which is convenient for medical staff to operate. .
- the posture adjustment component 220 drives the end effector 130 to adjust the spatial posture
- the end effector 130 encounters the resistance of posture adjustment, and can feedback it to the robot body 110
- the robot body 110 can control the first feedback according to the first feedback information
- the component applies resistance to the first rotation axis 310 equivalent to the attitude adjustment resistance in the first direction
- the robot body 110 can control the second feedback component to apply a resistance equivalent to the attitude adjustment resistance in the second direction to the second rotation axis 410 according to the second feedback information.
- the medical staff drives the first rotating shaft 310 to rotate, they can feel the resistance opposite to the rotating direction, thereby realizing force feedback during posture adjustment.
- the first speed reduction assembly may include a first synchronizing wheel 370 and a second synchronizing wheel 380 .
- the first synchronizing wheel 370 may be disposed at the end of the first rotating shaft 310
- the second synchronizing wheel 380 may be disposed at the output end of the first feedback motor 340
- the first synchronizing wheel 370 and the second synchronizing wheel 380 are drivingly connected.
- the first synchronizing pulley 370 and the second synchronizing pulley 380 can be a wheel drive structure, a gear drive structure, etc., and can also be connected by a synchronous belt, a steel wire rope, etc., which are sleeved thereon. Transmission connections such as wire ropes can avoid the effects of backlash (eg, gear-to-gear clearance in a gear drive).
- the radius of the first synchronizing wheel 370 may be larger than the radius of the second synchronizing wheel 380, for example, the ratio of the radius of the first synchronizing wheel 370 and the second synchronizing wheel 380 may be 6.25:1, the first synchronizing wheel 370
- the ratio of the radius to the second synchronizing wheel 380 is the transmission ratio, and the transmission ratio can be determined according to the attitude adjustment load.
- the second reduction assembly may include a third synchronizing wheel 460 and a fourth synchronizing wheel 470 .
- the third synchronizing wheel 460 may be disposed at the end of the second rotating shaft 410
- the fourth synchronizing wheel 470 may be disposed at the output end of the second feedback motor 450
- the third synchronizing wheel 460 and the fourth synchronizing wheel 470 are drive-connected.
- the third synchronizing pulley 460 and the fourth synchronizing pulley 470 may be connected by a synchronizing belt, a steel wire rope, etc., which are sleeved thereon.
- the second deceleration assembly may also be a wheel drive structure, a gear drive structure, etc., the principle of which is substantially the same as that of a timing belt, a steel wire rope, etc., and will not be repeated here.
- the radius of the third synchronizing wheel 460 may be larger than the radius of the fourth synchronizing wheel 470.
- the ratio of the radius of the third synchronizing wheel 460 and the fourth synchronizing wheel 470 may be 6.25:1, and the third synchronizing wheel 460 may have a radius ratio of 6.25:1.
- the fourth synchronizing wheel 470 is the transmission ratio, and the transmission ratio can be determined according to the attitude adjustment load.
- Figure 9 is a schematic diagram of a double rope drive according to some embodiments of the present specification.
- the first synchronizing pulley 370 and the second synchronizing pulley 380 may be connected by a double rope drive, as shown in FIG. 9 .
- the transmission rigidity needs to be increased, the diameter of the wire rope needs to be increased, and the wire diameter of the wire rope (the diameter of the smallest unit that constitutes the wire rope) will also increase simultaneously, then the second synchronizing wheel The diameter of the 380 also needs to be increased synchronously (there is a linear relationship between the diameter of the prime wire and the diameter of the second synchronizing wheel 380 to meet the service life and), thereby affecting the transmission ratio.
- the double-rope transmission method does not change the diameter of the second synchronizing wheel 380, so the transmission rigidity can be doubled under the condition of keeping the transmission ratio unchanged.
- a guiding device may be provided for guiding the rope, so that the rope driven by the double ropes can be wound into the second synchronizing wheel 380 according to a preset pitch during the attitude adjustment process, and the rope on the first synchronizing wheel 370 is connected to the The pitch of the rope on the second synchronizing wheel 380 corresponds.
- a tensioning member can be provided to tension and fix the rope.
- the tensioning member can be a tensioning bolt and a matching tensioning nut.
- the working length of the rope can be adjusted so that The rope can work on the synchronous wheel with suitable pressure, preventing the rope from slipping when working.
- the third synchronizing wheel 460 and the fourth synchronizing wheel 470 may adopt double-rope transmission, whose structure, principle and effect are the same as the transmission of the first synchronizing wheel 370 and the second synchronizing wheel 380 , which will not be repeated here. .
- a guide device and a tensioning device can be correspondingly provided with double-rope transmission, whose structure, principle and effect are the same as the transmission of the first synchronizing wheel 370 and the second synchronizing wheel 380 , and will not be repeated here.
- FIG. 10 is a schematic diagram of another structure of a master hand manipulation device 1000 according to some embodiments of the present specification.
- the main hand control device 1000 of another structure involved in the embodiments of the present specification will be described in detail below. It should be noted that the following examples are only used to explain the present application, and do not constitute a limitation to the present application.
- the first rotation mechanism may include an attitude adjustment seat 1010 and an attitude adjustment ring 1020 , the attitude adjustment seat 1010 is rotatably connected with the attitude adjustment ring 1020 , and the attitude adjustment ring 1020 is fixedly connected with the end control assembly 210 .
- the attitude adjustment ring 1020 may be a semi-circular ring, the attitude adjustment seat 1010 and the attitude adjustment ring 1020 may be connected by a rotation pair, and the rotation axis of the rotation pair may coincide with the rotation axis A of the first rotation mechanism 221, such as shown in Figure 10.
- the structure and shape of the attitude adjustment ring 1020 is not limited, as long as it can be rotatably mounted on the attitude adjustment seat 1010 and can be fixedly connected with the bottom of the terminal control assembly 210 .
- the second rotation mechanism 222 may include a third rotation shaft 1070 .
- the third rotating shaft 1070 may be rotatably disposed on the base 230 , and the base 230 is a structure for installing and carrying the end control assembly 210 and the posture adjusting component 220 .
- the third rotating shaft 1070 may be installed through a bearing, and limited by a bearing end cover to maintain stable rotation.
- the third rotation shaft 1070 can be fixedly connected with the attitude adjustment seat 1010 to realize the connection between the first rotation mechanism 221 and the second rotation mechanism 222 , so that the end control assembly 210 can drive the second rotation mechanism through the attitude adjustment ring 1020
- the rotation mechanism 222 rotates around the rotation axis B of the second rotation mechanism 222 .
- the included angle between the rotation axis of the attitude adjustment ring 1020 and the rotation axis of the third rotation shaft 1070 may be greater than 10°, for example, set at any angle within 10-180° (eg, set at 30°, set at 60° setting, 135° setting, etc.). In some embodiments, the angle between the rotation axis of the attitude adjustment ring 1020 and the rotation axis of the third rotation shaft 1070 may be greater than 85°, for example, the angle between the rotation axis of the attitude adjustment ring 1020 and the rotation axis of the third rotation shaft 1070 The angle may be 90°, as shown in FIG. 5 , so that the first rotation mechanism 221 and the second rotation mechanism 222 can obtain a larger operating space.
- the rotation axis of the attitude adjustment ring 1020 and the rotation axis of the third rotation axis 1070 may or may not intersect.
- the plane on which the rotation axis of the attitude adjustment ring 1020 and the rotation axis of the third rotation shaft 1070 lie may be parallel to the horizontal plane or not parallel to the horizontal plane.
- the main hand manipulation device 1000 may further include a third information collection device and a fourth information collection device, and the third information collection device may detect the rotation angle of the first rotation mechanism 221 and transmit it to the communication device 120; Fourth, the information collection device can detect the rotation angle of the second rotation mechanism 222 and transmit it to the communication device 120 .
- the third information collection apparatus may include a third encoder 1040
- the fourth information collection apparatus may include a fourth encoder 1050 .
- An encoder is a device that compiles and converts signals or data into signal forms for communication, transmission and storage.
- the encoder can include a magnetic disk and a reading head, and the rotation angle can be detected by the cooperation of the magnetic disk and the reading head.
- the third encoder 1040 may be disposed along the rotation axis A of the first rotation mechanism 221 for detecting the rotation angle of the attitude adjustment ring 1020 , for example, disposed inside the attitude adjustment ring 1020 .
- the fourth encoder 1050 may be disposed at the end of the third rotation shaft 1070 for detecting the rotation angle of the third rotation shaft 1070 .
- the third encoder 1040 and the fourth encoder 1050 can be communicated and connected to the robot body 110 through the communication device 120 respectively to realize information exchange, feedback the detected rotation angle to the robot body 110, and control the rotation of the end effector 130 through the robot body 110 the same angle.
- the main hand manipulation device 1000 may further include a third feedback component and a fourth feedback component, the third feedback component may apply an attitude adjustment resistance to the first rotation mechanism 221 based on the third feedback information; the fourth feedback component may The attitude adjustment resistance is applied to the second rotation mechanism 222 based on the fourth feedback information.
- the third feedback component may include a third feedback motor 1030, and the third feedback motor 1030 may be fixedly connected with the attitude adjustment ring 1020 or the attitude adjustment seat 1010, for example, the third feedback motor 1030 may be along the first rotation mechanism
- the rotation axis A of the 221 is set and connected with the attitude adjustment ring 1020; it can also be set at other positions and connected with the attitude adjustment ring 1020 through the speed reducing member.
- the speed reduction member may include a large-diameter wheel and a small-diameter wheel sleeved with a timing belt, a wire rope, etc., wherein the small-diameter wheel may be disposed on the output shaft of the third feedback motor 1030, and the large-diameter wheel may rotate along the first
- the rotation axis A of the mechanism 221 is set and fixedly connected with the attitude adjustment ring 1020, and the diameters of the large-diameter wheel and the small-diameter wheel are different, so as to realize transmission and deceleration.
- the speed reducing member may be in the same arrangement as the first synchronizing wheel 370 and the second synchronizing wheel 380 .
- the deceleration member may also be a gear, etc., the principle of which is the same as that of a synchronous belt, a wire rope, etc., and will not be repeated here.
- the fourth feedback assembly may include a fourth feedback motor 1060 , and the fourth feedback motor 1060 may be fixedly connected with the third rotating shaft 1070 .
- the fourth feedback motor 1060 may be disposed at the end of the third rotating shaft 1070, and the fourth feedback motor 1060 may also be disposed at other positions (eg, on the base 230), and communicate with the third rotation through the speed reduction member
- the shaft 1070 is connected, only as an example, the deceleration member may include a large-diameter wheel and a small-diameter wheel sleeved with a timing belt, a wire rope, etc., wherein the small-diameter wheel may be arranged on the output shaft of the fourth feedback motor 1060, and the large-diameter wheel may be In connection with the third rotating shaft 1070, the diameters of the large-diameter wheel and the small-diameter wheel are different, so as to realize transmission reduction.
- the speed reducing member may be in the same arrangement as the first synchronizing wheel 370 and the second synchronizing wheel 380 .
- the deceleration member may also be a gear, etc., the principle of which is the same as that of a synchronous belt, a wire rope, etc., and will not be repeated here.
- the feedback component is a component for applying the attitude adjustment resistance
- the third feedback component and the fourth feedback component can respectively apply the attitude adjustment resistance to the attitude adjustment ring 1020 and the third rotation axis 1070 based on the third feedback information and the fourth feedback information.
- the third feedback information and the fourth feedback information are resistance information in different directions received by the end effector 130 when performing an attitude adjustment operation.
- the communication device 120 is fed back to the main hand control device 1000.
- the third feedback motor 1030 and the fourth feedback motor 1060 can receive the third feedback information and the fourth feedback information, and send the feedback to the adjustment device 1000.
- the attitude ring 1020 and the third rotation shaft 1070 exert a resistance equivalent to the attitude adjustment resistance of the end effector 130 , so as to realize the attitude adjustment force feedback of the end effector 130 .
- the operator drives the end control assembly 210 to rotate, the operator can feel the resistance opposite to the direction of rotation, thereby realizing force feedback during posture adjustment.
- the posture adjustment member 220 may include a locking mechanism for locking or unlocking the posture of the end control assembly 210 .
- the tip control assembly 210 is able to move.
- a locking mechanism enables locking and unlocking of tip control assembly 210 .
- the locking mechanism can be fixedly arranged in the posture adjusting member 220 , or can be fixedly installed on the base 230 .
- the locking mechanism is capable of locking/unlocking through contact/disengagement with the tip control assembly 210 .
- the locking mechanism can respectively lock the movement of the end control assembly 210 in two degrees of freedom.
- the locking mechanism may lock the end control assembly 210 relative to the first rotation mechanism 221 and the second rotation mechanism 222, respectively.
- the locking mechanism can make the end control assembly 210 unable to rotate around the rotation axis A of the first rotation mechanism 221, thereby restricting the movement of the posture adjusting member 220 in the first rotation degree of freedom.
- the first rotation mechanism 221 and the first rotation mechanism The two rotating mechanisms 222 form a whole with a constant relative position, and the end control assembly 210 can drive the whole to rotate around the rotation axis B of the second rotating mechanism 222 .
- the locking mechanism can make the end control assembly 210 unable to rotate around the rotation axis B of the second rotation mechanism 222, at this time, the movement of the first rotation mechanism 221 around its rotation axis A is not affected.
- the locking mechanism can make the end control assembly 210 unable to rotate around the rotation axis A of the first rotation mechanism 221 and the rotation axis B of the second rotation mechanism 222.
- the end control assembly 210 is relative to the first rotation mechanism 221 and The second rotating mechanism 222 forms a fixed whole.
- the whole formed by the end control assembly 210 relative to the first rotation mechanism 221 and the second rotation mechanism 222 can be rotated relative to the base 230 around a vertical line of the plane where the base 230 is located, and the locking mechanism can limit the rotation. rotate.
- the tip control assembly 210 itself is rotatable about its central axis, and this rotation can be limited by a locking mechanism.
- the locking mechanism is unlocked.
- the end control assembly 210 can move to adjust the spatial posture of the end effector 130 .
- the locking mechanism can be locked, so that the spatial posture of the end effector 130 does not change, preventing the end effector 130 from continuing to move and affecting the spatial posture of the end effector 130 .
- the locking mechanism may include a first detent 350 and a second detent 440 .
- the first stopper 350 can lock/unlock the rotation of the first rotation mechanism 221 ; as shown in FIG. 5 , the second stopper 440 can lock/unlock the rotation of the second rotation mechanism 222 .
- the first braking member 350 and the second braking member 440 may be respectively disposed on the output shafts of the first feedback motor 340 and the second feedback motor 450, and are used for the braking of the first feedback motor 340 and/or the second feedback motor 450.
- the output shaft is locked to prevent the output shaft of the first feedback motor 340 and/or the second feedback motor 450 from rotating, thereby restricting the rotation of the first rotation mechanism 221 around its rotation axis A and/or restricting the rotation of the second rotation mechanism 222 around it Axis B rotates.
- the first brake member 350 and the second brake member 440 may be holding brakes.
- the locking mechanism may include a plurality of electromagnets 1121 and a plurality of state detection units 1122 corresponding to the plurality of electromagnets 1121 .
- the plurality of electromagnets 1121 may be disposed along the circumference of the end control assembly 210 .
- the iron 1121 can be connected/disconnected from the end control assembly 210 through power-on/power-off, thereby locking/unlocking the posture of the end control assembly 210 .
- the electromagnet 1121 can control the extension of the extension shaft abutting against the end control assembly 210, thereby limiting the movement of the end control assembly 210, the extension and retraction of the extension shaft can be energized by the electromagnet 1121 or Power-off control, specifically, the electromagnet 1121 can be set to extend the shaft when it is energized, or it can be set to extend the shaft when the electromagnet 1121 is powered off; the state detection unit 1122 can be used to detect the working state of the electromagnet 1121 , that is, to detect whether the electromagnet is in the power-on or power-off state, so that it can be correspondingly known whether the extension shaft is extended.
- the extension shaft when the electromagnet 1121 is energized, the extension shaft can come into contact with the end control assembly 210, limiting the rotation of the end control assembly 210 toward the direction of the extension shaft.
- the electromagnet 1121 when the electromagnet 1121 is powered off, the extension shaft retracts and no longer contacts the end control assembly 210. At this time, the restraint of the end control assembly 210 in the direction of the extension shaft is released, and the end control assembly 210 can move toward the position where the extension shaft is located. directional movement.
- the number of the electromagnets 1121 is multiple, and the multiple electromagnets 1121 may be evenly distributed along the circumference of the end control assembly 210 .
- the number of the electromagnets 1121 is four, and the four electromagnets 1121 may be evenly distributed on the peripheral side of the end control assembly 210 .
- the locking of the end control assembly 210 can be achieved when the four electromagnets 1121 are extended.
- the electromagnet 1121 can be fixed by means of threads or the like.
- an elastic support 1130 (eg, a spring, etc.) may be provided on the peripheral side of the end control assembly 210 , and the elastic support 1130 can keep the end control assembly 210 in a vertical state when the electromagnet 1121 is retracted. Provides recovery force for movement when adjusting posture.
- the state detection unit 1122 can detect the working state of the electromagnet 1121 in real time, and feed it back to the robot body 110 .
- the state detection unit 1122 can detect whether the electromagnet 1121 works normally, which improves the safety of the whole machine. Just as an example, when the electromagnet 1121 is powered off, the state detection unit 1122 detects that the electromagnet 1121 makes the extension shaft in the extended state, and at this time, the state detection unit 1122 feeds back a signal that the end control assembly 210 is locked to the robot body 110 . , indicating that the end control assembly 210 cannot move. When the electromagnet 1121 is powered on, the state detection unit 1122 detects that the electromagnet 1121 makes the extension shaft in a retracted state.
- the state detection unit 1122 feeds back a signal that the end control assembly 210 is unlocked to the robot body 110, indicating that the end control unit 210 able to exercise.
- the state detection unit 1122 may be a photoelectric switch, or other components capable of detecting the state of the electromagnet 1121 .
- the posture adjustment component 220 may further include a plurality of posture adjustment touch switches 1110 , and the plurality of posture adjustment touch switches 1110 may be arranged along the circumference of the distal end control assembly 210 and may be used to control the locking mechanism.
- the posture adjustment touch switch 1110 can be used to control the locking mechanism, the posture adjustment touch switch 1110 can be electrically connected with the electromagnet 1121 , and the posture adjustment touch switch 1110 can control the electromagnet 1110 to be turned on and off.
- the posture adjustment touch switch 1110 may be electrically connected with the robot body 110 .
- the posture adjustment touch switch 1110 can control the electromagnet 1121 to energize, so that the extension shaft controlled by the electromagnet 1121 is separated from the end control assembly 210, and the end control assembly 210 is unlocked and can move.
- the posture adjustment touch switch 1110 controls the electromagnet 1121 to be powered off, and the extension shaft of the electromagnet 1121 extends to lock the end control assembly 210 .
- the locking and unlocking control of the terminal control assembly 210 can be realized by turning the electromagnet 1121 on and off.
- the electromagnet 1121 before the posture adjustment action is performed, the electromagnet 1121 is unlocked by the posture adjustment touch switch 1110, and the extension shaft of the electromagnet 1121 is controlled to retract. At this time, the end control assembly 210 can move to realize the end function of the robot arm. The adjustment of the spatial attitude of the component. Operate the posture adjustment touch switch 1110 again to control the extension shaft of the electromagnet 1121 to extend, and the end control assembly 210 cannot move, so as to avoid false triggering of the posture adjustment action when performing operations such as surgical operations.
- the end control assembly 210 corresponds to the end execution
- the device 130 is a puncture needle, it cannot be rotated during the puncture process based on clinical requirements, so as to ensure the stability of the puncture process and the puncture effect. Therefore, before performing the puncturing action, the posture adjustment action should be performed first, and after the posture adjustment action is completed, the end control assembly 210 is locked by the posture adjustment touch switch 1110, and finally the puncturing action is performed.
- the posture adjustment action can also be performed in turn with the puncture action, as long as it is ensured that the posture adjustment action is unlocked before the puncture action is executed, and the puncture action is locked before the puncture action is executed.
- the posture adjustment component 220 may further include a plurality of inclination angle detection members (not shown in the figure), the plurality of inclination angle detection members may be disposed along the peripheral side of the terminal control assembly 210, and the plurality of inclination angle detection members may detect the terminal end
- the tilt angle of the assembly 210 is controlled and transmitted to the communication device 120 .
- the inclination angle detector corresponding to the direction can detect the inclination of the end control assembly 210 and further detect the inclination angle of the end control assembly 210 .
- the inclination detector can be electrically connected with the robot body 110, and the inclination detector can feed back the inclination angle of the end control assembly 210 to the robot main body 110, and the robot main body 110 can adjust the spatial posture of the end effector 130 according to the inclination angle, so that it can be aligned target target.
- the end control assembly 210 when the end control assembly 210 is tilted, it may not correspond to any inclination detection member, but corresponds to a position between two inclination detection members. In this case, the two inclination detection members jointly detect the inclination of the end control assembly 210 angle.
- the principle of jointly detecting the inclination angle of the end control assembly 210 by two inclination angle detection parts is substantially the same as that of the detection by one inclination angle detection part, which is not repeated here.
- the number of the inclination detection members may be four, and the four inclination detection members are evenly distributed on the peripheral side of the end control assembly 210 .
- the end control assembly 210 realizes the spatial attitude adjustment of the end effector 130 through four inclination detection members. That is to say, when the end control assembly 210 moves toward any inclination angle detection piece, the adjustment is realized by the inclination angle detection piece in that direction, and when it needs to move in other directions, the end control assembly 210 moves toward other inclination angle detection pieces.
- an emergency stop switch may also be provided, and the emergency stop switch and the complete machine switch may be electrically connected to the robot body 110 respectively.
- the emergency stop switch can perform emergency stop operation to avoid the inability to stop the operation in the event of an accident.
- the switch of the whole machine is used to realize the switch operation of the equipment.
- a plurality of indicator lights and their corresponding state indicating units may also be provided, and the plurality of indicator lights include but are not limited to the rotation indicator lights of the terminal control assembly 210 and the like.
- the status indicating unit can be used to control the on and off of each indicator light.
- the robot body 110 can receive the triggered signal, otherwise the signal is blocked.
- the locking mechanism is unlocked, the state of the electromagnet 1121 can be detected by the state detection unit 1122 and reported to the robot body 110 , and the direction of the end control assembly 210 can be identified by the inclination detector and reported to the robot body 110 .
- FIG. 12 is a schematic structural diagram of the base 230 according to some embodiments of the present specification.
- the base 230 involved in the embodiments of the present specification will be described in detail below. It should be noted that the following examples are only used to explain the present application, and do not constitute a limitation to the present application.
- the main hand manipulation device 200 (1000) further includes a base 230, and the base 230 may be disposed on the bottom of the posture adjusting member 220 for supporting and carrying.
- the base 230 may be provided with a counterweight with a relatively large mass, which will not cause the entire device to shake during operation, and the entire device can remain stable.
- the base 230 as a platform for supporting and carrying, can be applied to the main hand control device 200, the main hand control device 1000, and can also be applied to equipment of other structures as the base platform, which is described below. Taking the application to the master hand control device 1000 as an example, the structure of the base 230 is only described, but not limited thereto.
- the base 230 can be in the shape of a flat plate, which is advantageous for being placed on a horizontal table for operation.
- the base 230 itself may be rotatable, so as to drive the posture adjustment component 220 and the end control assembly 210 disposed thereon to rotate together with it, so as to map the posture adjustment plane where the end functional assembly of the robotic arm is located.
- the base 230 may include a base body 1220 and a rotating platform 1210 .
- the attitude adjustment component 220 adds a degree of freedom for mapping the robot attitude, and this degree of freedom can map the attitude adjustment plane of the end effector 130, so that the master hand manipulation device 1000 can form a relationship with the robot. a mapping relationship.
- the rotating platform 1210 can be fixedly connected with the second rotating mechanism of the posture adjusting member 220 , the rotating platform 1210 can be rotatably connected with the base body 1220 , and the rotation plane of the rotating platform 1210 relative to the base body 1220 is parallel to the base body 1220, and the rotating platform 1210 is associated with at least one articulation of the robot.
- the rotation plane of the rotating platform 1210 relative to the base body 1220 may not be parallel to the plane where the base body 1220 is located, as long as the mapping relationship of the master hand manipulation device 1000 to at least one joint of the robot can be guaranteed.
- the base body 1220 may be a frame structure, and the shape may be a square, a circle, a polygon, etc., which is not limited here, and there is an installation space in the middle, and the size of the installation space can correspond to the size of the rotating platform 1210 size.
- the rotating platform 1210 can be disposed in the installation space of the base body 1220 and be rotatably connected with the base body 1220 , and the posture adjusting member 220 can be installed on the rotating platform 1210 .
- the base 230 may further include a driving member 1230 and a transmission assembly.
- the driving member 1230 may be a driving member such as a motor that is adapted to the power required by the rotating platform 1210 , and the driving member 1230 may be directly connected to the rotating platform 1210 , it can also be connected with the rotating platform 1210 through the transmission assembly, so as to drive the rotating platform 1210 to rotate.
- the driver 1230 may communicate with the robot body 110 through the communication device 120 .
- the transmission assembly may include a worm 1240 and a worm wheel that mesh with each other, the worm 1240 is connected to the output end of the driving member 1230 , and the worm wheel is fixedly connected to the rotating platform 1210 .
- the driving member 1230 drives the worm 1240 to rotate
- the worm wheel can rotate correspondingly with the rotation of the worm, and at the same time drives the rotating platform 1210 to rotate around the vertical line of the plane where it is located;
- the rotation of the rotating platform 1210 will adjust the overall posture of the posture adjusting member 220, That is, the directions of the rotation axis A of the first rotation mechanism 221 and the rotation axis B of the second rotation mechanism 222 are changed at the same time; however, the angle between the rotation axis A of the first rotation mechanism 221 and the rotation axis B of the second rotation mechanism 222 is not It is possible to precisely control the rotation angle between the rotating platform 1210 and the base 1220 .
- the transmission assembly may include a driving wheel and a driven wheel, the driving wheel and the driven wheel are sleeved with a timing belt, the driving wheel is connected with the output end of the driving member, and the driven wheel is fixedly connected with the rotating platform.
- the driving member 1230 drives the driving wheel to rotate
- the driving wheel can drive the driven wheel to rotate through the synchronous belt, and simultaneously drives the rotating platform 1210 to rotate around the vertical line of the plane where it is located.
- the transmission component may also be a gear or the like, as long as it can be connected with the driving member 1230 and drive the rotating platform 1210 to rotate.
- the rotating platform 1210 may be provided with a fifth encoder, and the fifth encoder may detect the rotation angle of the rotating platform 1210 and transmit it to the communication device 120 .
- the rotation angle detected by the fifth encoder can be transmitted to the robot body 110 through the communication device 120, and the robot body 110 controls the posture adjustment plane corresponding to at least one joint of the robot to rotate by the same angle according to the rotation angle, so as to realize the synchronization of the two Variety.
- the rotation platform 1210 can be actively synchronized with the pose adjustment plane where at least one joint of the robot is located.
- FIG. 13 is a schematic diagram showing the principle of multi-degree-of-freedom attitude adjustment of a robot in relation to motion of the master hand manipulation device 1000 according to another structure shown in some embodiments of the present specification.
- FIG. 14 is a schematic diagram before and after the posture adjustment of the master hand manipulation device 1000 according to another structure shown in some embodiments of the present specification.
- the working principle of the main hand control device 1000 is further described below by taking the main hand control device 1000 as an example. It should be noted that the following description is intended to illustrate the working principle, rather than to limit its application, and the main-hand control device 200 also has the same working principle, which will not be repeated.
- the corresponding relationship between the master hand control device 1000 and the attitude adjustment plane where at least one joint of the robot is located can be formed by detecting the rotation angle of the first adjustment joint 1330 and the second adjustment joint 1340 and superimposing the vectors of the two.
- the rotation angle information is fed back to the robot body 110, and then the control command is transmitted to the driver 1230 through the communication device 120 to rotate the corresponding angle, thereby driving the rotating platform 1210 to rotate by the corresponding angle (the vector sum of the first adjustment joint 1330 and the second adjustment joint 1340).
- the mapping of the robot posture adjustment plane by the master hand manipulation device 1000 can be realized (ie, the rotation of the rotating platform 1210 relative to the base 1220 is associated with at least one joint motion of the robot).
- This process can be performed after the robot poses the joints (the operator freely adjusts the pose).
- the rotational degrees of freedom of the rotating platform 1210 relative to the base body 1220 are set as active mapping joints, which can achieve the same mapping as the robot posture without manual dragging.
- the base 230 also has the same mapping relationship when applied to the main hand control device 200 , which is not repeated here.
- the attitude adjustment plane where the robot attitude adjustment joints are located is realized by the vector sum of the rotation of the first adjustment joint 1330 and the second adjustment joint 1340; and the attitude adjustment joints of the end effector 130 correspond to the first rotation mechanism 221 and the first rotation mechanism 221 respectively.
- Two rotating mechanisms 222 In the preoperative preparation stage, it is necessary to first calibrate the pose of the robot as shown in the left figure of Figure 13. At this time, the posture of the end of the robot arm is perpendicular to the horizontal plane, which is defined as the zero position; at this time, the pose of the main hand control device is shown in Figure 14. Shown on the left.
- the posture adjustment information is recorded one by one and transmitted to the master hand control device 1000 .
- the main hand manipulation device 1000 controls the rotation corresponding to the first rotation mechanism 221 , the second rotation mechanism 222 and the base 230 respectively (the right figure in FIG. 14 ), so as to realize the synchronization of the postures of each joint.
- the master control device 1000 is adjusted from the zero position state to the posture adjustment position state corresponding to the robot one-to-one.
- the zero position of the main hand control device 1000 is the position where the central axis of the end control assembly 210 and the vertical line of the plane where the rotating platform 1210 is located coincide; Attitude planes are in a parallel state.
- the rotation angle of the rotation platform 1210 of the main hand manipulation device 1000 is equal to the vector sum of the first adjustment joint 1330 and the second adjustment joint 1340 of the robot (because the first adjustment joint 1330 and the rotation angle of the second adjusting joint 1340 is divided into positive and negative (left and right) directions in FIG. 13 .
- the main hand manipulation device 1000 makes a one-to-one mapping relationship between the posture of the end control assembly 210 and the posture of the end effector 130 through the above mapping process, that is, the two are completely synchronized; 1000 fine-tunes the end effector 130.
- the posture of the end control assembly 210 may not be completely mapped one-to-one with the posture of the end effector 130, but only a partial incomplete mapping relationship may be implemented according to requirements.
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Abstract
一种用于机器人的主手操控装置(200)及机器人。主手操控装置200)包括:末端控制组件(210);以及调姿部件(220),调姿部件(220)包括第一旋转机构(221)和第二旋转机构(222),第一旋转机构(221)连接末端控制组件(210),第二旋转机构(222)连接第一旋转机构(221),末端控制组件(210)通过带动第一旋转机构(221)绕第一旋转机构(221)的旋转轴线转动,末端控制组件(210)通过带动第一旋转机构(221)及第二旋转机构(222)绕第二旋转机构(222)的旋转轴线转动。
Description
交叉引用
本申请要求于2021年2月1日递交的中国申请号为2021101355330的优先权,于2021年4月26日递交的中国申请号为2021104546999的优先权,于2021年7月2日递交的中国申请号为202110752647X的优先权以及,其内容通过引用结合于此。
本说明书涉及医疗器械技术领域,特别涉及一种用于机器人的主手操控装置及机器人。
近年来,X射线计算机断层扫描成像技术(CT)无论是在基本技术方面,还是在新的临床应用方面都取得了巨大的进展。如今CT已不再作为一项单纯的影像检查而存在,CT(计算机断层扫描)可以配合临床各科实现各种检查和治疗,并取得显著的医疗效果。CT图像引导下的手术操作是在CT成像的前提下,可以实时判断并及时做出调整,大大提高了手术成功率、降低手术风险,提高患者的康复速度和生活质量。但是CT设备均采用X射线、γ射线等完成成像工作,在CT侧完成手术会让医生长期暴露在辐射环境中,对身体健康造成极大威胁。因此主从遥操作式机器人应运而生。主从遥操作式机器人是辅助手术模式作为比较前端的一种手术方式。通过远程操作控制图像引导机器人执行手术操作,可以有效的避免医生受到辐射照射。但是,目前的主从遥操作式的机器人无法模拟医生操作控制手术工具姿态,可能会增加手术风险和不确定性,同时增加手术时间,降低手术效率,影响手术的成功率。因此,需要一种能够模拟医生操作控制手术工具姿态的主从遥操作式机器人。
发明内容
本说明书实施例之一提供一种用于机器人的主手操控装置,所述主手操控装置包括:末端控制组件;以及调姿部件,所述调姿部件包括第一旋转机构和第二旋转机构,所述第一旋转机构连接所述末端控制组件,所述第二旋转机构连接所述第一旋转机构,所述末端控制组件通过带动所述第一旋转机构绕所述第一旋转机构的旋转轴线转动,所述末端控制组件通过带动所述第一旋转机构及所述第二旋转机构绕所述第二旋转机构的旋转轴线转动。
在一些实施例中,所述第一旋转机构包括第一旋转轴、第一安装座和第二安装座;所述末端控制组件固定设置于所述第一安装座,所述第一安装座与所述第一旋转轴固定连接,所述第一旋转轴可转动设置于所述第二安装座上;所述第二旋转机构包括第二旋转轴和第三安装座,所述第二旋转轴可转动设置于所述第三安装座上,所述第二旋转轴与所述第二安装座固定连接;所述第一旋转轴的旋转轴线和所述第二旋转轴的旋转轴线的夹角大于10°。
在一些实施例中,所述第一旋转轴的旋转轴线和所述第二旋转轴的旋转轴线的夹角大于85°。
在一些实施例中,所述第一旋转轴的旋转轴线和所述第二旋转轴的旋转轴线相交。
在一些实施例中,所述第二旋转轴包括同旋转轴设置的第一部和第二部,所述第一部和所述第二部能够同步转动,所述第一部和所述第二部之间设置所述第二安装座,使得所述第一旋转轴与所述第二旋转轴位于同一平面。
在一些实施例中,还包括:第一信息采集装置,所述第一信息采集装置检测所述第一旋转机构的转动角度,并传输到通信装置;第二信息采集装置,所述第二信息采集装置检测所述第二旋转机构的转动角度,并传输到通信装置。
在一些实施例中,所述第一信息采集装置包括第一编码器,所述第二信息采集装置包括第二编码器。
在一些实施例中,还包括:第一反馈组件,所述第一反馈组件基于第一反馈信息对所述第一旋转机构施加调姿阻力;第二反馈组件,所述第二反馈组件基于第二反馈信息对所述第二旋转机构施加调姿阻力。
在一些实施例中,所述第一旋转轴的端部连接第一反馈组件,所述第一反馈组件包括第一减速组件和第一反馈电机,所述第一反馈电机通过所述第一减速组件与所述第一旋转轴连接;所述第二旋转轴的端部连接第二反馈组件,所述第二反馈组件包括第二减速组件和第二反馈电机,所述第二反馈电机通过所述第二减速组件与所述第二旋转轴连接。
在一些实施例中,所述第一减速组件包括第一同步轮和第二同步轮,所述第一同步轮的半径大于 所述第二同步轮的半径,所述第一同步轮设置在所述第一旋转轴的端部,所述第二同步轮设置于所述第一力反馈电机的输出端,所述第一同步轮和所述第二同步轮传动连接;所述第二减速组件包括第三同步轮和第四同步轮,所述第三同步轮的半径大于所述第四同步轮的半径,所述第三同步轮设置在所述第二旋转轴的端部,所述第四同步轮设置于所述第二力反馈电机的输出端,所述第三同步轮和所述第四同步轮传动连接。
在一些实施例中,所述第一同步轮和所述第二同步轮采用双绳传动连接;所述第三同步轮和所述第四同步轮采用双绳传动连接。
在一些实施例中,所述第一旋转机构包括调姿座和调姿环,所述调姿座与所述调姿环转动连接,所述调姿环与所述末端控制组件固定连接;所述第二旋转机构包括第三旋转轴,所述第三旋转轴与所述调姿座固定连接;所述调姿环的旋转轴线和所述第二旋转轴的旋转轴线的夹角大于10°。
在一些实施例中,所述调姿环的旋转轴线和所述第三旋转轴的旋转轴线的夹角大于85°。
在一些实施例中,所述调姿环的旋转轴线和所述第三旋转轴的旋转轴线相交。
在一些实施例中,还包括:第三信息采集装置,所述第三信息采集装置检测所述第一旋转机构的转动角度,并传输到通信装置;第四信息采集装置,所述第四信息采集装置检测所述第二旋转机构的转动角度,并传输到通信装置。
在一些实施例中,所述第三信息采集装置包括第三编码器,所述第四信息采集装置包括第四编码器。
在一些实施例中,还包括:第三反馈组件,所述第三反馈组件基于第三反馈信息对所述第一旋转机构施加调姿阻力;第四反馈组件,所述第四反馈组件基于第四反馈信息对所述第二旋转机构施加调姿阻力。
在一些实施例中,所述第三反馈组件包括第三反馈电机,所述第三反馈电机与所述调姿环或所述调姿座固定连接;所述第四反馈组件包括第四反馈电机,所述第四反馈电机与所述第三旋转轴固定连接。
在一些实施例中,所述调姿部件还包括锁定机构。
在一些实施例中,所述锁定机构包括:第一制动件,所述第一制动件锁定/解锁所述第一旋转机构的转动;第二制动件,所述第二制动件锁定/解锁所述第二旋转机构的转动。
在一些实施例中,所述锁定机构包括多个电磁铁以及与所述多个电磁铁对应的多个状态检测单元,所述多个电磁铁沿所述末端控制组件的周侧设置,所述多个电磁铁通过通电/断电与所述末端控制组件连接/分离,从而锁定/解锁所述末端控制组件的姿态;所述多个状态检测单元检测所述多个电磁铁的状态并传输到通信装置。
在一些实施例中,所述调姿部件还包括多个调姿触动开关,所述多个调姿触动开关沿所述末端控制组件的周侧设置。
在一些实施例中,所述调姿部件还包括多个倾角检测件,所述多个倾角检测件沿所述末端控制组件的周侧设置,所述多个倾角检测件检测所述末端控制组件的倾角并传输到通信装置。
在一些实施例中,还包括基座,所述基座包括座体和转动平台,所述转动平台与所述调姿部件的所述第二旋转机构固定连接,所述转动平台与所述座体可转动连接,所述转动平台相对于所述座体的转动平面平行于所述座体所在的平面,且所述转动平台与所述机器人的至少一个关节运动相关联。
在一些实施例中,所述基座还包括驱动件和传动组件,所述驱动件通过所述传动组件驱动所述转动平台转动。
在一些实施例中,所述传动组件包括相互啮合的蜗杆及蜗轮,所述蜗杆与所述驱动件的输出端连接,所述蜗轮与所述转动平台固定连接。
在一些实施例中,所述传动组件包括主动轮和从动轮,所述主动轮和所述从动轮上套设同步带,所述主动轮与所述驱动件的输出端连接,所从动轮与所述转动平台固定连接。
在一些实施例中,所述转动平台设置第五编码器,所述第五编码器检测所述转动平台的转动角度,并传输到通信装置。
在一些实施例中,所述末端控制组件包括末端控制力反馈组件,所述末端控制力反馈组件基于末端控制力反馈信息对所述末端控制组件施加阻力。
在一些实施例中,所述末端控制组件为穿刺针组件、手术剪切组件或缝合组件中的至少之一。
本说明书实施例之一提供一种机器人,包括机器人本体、末端执行器以及如上述的主手操控装置;所述末端执行器与所述机器人本体连接,所述机器人本体电连接通信装置,所述主手操控装置电连接所述通信装置和所述末端执行器。
本说明书将以示例性实施例的方式进一步说明,这些示例性实施例将通过附图进行详细描述。这些实施例并非限制性的,在这些实施例中,相同的编号表示相同的结构,其中:
图1是根据本说明书一些实施例所示的机器人的应用场景图;
图2是根据本说明书一些实施例所示的主手操控装置的结构示意图;
图3是根据本说明书一些实施例所示的调姿部件的结构示意图;
图4是根据本说明书一些实施例所示的调姿部件的部分结构示意图;
图5是根据本说明书一些实施例所示的调姿部件的部分结构示意图;
图6是根据本说明书一些实施例所示的调姿部件的部分结构示意图;
图7是根据本说明书一些实施例所示的调姿部件的部分结构示意图;
图8是根据本说明书一些实施例所示的调姿部件的部分结构示意图;
图9是根据本说明书一些实施例所示的双绳传动的示意图;
图10是根据本说明书一些实施例所示的另一结构的主手操控装置的示意图;
图11是根据本说明书一些实施例所示的主手操控装置的俯视图;
图12是根据本说明书一些实施例所示的基座的结构示意图;
图13是根据本说明书一些实施例所示的另一结构的主手操控装置关联运动的机器人多自由度调姿的原理示意图;
图14是根据本说明书一些实施例所示的另一结构的主手操控装置调姿前后的示意图。
为了更清楚地说明本说明书实施例的技术方案,下面将对实施例描述中所需要使用的附图作简单的介绍。显而易见地,下面描述中的附图仅仅是本说明书的一些示例或实施例,对于本领域的普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图将本说明书应用于其它类似情景。除非从语言环境中显而易见或另做说明,图中相同标号代表相同结构或操作。
应当理解,本文使用的“***”、“装置”、“单元”和/或“模块”是用于区分不同级别的不同组件、元件、部件、部分或装配的一种方法。然而,如果其他词语可实现相同的目的,则可通过其他表达来替换所述词语。
如本说明书和权利要求书中所示,除非上下文明确提示例外情形,“一”、“一个”、“一种”和/或“该”等词并非特指单数,也可包括复数。一般说来,术语“包括”与“包含”仅提示包括已明确标识的步骤和元素,而这些步骤和元素不构成一个排它性的罗列,方法或者设备也可能包含其它的步骤或元素。
基于医疗机器人的技术研究和产品开发持续推进,手术机器人成为医疗机器人范畴中重要的领域之一。手术机器人是集临床医学、生物力学、机械学、计算机科学、微电子学等诸多学科为一体的医疗器械。手术机器人通过清晰的成像***和灵活的机械臂,以微创的手术形式,协助医生实施复杂的外科手术,完成术中定位、切断、穿刺、止血、缝合等操作。在CT成像设备的引导下,医务人员可以利用手术机器人辅助进行手术治疗,但在CT侧进行手术会使得医务人员长期暴露在辐射环境中,对身体健康造成极大威胁,因此,可以采用主从遥式机器人通过远程操作控制图像引导机器人执行手术操作。目前的机器人往往不能准确模拟医务人员的操作过程,无法反馈力的大小,医务人员由于缺乏力觉感知可能会增加手术的风险性和不确定性,且影响手术效率。
为了解决上述问题,本说明书一些实施例提供了一种用于手术的机器人,其包括用于操控机器人的末端执行器的主手操控装置,该主手操控装置能够模拟医务人员操作且能够提供力反馈,以规避手术过程存在的风险,提高手术效率。
图1是根据本说明书一些实施例所示的机器人的应用场景图。如图1所示,机器人可以包括机器人本体110、末端执行器130以及主手操控装置200。末端执行器130与机器人本体110连接(例如,设置于机器人本体110的机器臂的末端),机器人本体110电连接通信装置120,主手操控装置200电连接通信装置120和末端执行器130,从而控制末端执行器130执行同步操作。
机器人在实际使用时,机器人本体110位于扫描间内。可选地,机器人本体110包括机械臂,能够带动安装在机械臂末端的末端执行器130运动,以调整机器臂末端功能部件的姿态。末端执行器130设置在机器人本体110上,用于执行同步动作(例如,穿刺、缝合等)。与扫描间相邻设置或者间隔设置控制间。控制间中设置成像设备的操作台,并与扫描间之间存在混凝土墙壁,以屏蔽射线。并且,控制间内还设置主手操控装置200,医生通过操作控制间中的主手操控装置200实现对扫描间的机器人本体110的控制,从而完成主从遥操作式手术操作。
图2是根据本说明书一些实施例所示的主手操控装置200的结构示意图。以下将对本说明书实施例所涉及的主手操控装置200进行详细说明。需要注意的是,以下实施例仅用于解释本申请,并不构成对 本申请的限定。
如图2所示,用于机器人的主手操控装置200可以包括末端控制组件210和调姿部件220。
末端控制组件210用于控制末端执行器130执行操作,例如,执行穿刺、缝针等操作。在一些实施例中,末端控制组件210可以为中空柱状结构,以方便握持。在一些实施例中,末端控制组件210可以根据医务人员的操作习惯以及根据末端执行器130的结构进行适应性设计,以方便使用。例如,末端控制组件210可以根据不同的末端执行器130(如穿刺针、手术剪、缝针等)相应设置为穿刺针组件、手术剪组件或缝针组件等,其形状可以设置为对应功能部件的形状或其他方便操作的形状,在此不作限制。
在一些实施例中,末端控制组件210包括末端控制力反馈组件,末端控制力反馈组件基于末端控制力反馈信息对末端控制组件210施加阻力。其中,末端控制力反馈信息可以包括阻力的大小、方向等。在一具体实施例中,末端执行器130可以为穿刺针,当穿刺针刺入患者体内时,人体组织会对穿刺针产生反作用力即为穿刺的阻力,该阻力通过设置在末端执行器130上的传感器检测。
在一些实施例中,末端控制组件210控制末端执行器130(例如,穿刺针)进行操作时,穿刺针遇到穿刺阻力,可以反馈给机器人本体110,机器人本体110可以控制末端控制力反馈组件向末端控制组件210施加与穿刺阻力相当的阻力。这样,医护人员进行穿刺操作时,可以通过末端控制力反馈组件反馈的穿刺阻力感受到穿刺针的进针阻力,以真实模拟握针穿刺的情况。
在一些实施例中,末端控制力反馈组件可以包括执行电机以及位置检测单元。位置检测单元可以检测当前滑块的位置状态,识别滑块的运动行程,并反馈至机器人本体110。例如,穿刺针执行穿刺过程中,机器人本体110控制执行电机施加一定的电流产生扭矩作用。该扭矩产生的阻力与穿刺针的实际进针的阻力相一致。该阻力通过末端穿刺组件210上的滑环作用到医护人员手上,医生移动滑环时会感到阻力,实现穿刺力的反馈功能。
末端控制组件210的滑环做直线运动时,末端控制力反馈组件能够检测到滑环的直线运动的距离,并反馈给机器人本体110,机器人本体110将滑环直线运动的距离转化为直线位移,机器人本体110通过直线位移控制机械臂带动穿刺针执行穿刺操作。例如,末端控制力反馈组件可以与直线运动组件的滚轮连接,滚轮转动时,末端控制力反馈组件能够检测滑环的直线运动的距离,并反馈至机器人本体110,以控制穿刺针进行穿刺。
在一些实施例中,主手操控装置200可以与通信装置120和末端执行器130电连接,通信装置120电连接机器人本体110。仅作为示例,末端执行器130受到的阻力信息可以传输给机器人本体110;机器人本体110可以根据阻力信息,通过通信装置120发送相应的力反馈信息给主手操控装置200,从而实现信号传输。在一些实施例中,通信装置120与主手操控装置200及机器人本体110的连接方式可以包括有线连接、无线连接或两者的组合。有线连接可以包括:通过电缆、光缆或电话线等连接,或其任意组合。无线连接可以包括:通过蓝牙、Wi-Fi、WiMax、WLAN、ZigBee、移动网络(例如,3G、4G或5G等)等连接,或其任意组合。
图3是根据本说明书一些实施例所示的调姿部件220的部分结构示意图。如图3所示,调姿部件220为用于调整末端控制组件210的姿态的装置。在一些实施例中,调姿部件220可以包括第一旋转机构221和第二旋转机构222,第一旋转机构221连接末端控制组件210,第二旋转机构222连接第一旋转机构221,末端控制组件210通过带动第一旋转机构221绕第一旋转机构221的旋转轴线A转动,即末端控制组件210带动第一旋转机构221的运动对第二旋转机构222无影响;末端控制组件210通过带动第一旋转机构221及第二旋转机构222绕第二旋转机构222的旋转轴线B转动,即末端控制组件210带动调姿部件220绕第二旋转机构222的旋转轴线B转动时,第一旋转机构221和第二旋转机构222作为一整体绕第二旋转机构222的旋转轴线B转动。
在一些实施例中,末端控制组件210在第一方向的运动对应第一旋转机构221的第一转动自由度,末端控制组件210和第一旋转机构221作为一个整体,在第二方向上的运动对应第二旋转机构222的第二转动自由度。第一旋转机构221的旋转运动不影响第二旋转机构222,但第二旋转机构222转动时能够带动第一旋转机构221的转动轴线A的方向发生改变,末端控制组件210的实际调姿运动量为第一旋转机构221和第二旋转机构222转动叠加的矢量和。在一具体实施例中,第一旋转机构221可以与末端控制组件210的底部连接,末端控制组件210在第一方向运动能够带动第一旋转机构221绕第一旋转机构221的旋转轴线A转动,末端控制组件210在第二方向运动时,其与第一旋转机构221呈相对位置固定不变的一个整体,该整体能够带动第二旋转机构222绕第二旋转机构222的旋转轴线B转动。
图4是根据本说明书一些实施例所示的调姿部件220的部分结构示意图。图5是根据本说明书一些实施例所示的调姿部件220的部分结构示意图。图6是根据本说明书一些实施例所示的调姿部件220的部分结构示意图。图7是根据本说明书一些实施例所示的调姿部件220的部分结构示意图。图8是根据本说明书一些实施例所示的调姿部件220的部分结构示意图。以下将对本说明书实施例所涉及的调姿部件 220进行详细说明。需要注意的是,以下实施例仅用于解释本申请,并不构成对本申请的限定。
如图4所示,在一些实施例中,第一旋转机构可以包括第一旋转轴310、第一安装座320和第二安装座330。第一旋转轴310可以绕第一旋转机构的旋转轴线A转动,具有第一转动自由度。第一安装座320可以用于安装末端控制组件210。第二安装座330可以用于第一旋转轴310的可转动安装,例如,第一旋转轴310可以通过轴承安装在第二安装座330上,使得第一旋转轴310的转动平稳可靠,并通过轴承端盖进行限位。
在一些实施例中,末端控制组件210固定设置于第一安装座320,第一安装座320与第一旋转轴310固定连接,第一安装座320的结构形式不受限制,只要能够连接末端控制组件210的底部,并与第一旋转轴310连接即可。仅作为示例,第一安装座320可以包括两部分,通过两部分对合形成腔体以用于与第一旋转轴310的连接,第一旋转轴310两端可以伸出第一安装座320,以便与其他部件连接或安装其他部件。
如图5所示,在一些实施例中,第二旋转机构可以包括第二旋转轴410和第三安装座420。第二旋转轴410可以绕第二旋转机构的旋转轴线B转动,具有第二转动自由度。第三安装座420可以用于第二旋转轴410的可转动安装,例如,第二旋转轴410可以通过轴承安装在第三安装座420上,使得第二旋转轴410的转动平稳可靠,并通过轴承端盖进行限位。
在一些实施例中,第二旋转轴410与第二安装座330固定连接,因此,第一旋转轴310在第二安装座330中转动时,对第二旋转轴410无影响,而第二旋转轴410转动时,会带动与其固定连接的第二安装座330及设置在其中的第一旋转轴310运动。此外,第一旋转轴310处于锁定状态下,即第一旋转轴310无法转动时,对第二旋转轴410仍无影响,第二旋转轴410转动,会带动与其固定连接的第二安装座330及设置在其中的第一旋转轴310运动。
在一些实施例中,第一旋转轴310的旋转轴线和第二旋转轴410的旋转轴线的夹角可以大于10°,例如,呈10-180°以内的任意角度设置(如呈60°设置、呈90°设置、呈135°设置等)。在一些实施例中,第一旋转轴310的旋转轴线和第二旋转轴410的旋转轴线的夹角可以大于85°,例如,第一旋转轴310的旋转轴线和第二旋转轴410的旋转轴线的旋转轴线B的夹角可以为90°。在一些实施例中,第一旋转轴310的旋转轴线和第二旋转轴410的旋转轴线可以相交,也可以不相交。当第一旋转轴310的旋转轴线和第二旋转轴410的旋转轴线不相交时,第一旋转轴310可以设置在第二旋转轴410的上方空间。
当第一旋转轴310的旋转轴线和第二旋转轴410的旋转轴线相交时,第一旋转轴310的旋转轴线和第二旋转轴410的旋转轴线所在的平面可以与水平面平行,也可以与水平面不平行。如图6所示,仅作为示例,第二旋转轴410可以包括同旋转轴设置的两个轴段,即能够绕同一旋转轴旋转的第一部和第二部,第一部和第二部能够同步转动。第二安装座420可以设置在第一部和第二部之间,使得第一旋转轴310与第二旋转轴410位于同一平面(第一旋转轴310的旋转轴线和第二旋转轴410的旋转轴线相交)。第一旋转轴310能够相对于第二安装座330转动,实现第一转动自由度。通过第一旋转轴310以及第二安装座330能够带动第二旋转轴410相对于第三安装座420转动,实现第二转动自由度。
在一些实施例中,主手操控装置200还可以包括第一信息采集装置和第二信息采集装置,第一信息采集装置可以检测第一旋转机构221的转动角度,并传输到通信装置120;第二信息采集装置可以检测第二旋转机构222的转动角度,并传输到通信装置120。在一些实施例中,第一信息采集装置可以包括第一编码器360,如图7所示,第一编码器360可以设置于第一旋转轴310的端部;第二信息采集装置可以包括第二编码器430,如图8所示,第二编码器430可以设置于第二旋转轴410的端部。
编码器为将信号或数据进行编制、转换为用于通讯、传输和存储的信号形式的设备。编码器通常包括磁盘和读数头,可以通过磁盘和读数头的配合实现转动角度的检测。在一些实施例中,第一编码器360和第二编码器430可以检测第一旋转轴310的旋转角度和第二旋转轴410的旋转角度并反馈至机器人本体110,通过机器人本体110控制末端执行器130按照旋转角度调节空间姿态,完成操作需要。
在一些实施例中,主手操控装置200还可以包括第一反馈组件和第二反馈组件,第一反馈组件基于第一反馈信息对第一旋转机构221施加调姿阻力;第二反馈组件基于第二反馈信息对第二旋转机构222施加调姿阻力。在一些实施例中,第一反馈组件可以连接于第一旋转轴310的端部,第一反馈组件可以包括第一减速组件和第一反馈电机340,第一反馈电机340可以通过第一减速组件与第一旋转轴310连接。第一减速组件可以包括第一同步轮370和第二同步轮380。在一些实施例中,第二反馈组件可以连接于第二旋转轴410的端部,第二反馈组件可以包括第二减速组件和第二反馈电机450,第二反馈电机450可以通过第二减速组件与第二旋转轴410连接。第二减速组件可以包括第三同步轮460和第四同步轮470。第二反馈组件也可以设置于第二旋转轴410第一部的端部或者设置于第二旋转轴410第二部的端部。
反馈组件为用于施加调姿阻力的部件,第一反馈组件和第二反馈组件能够基于第一反馈信息和第二反馈信息分别向第一旋转轴310和第二旋转轴410施加调姿阻力。第一反馈信息和第二反馈信息为末端 执行器130进行调姿操作时受到的不同方向的阻力信息。在一些实施例中,末端控制组件210带动第一旋转轴310转动时能够通过第一减速组件带动第一反馈电机340转动,末端控制组件210带动第二旋转轴410转动时能够通过第二减速组件带动第二反馈电机450转动。当末端执行器130存在调姿阻力时,第一反馈电机340接收到调姿阻力后,能够通过第一减速组件向第一旋转轴310施加与旋转方向相反的阻力,通过第二减速组件向第二旋转轴410施加与旋转方向相反的阻力,以实现力反馈。当末端执行器130相对于第一转动自由度的旋转完成后,第一旋转轴310能够锁死不再转动,避免之后的操作过程中第一旋转轴310的转动影响末端执行器130的空间姿态;同样的,当末端执行器130相对于第二转动自由度的旋转完成后,第二旋转轴410能够锁死不再转动,避免之后的操作过程中第二旋转轴410的转动影响末端执行器130的空间姿态。关于旋转轴锁定的更多内容,可以参考锁定机构的相关描述。
仅作为示例,末端控制组件210对应的末端执行器130为穿刺针时,第一反馈组件和第二反馈组件可以反馈调姿时的阻力,以模拟实际穿刺针的调姿过程,便于医护人员操作。在一些实施例中,调姿部件220带动末端执行器130调整空间姿态时,末端执行器130遇到调姿阻力,可以反馈给机器人本体110,机器人本体110可以根据第一反馈信息控制第一反馈组件向第一旋转轴310施加与第一方向调姿阻力相当的阻力,机器人本体110可以根据第二反馈信息控制第二反馈组件向第二旋转轴410施加与第二方向调姿阻力相当的阻力。这样,医护人员带动第一旋转轴310转动时能够感受到与转动方向相反的阻力,由此实现调姿时的力反馈。
在一些实施例中,第一减速组件可以包括第一同步轮370和第二同步轮380。其中,第一同步轮370可以设置在第一旋转轴310的端部,第二同步轮380可以设置于第一反馈电机340的输出端,第一同步轮370和第二同步轮380传动连接。在一些实施例中,第一同步轮370和第二同步轮380可以为轮传动结构、齿轮传动结构等,还可以通过套设在其上的同步带、钢丝绳等实现传动连接,采用同步带、钢丝绳等传动连接可以避免回程间隙(例如,齿轮传动中齿轮与齿轮之间的间隙)的影响。
在一些实施例中,第一同步轮370的半径可以大于第二同步轮380的半径,例如,第一同步轮370和第二同步轮380的半径比可以为6.25:1,第一同步轮370和第二同步轮380的半径比即为传动比,传动比可以根据调姿负载确定。
在一些实施例中,第二减速组件可以包括第三同步轮460和第四同步轮470。其中,第三同步轮460可以设置在第二旋转轴410的端部,第四同步轮470可以设置于第二反馈电机450的输出端,第三同步轮460和第四同步轮470传动连接。在一些实施例中,第三同步轮460和第四同步轮470可以通过套设在其上的同步带、钢丝绳等实现传动连接。在一些实施例中,第二减速组件还可以为轮传动结构、齿轮传动结构等,其原理与同步带、钢丝绳等结构实质相同,在此不再赘述。
在一些实施例中,第三同步轮460的半径可以大于第四同步轮470的半径,例如,第三同步轮460和第四同步轮470的半径比可以为6.25:1,第三同步轮460和第四同步轮470即为传动比,传动比可以根据调姿负载确定。
图9是根据本说明书一些实施例所示的双绳传动的示意图。在一些实施例中,第一同步轮370和第二同步轮380可以采用双绳传动连接,如图9所示。以钢丝绳为例,如果采用一根钢丝绳传动,若需要提高传动刚度则需要增加钢丝绳的直径,钢丝绳的素线线径(组成钢丝绳的最小单位的直径)也会同步增大,那么第二同步轮380的直径也需要同步增大(素线线径与第二同步轮380直径存在线性关系,以满足使用寿命和),进而影响传动比。而采用双绳传动的方式不改变第二同步轮380的直径,因此在保持传动比不变的情况下,能够实现传动刚度提高两倍。
在一些实施例中,可以设置导向装置,用于绳的导向,使得调姿过程中双绳传动的绳能够按照预设的螺距绕入第二同步轮380,第一同步轮370上的绳与第二同步轮380上的绳螺距相对应。
在一些实施例中,可以设置张紧件对绳进行张紧和固定,例如,张紧件可以为张紧螺栓及与其匹配的张紧螺母,通过调节张紧件可以调整绳的工作长度,使得绳能够以合适的压力在同步轮上工作,防止绳在工作时打滑。
在一些实施例中,第三同步轮460和第四同步轮470可以采用双绳传动,其结构、原理以及效果与第一同步轮370和第二同步轮380的传动相同,在此不再赘述。
在一些实施例中,采用双绳传动可以相应设置导向装置和张紧装置,其结构、原理以及效果与第一同步轮370和第二同步轮380的传动相同,在此也不再赘述。
图10是根据本说明书一些实施例所示的另一结构的主手操控装置1000的示意图。以下将对本说明书实施例所涉及的另一结构的主手操控装置1000进行详细说明。需要注意的是,以下实施例仅用于解释本申请,并不构成对本申请的限定。
如图10所示,第一旋转机构可以包括调姿座1010和调姿环1020,调姿座1010与调姿环1020转动连接,调姿环1020与末端控制组件210固定连接。在一些实施例中,调姿环1020可以为半圆环状, 调姿座1010与调姿环1020可以通过转动副连接,转动副的旋转轴线可以与第一旋转机构221的旋转轴线A重合,如图10所示。调姿环1020的结构形状不受限制,只要能够可转动地安装于调姿座1010上,且能够与末端控制组件210的底部固定连接即可。
在一些实施例中,第二旋转机构222可以包括第三旋转轴1070。在一些实施例中,第三旋转轴1070可以可转动设置在基座230上,基座230为用于安装和承载末端控制组件210和调姿部件220的结构。在一些实施例中,第三旋转轴1070可以通过轴承进行安装,并通过轴承端盖进行限位,保持转动的平稳。在一些实施例中,第三旋转轴1070可以与调姿座1010固定连接,实现第一旋转机构221和第二旋转机构222的连接,从而使得末端控制组件210能够通过调姿环1020带动第二旋转机构222绕第二旋转机构222的旋转轴线B转动。
在一些实施例中,调姿环1020的旋转轴线和第三旋转轴1070的旋转轴线的夹角可以大于10°,例如,呈10-180°以内的任意角度设置(如呈30°设置、呈60°设置、呈135°设置等)。在一些实施例中,调姿环1020的旋转轴线和第三旋转轴1070的旋转轴线的夹角可以大于85°,例如,调姿环1020的旋转轴线和第三旋转轴1070的旋转轴线的夹角可以为90°,如图5所示,以使得第一旋转机构221和第二旋转机构222能够获得较大的操作空间。
在一些实施例中,调姿环1020的旋转轴线和第三旋转轴1070的旋转轴线可以相交,也可以不相交。当调姿环1020的旋转轴线和第三旋转轴1070的旋转轴线相交时,调姿环1020的旋转轴线和第三旋转轴1070的旋转轴线所在平面可以与水平面平行,也可以与水平面不平行。
在一些实施例中,主手操控装置1000还可以包括第三信息采集装置和第四信息采集装置,第三信息采集装置可以检测第一旋转机构221的转动角度,并传输到通信装置120;第四信息采集装置可以检测第二旋转机构222的转动角度,并传输到通信装置120。在一些实施例中,第三信息采集装置可以包括第三编码器1040,第四信息采集装置可以包括第四编码器1050。
编码器为将信号或数据进行编制、转换为用于通讯、传输和存储的信号形式的设备。编码器可以包括磁盘以及读数头,通过磁盘与读数头的配合可以实现转动角度的检测。在一些实施例中,第三编码器1040可以沿第一旋转机构221的旋转轴线A设置,用于检测调姿环1020的旋转角度,例如,设置在调姿环1020内侧。在一些实施例中,第四编码器1050可以设置在第三旋转轴1070的端部,用于检测第三旋转轴1070的旋转角度。第三编码器1040和第四编码器1050可以分别通过通信装置120与机器人本体110通信连接,实现信息交互,将检测到的旋转角度反馈至机器人本体110,通过机器人本体110控制末端执行器130转动相同的角度。
在一些实施例中,主手操控装置1000还可以包括第三反馈组件和第四反馈组件,第三反馈组件可以基于第三反馈信息对第一旋转机构221施加调姿阻力;第四反馈组件可以基于第四反馈信息对第二旋转机构222施加调姿阻力。在一些实施例中,第三反馈组件可以包括第三反馈电机1030,第三反馈电机1030可以与调姿环1020或调姿座1010固定连接,例如,第三反馈电机1030可以沿第一旋转机构221的旋转轴线A设置,并与调姿环1020连接;也可以设置于其他位置,并通过减速件与调姿环1020连接。仅作为示例,减速件可以包括套设有同步带、钢丝绳等的大直径轮和小直径轮,其中,小直径轮可以设置在第三反馈电机1030输出轴上,大直径轮可以沿第一旋转机构221的旋转轴线A设置,并与调姿环1020固定连接,大直径轮和小直径轮的直径不同,从而实现传动减速。在一些实施例中,减速件可以为与第一同步轮370和第二同步轮380相同的设置方式。在一些实施例中,减速件还可以为齿轮等,其原理与同步带、钢丝绳等传动相同,在此不再赘述。在一些实施例中,第四反馈组件可以包括第四反馈电机1060,第四反馈电机1060可以与第三旋转轴1070固定连接。在一些实施例中,第四反馈电机1060可以设置在第三旋转轴1070的端部,第四反馈电机1060也可以设置在其他位置(例如基座230上),并通过减速件与第三旋转轴1070连接,仅作为示例,减速件可以包括套设有同步带、钢丝绳等的大直径轮和小直径轮,其中,小直径轮可以设置在第四反馈电机1060输出轴上,大直径轮可以与第三旋转轴1070连接,大直径轮和小直径轮的直径不同,从而实现传动减速。在一些实施例中,减速件可以为与第一同步轮370和第二同步轮380相同的设置方式。在一些实施例中,减速件还可以为齿轮等,其原理与同步带、钢丝绳等传动相同,在此不再赘述。
反馈组件为用于施加调姿阻力的部件,第三反馈组件和第四反馈组件能够基于第三反馈信息和第四反馈信息分别向调姿环1020和第三旋转轴1070施加调姿阻力。第三反馈信息和第四反馈信息为末端执行器130进行调姿操作时受到的不同方向的阻力信息。当末端执行器130存在调姿阻力时,通过通信装置120反馈给主手操控装置1000,第三反馈电机1030和第四反馈电机1060能够接收到第三反馈信息和第四反馈信息,并向调姿环1020和第三旋转轴1070施加与末端执行器130的调姿阻力相当的阻力,以实现末端执行器130的调姿力反馈。这样,操作者带动末端控制组件210转动时能够感受到与转动方向相反的阻力,由此实现调姿时的力反馈。
图11是根据本说明书一些实施例所示的主手操控装置的俯视图。如图11所示,调姿部件220可以包括锁定机构,用于锁定或解锁末端控制组件210的姿态。锁定机构解锁时,末端控制组件210能够运动。在一些实施例中,锁定机构能够实现末端控制组件210的锁定与解锁。锁定机构可以固定设置于调姿部件220内,也可以固定安装在基座230上。在一些实施例中,锁定机构能够通过与末端控制组件210接触/分离实现锁定/解锁。当锁定机构锁定时,末端控制组件210无法发生运动,进而无法调整末端执行器130(如穿刺针等)的空间姿态。具体的,锁定机构可以分别对末端控制组件210在两个自由度上的运动进行锁定。例如,锁定机构可以分别对末端控制组件210相对于第一旋转机构221和第二旋转机构222进行锁定。例如,锁定机构可以使得末端控制组件210无法绕第一旋转机构221的旋转轴线A进行转动,从而限制了调姿部件220在第一转动自由度的运动,此时,第一旋转机构221和第二旋转机构222形成相对位置不变的一整体,末端控制组件210能够带动这一整体绕第二旋转机构222的旋转轴线B转动。又例如,锁定机构可以使得末端控制组件210无法绕第二旋转机构222的旋转轴线B进行旋转,此时,第一旋转机构221绕其旋转轴线A的运动不受影响。又例如,锁定机构可以使得末端控制组件210无法绕第一旋转机构221的旋转轴线A以及第二旋转机构222的旋转轴线B进行旋转,此时,末端控制组件210相对于第一旋转机构221和第二旋转机构222形成一固定整体。在一些实施例中,末端控制组件210相对于第一旋转机构221和第二旋转机构222形成的整体可以相对于基座230绕基座230所在平面的垂线进行旋转,通过锁定机构可以限制该旋转。在一些实施例中,末端控制组件210本身可以绕其中心轴旋转,通过锁定机构可以限制该旋转。当需要调整末端执行器130的空间姿态时,锁定机构解锁。此时,末端控制组件210能够发生运动,以调整末端执行器130的空间姿态。当末端执行器130对准目标靶点时,锁定机构可以锁定,使得末端执行器130的空间姿态不在发生变化,避免末端控制组件210继续运动而影响末端执行器130的空间姿态。
在一些实施例中,锁定机构可以包括第一制动件350和第二制动件440。如图4所示,第一制动件350可以锁定/解锁第一旋转机构221的转动;如图5所示,第二制动件440可以锁定/解锁第二旋转机构222的转动。第一制动件350和第二制动件440可以分别设置在第一反馈电机340和第二反馈电机450的输出轴上,用于对第一反馈电机340和/或第二反馈电机450的输出轴进行锁定,不让第一反馈电机340和/或第二反馈电机450的输出轴转动,从而限制第一旋转机构221绕其转动轴线A转动和/或限制第二旋转机构222绕其转动轴线B转动。在一些实施例中,第一制动件350和第二制动件440可以为抱闸。
在一些实施例中,锁定机构可以包括多个电磁铁1121以及与多个电磁铁1121对应的多个状态检测单元1122,多个电磁铁1121可以沿末端控制组件210的周侧设置,多个电磁铁1121可以通过通电/断电与末端控制组件210连接/分离,从而锁定/解锁末端控制组件210的姿态,多个状态检测单元1122可以检测多个电磁铁1121的状态并传输到通信装置120。
在一些实施例中,电磁铁1121能够控制伸出与末端控制组件210抵接的伸出轴,从而以限制末端控制组件210运动,伸出轴的伸出和回缩可以通过电磁铁1121通电或断电控制,具体的,可以设置为电磁铁1121通电伸出轴伸出,也可以设置为电磁铁1121断电时伸出轴伸出;状态检测单元1122可以用于检测电磁铁1121的工作状态,即检测电磁铁处于通电还是断电状态,从而能够对应获知伸出轴是否伸出。仅作为示例,当电磁铁1121通电时,伸出轴能够与末端控制组件210接触,限制末端控制组件210朝向伸出轴的方向转动。当电磁铁1121断电时,伸出轴回缩,不再抵接末端控制组件210,此时末端控制组件210朝向伸出轴方向的束缚被解除,末端控制组件210能够朝向伸出轴所在的方向运动。
在一些实施例中,电磁铁1121的数量为多个,多个电磁铁1121可以沿末端控制组件210的周侧均匀分布。仅作为示例,电磁铁1121的数量为四个,四个电磁铁1121可以均匀分布在末端控制组件210的周侧。当四个电磁铁1121伸出时即可实现末端控制组件210的锁定。在一些实施例中,电磁铁1121可以通过螺纹等部件固定。在一些实施例中,末端控制组件210周侧可以设置弹性支撑件1130(例如,弹簧等),弹性支撑件1130在电磁铁1121的回缩状态下能够保持末端控制组件210处于竖直状态并为调姿时提供移动的回复力。
在一些实施例中,状态检测单元1122能够实时检测电磁铁1121的工作状态,并反馈给机器人本体110。通过状态检测单元1122能够检测电磁铁1121是否正常工作,提高整机的安全性。仅作为示例,当电磁铁1121断电时,状态检测单元1122检测到电磁铁1121使得伸出轴处于伸出状态,此时,状态检测单元1122反馈末端控制组件210被锁定的信号至机器人本体110,表明末端控制组件210无法运动。当电磁铁1121通电时,状态检测单元1122检测到电磁铁1121使得伸出轴处于回缩状态,此时,状态检测单元1122反馈末端控制组件210解锁的信号至机器人本体110,表明末端控制单元210能够运动。在一些实施例中,状态检测单元1122可以为光电开关,或者其他能够实现电磁铁1121状态检测的部件。
在一些实施例中,调姿部件220还可以包括多个调姿触动开关1110,多个调姿触动开关1110可以沿末端控制组件210的周侧设置,可以用于控制锁定机构。
在一些实施例中,调姿触动开关1110可以用于控制锁定机构,调姿触动开关1110可以与电磁铁1121电连接,调姿触动开关1110能够控制电磁铁1110通断电。调姿触动开关1110可以与机器人本体110电连接。仅作为示例,操作调姿触动开关1110时,调姿触动开关1110能够控制电磁铁1121通电,使得电磁铁1121控制的伸出轴脱离末端控制组件210,末端控制组件210被解锁,可以发生运动。再次操作调姿触动开关1110时,调姿触动开关1110控制电磁铁1121断电,电磁铁1121的伸出轴伸出,以锁定末端控制组件210。通过电磁铁1121的通断电可以实现末端控制组件210的锁定与解锁控制。
在一些实施例中,调姿动作执行之前,先通过调姿触动开关1110解锁电磁铁1121,控制电磁铁1121的伸出轴回缩,此时,末端控制组件210可以运动,实现机器臂末端功能部件的空间姿态的调节。再次操作调姿触动开关1110,控制电磁铁1121的伸出轴伸出,末端控制组件210无法运动,以避免在执行手术操作等动作时误触发调姿动作,例如,末端控制组件210对应末端执行器130为穿刺针时,基于临床要求穿刺过程中不能转动,以保证穿刺过程稳定,保证穿刺效果。所以在执行穿刺动作之前要先执行调姿动作,待调姿动作执行完成后,再通过调姿触动开关1110将末端控制组件210锁定,最后执行穿刺动作。当然,调姿动作也可与穿刺动作轮流执行,只要保证调姿动作执行之前解锁,穿刺动作执行前锁定即可。
在一些实施例中,调姿部件220还可以包括多个倾角检测件(图中未示出),多个倾角检测件可以沿末端控制组件210的周侧设置,多个倾角检测件可以检测末端控制组件210的倾角并传输到通信装置120。当末端控制组件210朝向某一方向倾斜时,对应于该方向的倾角检测件能够检测到末端控制组件210的倾斜,进而检测末端控制组件210的倾斜角度。倾角检测件可以与机器人本体110电连接,倾角检测件可以将末端控制组件210的倾斜角度反馈给机器人本体110,机器人本体110可以根据倾斜角度调节末端执行器130的空间姿态,使得其能够对准目标靶点。
在一些实施例中,末端控制组件210倾斜时可能未对应任何一个倾角检测件,而是对应两个倾角检测件之间的位置,此时,两个倾角检测件共同检测末端控制组件210的倾斜角度。通过两个倾角检测件共同检测末端控制组件210的倾斜角度与一个倾角检测件检测的原理实质相同,在此不再赘述。
仅作为示例,倾角检测件的数量可以为四个,四个倾角检测件均匀分布于末端控制组件210的周侧。末端控制组件210通过四个倾角检测件实现末端执行器130的空间姿态调节。也就是说,末端控制组件210朝向任一倾角检测件运动时,通过该方向的倾角检测件实现调节,当还需要向其他方向运动时,末端控制组件210再朝向其他的倾角检测件运动。
在一些实施例中,还可以设置急停开关、整机开关等,急停开关与整机开关可以分别电连接机器人本体110。急停开关可以进行急停操作,避免出现意外时无法停止操作。整机开关用于实现设备的开关操作。
在一些实施例中,还可以设置多个指示灯以及其对应的状态指示单元,多个指示灯包括但不限于末端控制组件210转动指示灯等。状态指示单元可以用于控制各个指示灯的亮灭。当末端控制组件210转动指示灯处于闪烁状态时,机器人本体110即可接收触发的信号,否则屏蔽该信号。锁定机构解锁,电磁铁1121的状态可由状态检测单元1122检测并上报给机器人本体110,末端控制组件210的方向可由倾角检测件识别并上报给机器人本体110。
图12是根据本说明书一些实施例所示的基座230的结构示意图。以下将对本说明书实施例所涉及的基座230进行详细说明。需要注意的是,以下实施例仅用于解释本申请,并不构成对本申请的限定。
在一些实施例中,主手操控装置200(1000)还包括基座230,基座230可以设置于调姿部件220的底部,用于支撑和承载。在一些实施例中,基座230上可以设置质量较大的配重块,在操作时不会引起整个装置的晃动,整个装置能够保持稳定。需要说明的是,基座230作为用于支撑和承载的平台,可以应用于主手操控装置200,也可以应用于主手操控装置1000,还可以应用于其他结构的设备作为底座平台,以下描述以应用于主手操控装置1000为例,仅为说明基座230的结构,而非对其进行限制。
在一些实施例中,基座230可以呈平板状,有利于放置于水平的台面上进行操作。在一些实施例中,基座230自身可以是能够转动的,从而带动设置在其上的调姿部件220及末端控制组件210与其一同转动,以映射机器臂末端功能组件所在的调姿平面。
在一些实施例中,基座230可以包括座体1220和转动平台1210。通过设置转动平台1210,使得调姿部件220增加了一个映射机器人姿态的自由度,且该自由度能够映射末端执行器130的调姿平面,以使主手操控装置1000能够与机器人之间形成一一映射关系。如图12所示,转动平台1210可以与调姿部件220的第二旋转机构固定连接,转动平台1210可以与座体1220可转动连接,转动平台1210相对于座体1220的转动平面平行于座体1220所在的平面,且转动平台1210与机器人的至少一个关节运动相关联。在一些实施例中,转动平台1210相对于座体1220的转动平面也可以不平行于座体1220所在的平面,只要能够保证主手操控装置1000对于机器人至少一个关节的映射关系即可。
在一些实施例中,座体1220可以为框架结构,形状可以为方形、圆形、多边形等,在此不做限 制,其中部设有安装空间,该安装空间的尺寸可以对应匹配转动平台1210的尺寸。转动平台1210可以设置于座体1220的安装空间内并与座体1220转动连接,转动平台1210上可以安装调姿部件220。
在一些实施例中,基座230还可以包括驱动件1230和传动组件,驱动件1230可以为电机等与转动平台1210所需动力相适配的驱动件,驱动件1230可以直接与转动平台1210连接,也可以通过传动组件与转动平台1210连接,从而驱动转动平台1210转动。在一些实施例中,驱动件1230可以通过通信装置120与机器人本体110实现通信。
在一些实施例中,传动组件可以包括相互啮合的蜗杆1240及蜗轮,蜗杆1240与驱动件1230的输出端连接,蜗轮与转动平台1210固定连接。当驱动件1230带动蜗杆1240转动时,蜗轮能够相应随蜗杆的转动而转动,同时驱动转动平台1210绕其所在平面的垂线转动;转动平台1210的转动会调整调姿部件220整体的姿态朝向,即同时改变第一旋转机构221的旋转轴线A和第二旋转机构222的旋转轴线B的方向;但第一旋转机构221的旋转轴线A和第二旋转机构222的旋转轴线B之间的角度不变,能够实现精准控制转动平台1210与座体1220之间的转动角度。
在一些实施例中,传动组件可以包括主动轮和从动轮,主动轮和从动轮上套设同步带,主动轮与驱动件的输出端连接,从动轮与转动平台固定连接。当驱动件1230带动主动轮转动时,主动轮能够通过同步带带动从动轮转动,同时驱动转动平台1210绕其所在平面的垂线转动。在一些实施例中,传动组件还可以为齿轮等,只要能够实现与驱动件1230连接,并驱动转动平台1210转动即可。
在一些实施例中,转动平台1210可以设置第五编码器,第五编码器可以检测转动平台1210的转动角度并传输到通信装置120。第五编码器检测的转动角度能够通过通信装置120传输至机器人本体110,机器人本体110根据该转动角度控制机器人的至少一个关节整体所在对应的调姿平面转动相同的角度,从而实现两者的同步变化。在一些实施例中转动平台1210可以主动同步于机器人至少一个关节所在的调姿平面。
图13是是根据本说明书一些实施例所示的另一结构的主手操控装置1000关联运动的机器人多自由度调姿的原理示意图。图14是根据本说明书一些实施例所示的另一结构的主手操控装置1000调姿前后的示意图。以下以主手操控装置1000为例,进一步阐述主手操控装置1000的工作原理。需要说明的是,以下说明旨在对工作原理进行阐述,而不是对其应用进行限制,主手操控装置200也具有相同的工作原理,不再赘述。
如图13所示,主手操控装置1000与机器人至少一个关节所在的调姿平面的对应关系可以通过检测第一调节关节1330和第二调节关节1340转动的角度,并将两者矢量叠加形成的转角信息,反馈给机器人本体110,再经过通信装置120传输控制命令给驱动件1230转动相应的角度,从而驱动转动平台1210旋转相应的角度(第一调节关节1330和第二调节关节1340的矢量和),即可实现主手操控装置1000对机器人调姿平面的映射(即转动平台1210相对于座体1220的转动与机器人的至少一个关节运动相关联)。该过程可在机器人调姿关节摆位(操作者自由调姿)完成后进行。如此设置,转动平台1210相对于座体1220的转动自由度设置为主动映射关节,无需人力拖动即可实现与机器人姿态相同的映射。需要说明的是,基座230应用于主手操控装置200也具有相同的映射关系,在此不再赘述。
机器人调姿关节所在的调姿平面是通过第一调节关节1330和第二调节关节1340转动的矢量和来实现的;而对于末端执行器130的调姿关节分别对应于第一旋转机构221和第二旋转机构222。术前准备阶段,需要首先标定机器人的位姿为图13左图所示,此时机器人的机械臂末端的姿态垂直于水平面,定义为零位;此时主手操控装置的位姿如图14左图所示。然后根据需要对机器人的各个调姿关节(调姿关节1310及调姿关节1320分别对应于第一旋转机构221及第二旋转机构222)、第一调节关节1330及第二调节关节1340分别进行调整,如图13右图所示,该调姿信息被一一记录下来,传递到主手操控装置1000。主手操控装置1000分别控制与第一旋转机构221、第二旋转机构222以及基座230转动相应的角度(图14右图),以实现各个关节姿态的同步。
如图14所示为主手操控装置1000从零位状态调整到与机器人一一对应的调姿位状态。其中,主手操控装置1000的零位为末端控制组件210的中心轴线与转动平台1210所在平面的垂线重合的位置;主手操控装置1000零位下的调姿平面与机器人零位下的调姿平面处于平行状态。当机器人机械臂末端自摆位过程中改变调姿平面时,主手操控装置1000的转动平台1210的转角等于机器人第一调节关节1330和第二调节关节1340的矢量和(因为第一调节关节1330和第二调节关节1340的转角分为图13中正负(左右)两个方向)。当机器人在摆位过程中调整与第一旋转机构221及第二旋转机构222相对应的调姿关节时,对应调姿关节相对于零位的转角信息会分别传递给机器人本体110,并控制与第一旋转机构221及第二旋转机构222相对于零位旋转对应的角度。机器人完成摆位后,主手操控装置1000经过上述映射过程使末端控制组件210的姿态与末端执行器130姿态实现一一映射关系,即两者完全同步;然后再根据CT成像通过主手操控装置1000对末端执行器130进行微调。需要说明的是,末端控制组件210的姿态也可 以不与末端执行器130姿态完全一一映射,而可以根据需求仅实现部分不完全的映射关系。
上文已对基本概念做了描述,显然,对于本领域技术人员来说,上述详细披露仅仅作为示例,而并不构成对本说明书的限定。虽然此处并没有明确说明,本领域技术人员可能会对本说明书进行各种修改、改进和修正。该类修改、改进和修正在本说明书中被建议,所以该类修改、改进、修正仍属于本说明书示范实施例的精神和范围。
同时,本说明书使用了特定词语来描述本说明书的实施例。如“一个实施例”、“一实施例”、和/或“一些实施例”意指与本说明书至少一个实施例相关的某一特征、结构或特点。因此,应强调并注意的是,本说明书中在不同位置两次或多次提及的“一实施例”或“一个实施例”或“一个替代性实施例”并不一定是指同一实施例。此外,本说明书的一个或多个实施例中的某些特征、结构或特点可以进行适当的组合。
此外,除非权利要求中明确说明,本说明书所述处理元素和序列的顺序、数字字母的使用、或其他名称的使用,并非用于限定本说明书流程和方法的顺序。尽管上述披露中通过各种示例讨论了一些目前认为有用的实施例,但应当理解的是,该类细节仅起到说明的目的,附加的权利要求并不仅限于披露的实施例,相反,权利要求旨在覆盖所有符合本说明书实施例实质和范围的修正和等价组合。例如,虽然以上所描述的***组件可以通过硬件设备实现,但是也可以只通过软件的解决方案得以实现,如在现有的服务器或移动设备上安装所描述的***。
同理,应当注意的是,为了简化本说明书披露的表述,从而帮助对一个或多个实施例的理解,前文对本说明书实施例的描述中,有时会将多种特征归并至一个实施例、附图或对其的描述中。但是,这种披露方法并不意味着本说明书对象所需要的特征比权利要求中提及的特征多。实际上,实施例的特征要少于上述披露的单个实施例的全部特征。
一些实施例中使用了描述成分、属性数量的数字,应当理解的是,此类用于实施例描述的数字,在一些示例中使用了修饰词“大约”、“近似”或“大体上”来修饰。除非另外说明,“大约”、“近似”或“大体上”表明所述数字允许有±20%的变化。相应地,在一些实施例中,说明书和权利要求中使用的数值参数均为近似值,该近似值根据个别实施例所需特点可以发生改变。在一些实施例中,数值参数应考虑规定的有效数位并采用一般位数保留的方法。尽管本说明书一些实施例中用于确认其范围广度的数值域和参数为近似值,在具体实施例中,此类数值的设定在可行范围内尽可能精确。
针对本说明书引用的每个专利、专利申请、专利申请公开物和其他材料,如文章、书籍、说明书、出版物、文档等,特此将其全部内容并入本说明书作为参考。与本说明书内容不一致或产生冲突的申请历史文件除外,对本说明书权利要求最广范围有限制的文件(当前或之后附加于本说明书中的)也除外。需要说明的是,如果本说明书附属材料中的描述、定义、和/或术语的使用与本说明书所述内容有不一致或冲突的地方,以本说明书的描述、定义和/或术语的使用为准。
最后,应当理解的是,本说明书中所述实施例仅用以说明本说明书实施例的原则。其他的变形也可能属于本说明书的范围。因此,作为示例而非限制,本说明书实施例的替代配置可视为与本说明书的教导一致。相应地,本说明书的实施例不仅限于本说明书明确介绍和描述的实施例。
Claims (31)
- 一种用于机器人的主手操控装置,其特征在于,所述主手操控装置包括:末端控制组件;以及调姿部件,所述调姿部件包括第一旋转机构和第二旋转机构,所述第一旋转机构连接所述末端控制组件,所述第二旋转机构连接所述第一旋转机构,所述末端控制组件通过带动所述第一旋转机构绕所述第一旋转机构的旋转轴线转动,所述末端控制组件通过带动所述第一旋转机构及所述第二旋转机构绕所述第二旋转机构的旋转轴线转动。
- 根据权利要求1所述的主手操控装置,其特征在于,所述第一旋转机构包括第一旋转轴、第一安装座和第二安装座;所述末端控制组件固定设置于所述第一安装座,所述第一安装座与所述第一旋转轴固定连接,所述第一旋转轴可转动设置于所述第二安装座上;所述第二旋转机构包括第二旋转轴和第三安装座,所述第二旋转轴可转动设置于所述第三安装座上,所述第二旋转轴与所述第二安装座固定连接;所述第一旋转轴的旋转轴线和所述第二旋转轴的旋转轴线的夹角大于10°。
- 根据权利要求2所述的主手操控装置,其特征在于,所述第一旋转轴的旋转轴线和所述第二旋转轴的旋转轴线的夹角大于85°。
- 根据权利要求2所述的主手操控装置,其特征在于,所述第一旋转轴的旋转轴线和所述第二旋转轴的旋转轴线相交。
- 根据权利要求4所述的主手操控装置,其特征在于,所述第二旋转轴包括同旋转轴设置的第一部和第二部,所述第一部和所述第二部能够同步转动,所述第一部和所述第二部之间设置所述第二安装座,使得所述第一旋转轴与所述第二旋转轴位于同一平面。
- 根据权利要求2所述的主手操控装置,其特征在于,还包括:第一信息采集装置,所述第一信息采集装置检测所述第一旋转机构的转动角度,并传输到通信装置;第二信息采集装置,所述第二信息采集装置检测所述第二旋转机构的转动角度,并传输到通信装置。
- 根据权利要求6所述的主手操控装置,其特征在于,所述第一信息采集装置包括第一编码器,所述第二信息采集装置包括第二编码器。
- 根据权利要求2所述的主手操控装置,其特征在于,还包括:第一反馈组件,所述第一反馈组件基于第一反馈信息对所述第一旋转机构施加调姿阻力;第二反馈组件,所述第二反馈组件基于第二反馈信息对所述第二旋转机构施加调姿阻力。
- 根据权利要求8所述的主手操控装置,其特征在于,所述第一旋转轴的端部连接第一反馈组件,所述第一反馈组件包括第一减速组件和第一反馈电机,所述第一反馈电机通过所述第一减速组件与所述第一旋转轴连接;所述第二旋转轴的端部连接第二反馈组件,所述第二反馈组件包括第二减速组件和第二反馈电机,所述第二反馈电机通过所述第二减速组件与所述第二旋转轴连接。
- 根据权利要求9所述的主手操控装置,其特征在于,所述第一减速组件包括第一同步轮和第二同步轮,所述第一同步轮的半径大于所述第二同步轮的半径,所述第一同步轮设置在所述第一旋转轴的端部,所述第二同步轮设置于所述第一力反馈电机的输出端,所述第一同步轮和所述第二同步轮传动连接;所述第二减速组件包括第三同步轮和第四同步轮,所述第三同步轮的半径大于所述第四同步轮的半径,所述第三同步轮设置在所述第二旋转轴的端部,所述第四同步轮设置于所述第二力反馈电机的输出端,所述第三同步轮和所述第四同步轮传动连接。
- 根据权利要求10所述的主手操控装置,其特征在于,所述第一同步轮和所述第二同步轮采用双绳传动连接;所述第三同步轮和所述第四同步轮采用双绳传动连接。
- 根据权利要求1所述的主手操控装置,其特征在于,所述第一旋转机构包括调姿座和调姿环,所 述调姿座与所述调姿环转动连接,所述调姿环与所述末端控制组件固定连接;所述第二旋转机构包括第三旋转轴,所述第三旋转轴与所述调姿座固定连接;所述调姿环的旋转轴线和所述第二旋转轴的旋转轴线的夹角大于10°。
- 根据权利要求12所述的主手操控装置,其特征在于,所述调姿环的旋转轴线和所述第三旋转轴的旋转轴线的夹角大于85°。
- 根据权利要求12所述的主手操控装置,其特征在于,所述调姿环的旋转轴线和所述第三旋转轴的旋转轴线相交。
- 根据权利要求12所述的主手操控装置,其特征在于,还包括:第三信息采集装置,所述第三信息采集装置检测所述第一旋转机构的转动角度,并传输到通信装置;第四信息采集装置,所述第四信息采集装置检测所述第二旋转机构的转动角度,并传输到通信装置。
- 根据权利要求15所述的主手操控装置,其特征在于,所述第三信息采集装置包括第三编码器,所述第四信息采集装置包括第四编码器。
- 根据权利要求12所述的主手操控装置,其特征在于,还包括:第三反馈组件,所述第三反馈组件基于第三反馈信息对所述第一旋转机构施加调姿阻力;第四反馈组件,所述第四反馈组件基于第四反馈信息对所述第二旋转机构施加调姿阻力。
- 根据权利要求17所述的主手操控装置,其特征在于,所述第三反馈组件包括第三反馈电机,所述第三反馈电机与所述调姿环或所述调姿座固定连接;所述第四反馈组件包括第四反馈电机,所述第四反馈电机与所述第三旋转轴固定连接。
- 根据权利要求1所述的主手操控装置,其特征在于,所述调姿部件还包括锁定机构。
- 根据权利要求19所述的主手操控装置,其特征在于,所述锁定机构包括:第一制动件,所述第一制动件锁定/解锁所述第一旋转机构的转动;第二制动件,所述第二制动件锁定/解锁所述第二旋转机构的转动。
- 根据权利要求19所述的主手操控装置,其特征在于,所述锁定机构包括多个电磁铁以及与所述多个电磁铁对应的多个状态检测单元,所述多个电磁铁沿所述末端控制组件的周侧设置,所述多个电磁铁通过通电/断电与所述末端控制组件连接/分离,从而锁定/解锁所述末端控制组件的姿态;所述多个状态检测单元检测所述多个电磁铁的状态并传输到通信装置。
- 根据权利要求21所述的主手操控装置,其特征在于,所述调姿部件还包括多个调姿触动开关,所述多个调姿触动开关沿所述末端控制组件的周侧设置。
- 根据权利要求21所述的主手操控装置,其特征在于,所述调姿部件还包括多个倾角检测件,所述多个倾角检测件沿所述末端控制组件的周侧设置,所述多个倾角检测件检测所述末端控制组件的倾角并传输到通信装置。
- 根据权利要求1所述的主手操控装置,其特征在于,还包括基座,所述基座包括座体和转动平台,所述转动平台与所述调姿部件的所述第二旋转机构固定连接,所述转动平台与所述座体可转动连接,所述转动平台相对于所述座体的转动平面平行于所述座体所在的平面,且所述转动平台与所述机器人的至少一个关节运动相关联。
- 根据权利要求24所述的主手操控装置,其特征在于,所述基座还包括驱动件和传动组件,所述驱动件通过所述传动组件驱动所述转动平台转动。
- 根据权利要求25所述的主手操控装置,其特征在于,所述传动组件包括相互啮合的蜗杆及蜗轮,所述蜗杆与所述驱动件的输出端连接,所述蜗轮与所述转动平台固定连接。
- 根据权利要求25所述的主手操控装置,其特征在于,所述传动组件包括主动轮和从动轮,所述主动轮和所述从动轮上套设同步带,所述主动轮与所述驱动件的输出端连接,所从动轮与所述转动平台固定连接。
- 根据权利要求24所述的主手操控装置,其特征在于,所述转动平台设置第五编码器,所述第五编码器检测所述转动平台的转动角度,并传输到通信装置。
- 根据权利要求1所述的主手操控装置,其特征在于,所述末端控制组件包括末端控制力反馈组件,所述末端控制力反馈组件基于末端控制力反馈信息对所述末端控制组件施加阻力。
- 根据权利要求1所述的主手操控装置,其特征在于,所述末端控制组件为穿刺针组件、手术剪切组件或缝合组件中的至少之一。
- 一种机器人,其特征在于,包括机器人本体、末端执行器以及如权利要求1-30任一项所述的主手操控装置;所述末端执行器与所述机器人本体连接,所述机器人本体电连接通信装置,所述主手操控装置电连接所述通信装置和所述末端执行器。
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