CN113040905B - Manipulator for controlling the end effector of surgical instruments - Google Patents
Manipulator for controlling the end effector of surgical instruments Download PDFInfo
- Publication number
- CN113040905B CN113040905B CN201911376318.9A CN201911376318A CN113040905B CN 113040905 B CN113040905 B CN 113040905B CN 201911376318 A CN201911376318 A CN 201911376318A CN 113040905 B CN113040905 B CN 113040905B
- Authority
- CN
- China
- Prior art keywords
- component
- joint
- axis
- end effector
- surgical instrument
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
本发明公开了一种用于控制手术器械末端执行器的操作器，包括基座、握持部及连杆机构，连杆机构连接在基座和握持部之间，连杆机构上设置有多个中间关节，且基座与连杆机构之间设置有第一关节，连杆机构与握持部之间设置有第二关节；当移动握持部时，第一关节、第二关节及各中间关节根据握持部和/或对应关节的移动路径自适应的分解动作，部分关节或全部关节上设置有传感器，传感器用于采集对应关节动作的动作数据，该动作数据用于使手术器械的末端执行器根据握持部的移动路径对应移动。本发明的操作器在控制末端执行器时，可以通过改变握持部的位置，使手术器械的末端执行器根据握持部的移动路径对应移动，操控体验更好，能够降低误操控的几率。
The present invention discloses a manipulator for controlling an end effector of a surgical instrument, comprising a base, a gripping part and a connecting rod mechanism, wherein the connecting rod mechanism is connected between the base and the gripping part, a plurality of intermediate joints are arranged on the connecting rod mechanism, a first joint is arranged between the base and the connecting rod mechanism, and a second joint is arranged between the connecting rod mechanism and the gripping part; when the gripping part is moved, the first joint, the second joint and each intermediate joint are adaptively decomposed according to the moving path of the gripping part and/or the corresponding joint, and sensors are arranged on some or all of the joints, and the sensors are used to collect action data of the corresponding joint action, and the action data is used to make the end effector of the surgical instrument move correspondingly according to the moving path of the gripping part. When controlling the end effector, the manipulator of the present invention can make the end effector of the surgical instrument move correspondingly according to the moving path of the gripping part by changing the position of the gripping part, which provides a better control experience and can reduce the probability of miscontrol.
Description
Technical Field
The present invention relates to medical instruments, and more particularly to an operator for controlling an end effector of a surgical instrument.
Background
In the existing surgical instruments, most of end effectors of the surgical instruments can only be directly controlled by doctors, and in some surgical systems, operation terminals are configured for the surgical instruments, in the surgical process, the doctors operate operators in the operation terminals, and the surgical instruments perform surgical actions on patients according to instructions of the operators, but most of the existing operators are conventional mice, only planar movement or clicking operation can be performed during operation, the operation feeling is not visual enough, and the situation of incorrect operation can occur.
Disclosure of Invention
The invention mainly aims to provide an operator for controlling a surgical instrument end effector, so as to improve the operation experience and realize more visual operation, thereby reducing the probability of operation errors.
To achieve the above object and other related objects, the present invention provides the following technical solutions:
An operator for controlling an end effector of a surgical instrument comprises a base, a holding part and a connecting rod mechanism, wherein the connecting rod mechanism is connected between the base and the holding part, a plurality of middle joints are arranged on the connecting rod mechanism, a first joint is arranged between the base and the connecting rod mechanism, and a second joint is arranged between the connecting rod mechanism and the holding part;
when the holding part is moved, the first joint, the second joint and each intermediate joint are subjected to self-adaptive decomposition action according to the movement path of the holding part, and a part of or all the joints are provided with sensors which are used for collecting action data of actions of the corresponding joints, wherein the action data are used for enabling an end effector of the surgical instrument to correspondingly move according to the movement path of the corresponding joints and/or the holding part.
Optionally, the linkage mechanism comprises a plurality of components which are connected in series in turn, and each component is connected with each other through the intermediate joint.
Optionally, the link mechanism is rotatably disposed on the base, so that the movement limit space of the holding portion is located in a sphere space centered on the base, and the holding portion freely moves in the movement limit space.
Optionally, the linkage mechanism comprises a sub-plane linkage mechanism, and the sub-plane linkage mechanism comprises at least two components which are sequentially connected in series;
in the sub-plane link mechanism, all the components are sequentially connected in series and are positioned on the same plane, so that the holding part is close to or far away from the base when the sub-plane link mechanism is bent.
Optionally, each joint is a revolute pair joint, the link mechanism includes first component, second component, third component, fourth component and fifth component that establish ties in proper order, first joint sets up the base with between the first component, the second joint sets up between the fifth component with the portion of gripping.
Optionally, the first member is rotatably disposed on the base, and a rotation axis between the first member and the base is a first axis;
The second component is rotatably arranged on the first component, and the rotation axis between the second component and the first component is a second axis;
the third component is rotatably arranged on the second component, and the rotating shaft line between the third component and the second component is a third shaft line;
The fourth component is rotatably arranged on the third component, and the rotating shaft line between the fourth component and the third component is a fourth axis;
the fifth member is rotatably hinged on the fourth member, the rotation axis between the fifth member and the fourth member is a fifth axis,
The holding part is rotatably arranged on the fifth component, and the rotating shaft line between the holding part and the fifth component is a sixth axis;
And the axial direction of at least one axis is a first direction, the axial direction of at least one axis is a second direction, the axial direction of at least one axis is a third direction, and the first direction, the second direction and the third direction are mutually perpendicular.
Optionally, the first axis and the sixth axis are parallel to each other, the second axis, the third axis and the fourth axis are parallel to each other, the fifth axis is perpendicular to the first axis and the second axis, and the first axis and the second axis are perpendicular to each other.
Optionally, an auxiliary supporting structure is arranged on the link mechanism and is used for supporting the second component and/or the third component, the auxiliary supporting structure comprises a first supporting piece and a second supporting piece, and the first supporting piece is hinged with the second supporting piece.
Optionally, when the auxiliary support structure is used to support the second member, the first support is hinged to the first member, and the second support is hinged to the second member at a joint between the second member and the third member, so that the first member, the second member, the first support and the second support together form a parallelogram mechanism.
When the auxiliary supporting structure is used for supporting the third component, the first supporting piece is hinged on the fourth component, and the second supporting piece is hinged at a joint between the second component and the third component, so that the third component, the fourth component, the first supporting piece and the second supporting piece form a parallelogram mechanism together.
Optionally, the auxiliary support structure further comprises a cushioning elastic member;
the cushioning resilient member is disposed between the first support and the second member when the auxiliary support structure is used to support the second member;
The cushioning resilient member is disposed between the first support and the third member when the auxiliary support structure is used to support the third member.
Optionally, the sensor is arranged at:
At the first joint;
At a joint between the first member and the second member;
a joint between the second member and the third member;
At the joint between the fourth member and the fifth member, and
At the second joint.
Optionally, the manipulator for controlling a surgical instrument end effector further comprises a limit structure for defining a degree of freedom of the grip in a non-surgical state.
Optionally, the limiting structure includes:
The limiting hole is arranged on the base;
A limit part which is arranged on the link mechanism or the holding part;
the limiting part is inserted into the limiting hole to limit the freedom degree of the holding part.
Optionally, the sensor is an encoder.
Optionally, an interaction area for controlling the surgical instrument to execute the surgical action is arranged on the holding part.
Optionally, the end effector comprises a focused ultrasound device, and a button or an interface for triggering the focused ultrasound device to emit ultrasonic waves is arranged on the interaction region.
Optionally, the end effector comprises a focused ultrasound device.
When the manipulator controls the end effector of the surgical instrument, the position of the holding part or the corresponding joint can be changed by directly holding the holding part, so that the end effector of the surgical instrument correspondingly moves according to the moving path of the holding part or the corresponding joint, the operation is more visual, the operation experience is better, and the probability of misoperation can be reduced.
Drawings
FIG. 1 is a three-dimensional block diagram of an exemplary manipulator of the present invention;
FIG. 2 shows an internal cross-sectional view of FIG. 1;
fig. 3 shows an internal cross-section of fig. 1 (with the joint positions marked).
The reference numerals in the embodiments include:
Base 1, grip 2, first member 31, second member 32, third member 33, fourth member 34, fifth member 35, intermediate joint 36, first joint 131, second joint 235, auxiliary support structure 4, first support 41, second support 42, buffer elastic 43, sensor 5, first encoder 51, second encoder 52, third encoder 53, fourth encoder 54, fifth encoder 55, interaction zone 6, button 61, limit structure 7, limit portion 71, limit hole 72.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the invention.
It should be understood that the present invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, like numbers refer to like elements throughout.
Referring to fig. 1,2 and 3, in some embodiments, an manipulator includes a base 1, a grip 2, and a linkage mechanism connected between the base 1 and the grip 2, the manipulator is used to control an end effector (not shown) of a surgical instrument, the linkage mechanism is provided with a plurality of intermediate joints 36, the base 1 is connected with the linkage mechanism through a first joint 131, the linkage mechanism is connected with the grip 2 through a second joint 235, when the grip 2 is moved, the first joint 131, the second joint 235 and each intermediate joint 36 adaptively decompose according to a movement path of the grip 2, a sensor 5 is provided on a part of or all of the joints, the sensor 5 is used to collect movement data corresponding to the movement of the joint, and the movement data is used to correspondingly move the end effector of the surgical instrument according to the movement path of the grip 2. In other embodiments, the motion data is used to cause the end effector of the surgical instrument to move correspondingly according to the path of movement of the respective joint. In yet other embodiments, the motion data is used to cause the end effector of the surgical instrument to move according to a pair of a path of movement of the respective joint and a path of movement of the grip. When the manipulator is used for controlling the end effector of the surgical instrument, the manipulator only needs to hold the holding part 2 of the manipulator, so that the holding part 2 moves in the movement limit space, and as the sensors 5 are arranged on part of joints or all joints, the actuating mechanism of the surgical instrument can be controlled in a correlated manner through the collected action data of the sensors 5, and the end effector moves to the target position corresponding to the holding part 2 or the corresponding joint movement path. The term "movement path corresponding to the grip portion 2 or the corresponding joint" as used herein refers not only to the case where the path of the end effector is scaled to the path of the grip portion 2 or the corresponding joint, but also to the case where the linear distance and the rotation angle from the initial position angle to the target position angle correspond to the case where the end effector is different from the movement path of the grip portion 2 or the corresponding joint, and the movement is not limited to the simple position movement, but is also intended to include or not include the case of rotation.
In addition, when the end effector is controlled according to the motion data collected by the sensor 5, if the control mechanism for controlling the position and angle of the end effector and the effector in the surgical instrument have the same structure, the motion of each joint on the control mechanism can be directly performed according to the motion data of the corresponding joint, and if the control mechanism for controlling the position and angle of the end effector in the surgical instrument is different from the structure adopted by the effector, the distance (total displacement) from the starting position to the end position of the grip portion or the corresponding joint and the rotation angle (total rotation angle) in each direction can be calculated according to the motion data collected by each sensor, and then the total displacement and the total rotation angle are decomposed according to the specific structure of the control mechanism, so that the end effector can be correspondingly moved.
In some embodiments, referring to FIG. 3, the linkage includes a plurality of members connected in series, each member being connected by an intermediate joint 36.
In some embodiments, referring to fig. 1,2 and 3, the link mechanism is rotatably disposed on the base 1, so that the movement limit space of the grip portion 2 is located in a sphere space centered on the base 1, and the grip portion 2 freely moves in the movement limit space. By the arrangement mode, an operator can treat the base 1 as a focus to be treated, the action process of the handheld end effector is simulated more intuitively, and the override experience is better.
In some embodiments, the linkage comprises a sub-planar linkage comprising at least 2 members connected in series, each member being connected in series and in the same plane, such that the grip portion 2 is either closer to or further from the base when the sub-planar linkage is bent. In this case, the end effector may be, for example, the second member 32, the third member 33, and the fourth member 34 in fig. 1, 2, and 3 according to fig. 1, 2, and 3, and the grasping portion may be made to reach any position within the movement limit space by bending each joint of the sub-planar link mechanism in combination with the link mechanism being rotatable along the base 1. In actual implementation, the number of components of the sub-planar linkage may be other numbers.
In some embodiments, referring to fig. 1, 2, and 3 in combination, each joint is a revolute pair joint, and the linkage mechanism includes a first member 31, a second member 32, a third member 33, a fourth member 34, and a fifth member 35, which are sequentially connected in series, the first joint 131 being disposed between the first member 31 of the base 1, and the second joint 235 being disposed between the fifth member 35 and the grip portion 2. In the practical implementation process, a revolute pair can be adopted for part of the joints and a movable pair can be adopted for part of the joints, but the mode of adopting revolute pair joints is beneficial to smoother movement of all the joints. In addition, in actual implementation, the end effector may move in accordance with the path of the grip portion, or may move in accordance with the intermediate joint between the third member 33 and the fourth member 34.
In some embodiments, to enable the grip to move freely within its limited movement space, see in combination fig. 1,2 and 3, the first member 31 is rotatably arranged on the base 1, the axis of rotation between the first member 31 and the base 1 is defined as a first axis, the second member 32 is rotatably arranged on the first member 31, the axis of rotation between the second member 32 and the first member 31 is defined as a second axis, the third member 33 is rotatably arranged on the second member 32, the axis of rotation between the third member 33 and the second member 32 is defined as a third axis, the fourth member 34 is rotatably arranged on the third member 33, the axis of rotation between the fourth member 34 and the third member is defined as a fourth axis, the fifth member 35 is rotatably hinged on the fourth member 34, the axis of rotation between the fifth member 35 and the fourth member 34 is defined as a fifth axis, the grip 2 is rotatably arranged on the fifth member 35, and the axis of rotation between the grip 2 and the fifth member 35 is defined as a sixth axis. The axial direction of at least one axis is a first direction, the axial direction of at least one axis is a second direction, the axial direction of at least one axis is a third direction, and the first direction, the second direction and the third direction are mutually perpendicular. If the first direction is the X-axis direction, the second direction is the Y-axis direction, and the third direction is the Z-axis direction, that is, at least one axis is in the X-axis direction, at least one axis is in the Y-axis direction, and at least one axis is in the Z-axis direction. In the practical implementation process, the first direction, the second direction and the third direction may be different from each other, but it is required that in any space rectangular coordinate system, after the first direction, the second direction and the third direction are decomposed according to the X axis, the Y axis and the Z axis in the coordinate system, decomposition values on the X axis, the Y axis and the Z axis are all different from zero.
In some embodiments, referring to fig. 1,2, and 3 in combination, the first axis and the sixth axis are parallel to each other, the second axis, the third axis, and the fourth axis are parallel to each other, the fifth axis is perpendicular to the first axis and the second axis, respectively, and the first axis and the second axis are perpendicular to each other.
In some embodiments, referring to fig. 1 to 3 in combination, the linkage is provided with an auxiliary support structure 4, the auxiliary support structure 4 being for supporting the second member 32 and the third member 33, the auxiliary support structure 4 comprising a first support 41 and a second support 42, the first support 41 and the second support 42 being hinged.
When the auxiliary support structure 4 is used for supporting the second member 32, the first support 41 is hinged on the first member 31, the second support 42 is hinged at the joint between the second member 32 and the third member 33, so that the first member 31, the second member 32, the first support 41 and the second support 42 together form a parallelogram mechanism, when the auxiliary support structure 4 is used for supporting the third member 33, the first support 41 is hinged on the fourth member 34, and the second support 42 is hinged at the joint between the second member 32 and the third member 33, so that the third member 33, the fourth member 34, the first support 41 and the second support 42 together form a parallelogram mechanism.
In some embodiments, referring to fig. 1-3 in combination, the auxiliary support structure 4 further comprises a cushioning spring 43. The buffer elastic member 43 is disposed between the corresponding first support 41 and the second member 32 when the auxiliary support structure 4 is used to support the second member, and the buffer elastic member 43 is disposed between the first support 41 and the third member 33 when the auxiliary support structure 4 is used to support the third member 33. In practical implementation, the buffer elastic member 43 may be a spring, a gas spring, a rubber band, etc., so long as the buffer elastic force can be provided, the supported member is subjected to small impact force in the rotation process, which is beneficial to making the structure of the whole actuator more stable and reliable.
In some embodiments, the sensor 5 is an encoder. In the implementation, the type of the sensor 5 is set according to the actual structure of the manipulator, and if a sliding pair is further provided in the manipulator, a displacement sensor may be provided correspondingly, and for the rotary joint, other angle sensors may be used in addition to the encoder for acquiring the rotation angle, so long as the motion data thereof can be acquired.
In some embodiments, the sensor 5 is disposed at the first joint 131, at the second joint 235, at the joint between the first member 31 and the second member 32, at the joint between the second member 32 and the third member 33, at the joint between the fourth member 34 and the fifth member 35. In fig. 1 to 3, each sensor 5 is an encoder, on which five encoders are provided, namely, a first encoder 51, a second encoder 52, a third encoder 53, a fourth encoder 54, a fifth encoder 55, the first encoder 51 being provided at a first joint 131, the second encoder 52 being provided at a joint between the first member 31 and the second member 32, the third encoder 53 being provided at a joint between the second member 32 and the third member 33, the fourth encoder 54 being provided at a joint between the fourth member 34 and the fifth member 35, and the fifth encoder 55 being provided at a second joint 235. At this time, the displacement data between the third member 33 and the fourth member 34 acquired by the first encoder 51, the second encoder 52, and the third encoder 53 may be used, and the posture of the grip portion may be acquired by the fourth encoder 54 and the fifth encoder 55. Of course, in the actual implementation process, a sensor can be correspondingly arranged on each joint, so that omnibearing displacement and gesture recognition can be realized.
In some embodiments, the manipulator further comprises a limiting structure 7 for defining the degrees of freedom of the grip 2 in the non-operative state. The manipulator is locked to a certain extent by the limit structure after the operation is completed or when the operation is interrupted.
In some embodiments, the limiting structure 7 includes a limiting hole 72 provided on the base 1 and a limiting portion 71 provided on the link mechanism, the limiting portion 71 limiting the degree of freedom of the grip portion 2 by being inserted into the limiting hole 72. In the figure, the limit part 71 is provided on the fourth member 34 of the link mechanism, and the degree of freedom of the grip part 2 is 2, in the actual implementation, the limit part 71 may be provided on another member of the link mechanism, or the limit part 71 may be provided directly on the operation part, so that the grip part 2 is completely locked, and the degree of freedom corresponding to the grip part 2 is 0, and the limit part may be not limited to the form of a limit hole, but may be a limit groove or other structure, and the limit hole may not be provided on the base, or may be provided on a structure other than the operator, as long as the limit of the grip part can be achieved.
In some embodiments, the grip portion 2 is provided with an interaction zone 6 for manipulating the surgical instrument to perform a surgical action.
In some embodiments, the end effector comprises a focused ultrasound device.
In some embodiments, a button 61 or interface for triggering the focused ultrasound device to emit ultrasound waves is provided on the interaction zone 6. In the actual implementation process, the interaction area 6 can be further provided with a curing button 61 (or interface) for curing the focus image and a curing button 61 (or interface), and can also be provided with other functional buttons 61 or interfaces, so that the whole surgical instrument can be more conveniently controlled.
In the description of the present invention, unless explicitly stated and defined otherwise, "over" a first feature by a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact by another feature therebetween.
In the description of the invention, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (14)
1. An operator for controlling an end effector of a surgical instrument is characterized by comprising a base, a holding part and a connecting rod mechanism, wherein the connecting rod mechanism is connected between the base and the holding part, a plurality of middle joints are arranged on the connecting rod mechanism, a first joint is arranged between the base and the connecting rod mechanism, a second joint is arranged between the connecting rod mechanism and the holding part,
When the holding part is moved, the first joint, the second joint and each intermediate joint are subjected to self-adaptive decomposition action according to the movement path of the holding part, and a part of or all the joints are provided with sensors which are used for collecting action data corresponding to the action of the joints, wherein the action data are used for enabling an end effector of the surgical instrument to correspondingly move according to the movement path of the corresponding joint and/or the holding part;
The connecting rod mechanism comprises a plurality of components which are sequentially connected in series, and the components are connected through the middle joint;
The connecting rod mechanism is rotatably arranged on the base, so that the movement limit space of the holding part is positioned in a sphere space which takes the base as the center, and the holding part freely moves in the movement limit space;
The connecting rod mechanism comprises a sub-plane connecting rod mechanism, and the sub-plane connecting rod mechanism comprises at least two components which are sequentially connected in series;
in the sub-plane link mechanism, all the components are sequentially connected in series and are positioned on the same plane, so that the holding part is close to or far away from the base when the sub-plane link mechanism is bent.
2. The manipulator for controlling an end effector of a surgical instrument of claim 1, wherein each joint is a revolute pair joint and the linkage mechanism comprises a first member, a second member, a third member, a fourth member, and a fifth member in series, the first joint being disposed between the base and the first member and the second joint being disposed between the fifth member and the grip portion.
3. The manipulator for controlling a surgical instrument end effector of claim 2, wherein:
The first component is rotatably arranged on the base, and the rotating shaft line between the first component and the base is a first axis;
The second component is rotatably arranged on the first component, and the rotation axis between the second component and the first component is a second axis;
the third component is rotatably arranged on the second component, and the rotating shaft line between the third component and the second component is a third shaft line;
The fourth component is rotatably arranged on the third component, and the rotating shaft line between the fourth component and the third component is a fourth axis;
the fifth member is rotatably hinged on the fourth member, the rotation axis between the fifth member and the fourth member is a fifth axis,
The holding part is rotatably arranged on the fifth component, and the rotating shaft line between the holding part and the fifth component is a sixth axis;
And the axial direction of at least one axis is a first direction, the axial direction of at least one axis is a second direction, the axial direction of at least one axis is a third direction, and the first direction, the second direction and the third direction are mutually perpendicular.
4. The manipulator for controlling a surgical instrument end effector of claim 3, wherein the first axis and the sixth axis are parallel to each other, the second axis, the third axis, and the fourth axis are parallel to each other, the fifth axis is perpendicular to the first axis and the second axis, respectively, and the first axis and the second axis are perpendicular to each other.
5. The manipulator for controlling a surgical instrument end effector of claim 4, wherein:
The connecting rod mechanism is provided with an auxiliary supporting structure, the auxiliary supporting structure is used for supporting the second component and/or the third component, the auxiliary supporting structure comprises a first supporting piece and a second supporting piece, and the first supporting piece is hinged with the second supporting piece.
6. The manipulator for controlling a surgical instrument end effector of claim 5, wherein:
When the auxiliary supporting structure is used for supporting the second component, the first supporting piece is hinged on the first component, the second supporting piece is hinged at a joint between the second component and the third component, and the first component, the second component, the first supporting piece and the second supporting piece form a parallelogram mechanism together;
When the auxiliary supporting structure is used for supporting the third component, the first supporting piece is hinged on the fourth component, and the second supporting piece is hinged at a joint between the second component and the third component, so that the third component, the fourth component, the first supporting piece and the second supporting piece form a parallelogram mechanism together.
7. The manipulator for controlling a surgical instrument end effector of claim 5, wherein:
The auxiliary support structure further comprises a buffer elastic piece;
the cushioning resilient member is disposed between the first support and the second member when the auxiliary support structure is used to support the second member;
The cushioning resilient member is disposed between the first support and the third member when the auxiliary support structure is used to support the third member.
8. The manipulator for controlling a surgical instrument end effector of claim 4, wherein the sensor is disposed at:
At the first joint;
At a joint between the first member and the second member;
a joint between the second member and the third member;
At the joint between the fourth member and the fifth member, and
At the second joint.
9. The manipulator for controlling a surgical instrument end effector of claim 1, further comprising a limiting structure for defining a degree of freedom of the grip in a non-surgical state.
10. The manipulator for controlling a surgical instrument end effector of claim 9, wherein the limit structure comprises:
The limiting hole is arranged on the base;
A limit part which is arranged on the link mechanism or the holding part;
the limiting part is inserted into the limiting hole to limit the freedom degree of the holding part.
11. The manipulator for controlling a surgical instrument end effector of claim 1, wherein the sensor is an encoder.
12. The manipulator for controlling a surgical instrument end effector of claim 1, wherein the grip is provided with an interaction zone for manipulating a surgical instrument to perform a surgical action.
13. The manipulator for controlling a surgical instrument end effector of claim 12, wherein the end effector comprises a focused ultrasound device, and wherein the interaction zone has a button or interface disposed thereon for triggering the focused ultrasound device to emit ultrasound.
14. The manipulator for controlling a surgical instrument end effector of claim 1, wherein the end effector comprises a focused ultrasound device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911376318.9A CN113040905B (en) | 2019-12-27 | 2019-12-27 | Manipulator for controlling the end effector of surgical instruments |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911376318.9A CN113040905B (en) | 2019-12-27 | 2019-12-27 | Manipulator for controlling the end effector of surgical instruments |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113040905A CN113040905A (en) | 2021-06-29 |
| CN113040905B true CN113040905B (en) | 2025-06-27 |
Family
ID=76506446
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911376318.9A Active CN113040905B (en) | 2019-12-27 | 2019-12-27 | Manipulator for controlling the end effector of surgical instruments |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113040905B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US12527976B2 (en) | 2020-06-18 | 2026-01-20 | Histosonics, Inc. | Histotripsy acoustic and patient coupling systems and methods |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107242906A (en) * | 2017-07-31 | 2017-10-13 | 成都中科博恩思医学机器人有限公司 | A kind of control method of operating robot distal end executing agency |
| CN211633561U (en) * | 2019-12-27 | 2020-10-09 | 重庆海扶医疗科技股份有限公司 | Manipulator for controlling surgical instrument end effector |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ATE315762T1 (en) * | 2000-04-25 | 2006-02-15 | Moeller Wedel Gmbh | TRIPOD WITH A SURGICAL MICROSCOPE |
| US20110022229A1 (en) * | 2008-06-09 | 2011-01-27 | Bae Sang Jang | Master interface and driving method of surgical robot |
| CN102152314B (en) * | 2010-12-13 | 2012-08-29 | 天津工业大学 | Clucking power feedback system in touching device |
| CN103536367B (en) * | 2013-10-23 | 2015-07-01 | 沈阳工业大学 | Master-slave minimally invasive surgical robot system |
| KR102237597B1 (en) * | 2014-02-18 | 2021-04-07 | 삼성전자주식회사 | Master device for surgical robot and control method thereof |
| JP6169291B2 (en) * | 2015-02-26 | 2017-07-26 | オリンパス株式会社 | Operation input device and medical manipulator system |
| CN104622585B (en) * | 2015-03-13 | 2016-07-20 | 中国科学院重庆绿色智能技术研究院 | A kind of peritoneoscope micro-wound operation robot principal and subordinate's isomorphism main hands of formula remote operating |
| CN113456238A (en) * | 2015-05-01 | 2021-10-01 | 提坦医疗公司 | Instrument collision detection and feedback |
| ITUB20155057A1 (en) * | 2015-10-16 | 2017-04-16 | Medical Microinstruments S R L | Robotic surgery set |
| CN107483781B (en) * | 2017-08-17 | 2020-10-16 | 上海大学 | Stabilizing device for self-leveling of unmanned boat pan-tilt camera |
| JP6469304B1 (en) * | 2018-10-23 | 2019-02-13 | 株式会社A−Traction | Surgery support apparatus, control method thereof, and program |
-
2019
- 2019-12-27 CN CN201911376318.9A patent/CN113040905B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107242906A (en) * | 2017-07-31 | 2017-10-13 | 成都中科博恩思医学机器人有限公司 | A kind of control method of operating robot distal end executing agency |
| CN211633561U (en) * | 2019-12-27 | 2020-10-09 | 重庆海扶医疗科技股份有限公司 | Manipulator for controlling surgical instrument end effector |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US12527976B2 (en) | 2020-06-18 | 2026-01-20 | Histosonics, Inc. | Histotripsy acoustic and patient coupling systems and methods |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113040905A (en) | 2021-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11980435B2 (en) | User interface device having grip linkages | |
| EP3709923A1 (en) | Master control device with multi-finger grip and methods therefor | |
| US20210145530A1 (en) | Direct drive for mechanical arm assembly | |
| US20170209024A1 (en) | Endoscopic device and method | |
| JP7427815B2 (en) | User interface device with grip links | |
| US20240210454A1 (en) | Capacitive sensing of hand presence at control input device | |
| CN106470621A (en) | Mechanical hand | |
| CN113040905B (en) | Manipulator for controlling the end effector of surgical instruments | |
| JP7265916B2 (en) | Surgical system and method of controlling surgical system | |
| CN115916096B (en) | Medical operation device | |
| CN211633561U (en) | Manipulator for controlling surgical instrument end effector | |
| CN111818872A (en) | camera control | |
| WO2024222743A1 (en) | Catheter control joystick for surgical instrument, catheter driving device, and surgical instrument | |
| CN113040911B (en) | Surgical system, surgical system control method and surgical system control method | |
| JP7220002B1 (en) | Operating device | |
| WO2024129771A1 (en) | Controller with a touchpad user interface for operating robotically actuated devices | |
| JP7141164B1 (en) | Operating device | |
| WO2020035893A1 (en) | Surgical manipulator | |
| JP7289578B2 (en) | Operating device | |
| WO2019216293A1 (en) | Joint structure and robot hand | |
| CN210130920U (en) | Handle and main operating platform | |
| JP2006150105A (en) | Medical manipulator | |
| WO2009084142A1 (en) | Robot hand device | |
| JP7493906B2 (en) | Master arm input device and surgical system equipped with same | |
| WO2026001688A1 (en) | Control input apparatus, surgeon console, and surgical robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: No. 359, jingdongfang Avenue, Beibei District, Chongqing 400714 Patentee after: Chongqing Haifu Science and Technology Co., Ltd. Country or region after: China Patentee after: CHONGQING INSTITUTE OF GREEN AND INTELLIGENT TECHNOLOGY, CHINESE ACADEMY OF SCIENCES Address before: No. 359, jingdongfang Avenue, Beibei District, Chongqing 400700 Patentee before: Chongqing Haifu Medical Technology Co.,Ltd. Country or region before: China Patentee before: CHONGQING INSTITUTE OF GREEN AND INTELLIGENT TECHNOLOGY, CHINESE ACADEMY OF SCIENCES |
|
| CP03 | Change of name, title or address |