CN117770966A - Manipulator, control platform and robot - Google Patents

Abstract

The invention relates to a manipulator, a console and a robot. The manipulator includes: a parallel operating arm including a relatively stationary portion and a movable portion connected thereto; the control handle is connected with the movable part of the parallel operation arm, the control handle comprises a main body part and an operation control part movably connected with the main body part, the operation control part is used for controlling the movement of the executing element, the feedback device comprises a first driving piece and a transmission piece, the first driving piece is independent of the movable part of the parallel operation arm and the control handle, the first end of the transmission piece is connected with the operation control part, the second end of the transmission piece is connected with the first driving piece, and the first driving piece is used for feeding back the external force received by the executing element in the movement process to the operation control part through the transmission piece and driving the operation control part to reversely move. The console includes the manipulator. The robot includes the console. The manipulator of the invention can realize force feedback and is helpful for reducing the fatigue feeling of the manipulation.

Description

Controllers, consoles and robots

Technical field

The invention belongs to the field of robots, and specifically relates to a controller, a console and a robot.

Background technique

With the development of intelligent technology, robots are widely used in more and more fields, such as common industrial robots and surgical robots. Existing surgical robots usually include a console and a bedside robotic arm. The console is equipped with a controller, and the controller includes a control handle. The bedside robotic arm includes a surgical actuator. The end of the surgical actuator is equipped with surgical instruments, and the end of the surgical instruments is equipped with actuators, such as scissors and separation forceps.

During surgery, the user transmits the user's action information to the actuator by manipulating the control handle, so that the actuator performs surgical operations in the patient's body. However, information such as external forces received by the actuator during movement (such as opening and closing movements) cannot pass through the manipulator. Feedback is given to the user, who does not have a sense of on-the-spot operation and cannot effectively control the actuator in a timely manner. There are also some controllers that do not operate smoothly during long-term operation, often causing fatigue and poor user experience.

Summary of the invention

In view of this, the present invention aims to provide a controller, a console and a robot that can solve the above problems or at least alleviate the above problems to a certain extent.

To this end, one aspect of the present invention provides a manipulator for controlling the movement of an actuator. The manipulator includes: a parallel operating arm, including a relatively stationary part and a movable part connected thereto; a control handle, the control handle being connected to the movable part of the parallel operating arm, the control handle including a main body part and A control part movably connected with the main body part, the control part is used to control the movement of the actuator, a feedback device, the feedback device includes a first driving member and a transmission member, the first driving member is independent of the The movable part of the parallel operating arm and the control handle are arranged, the first end of the transmission member is connected to the control part, and the second end is connected to the first driving member, wherein the first driving member It is used to feed back the external force received during the movement of the actuator to the control part through the transmission member, and drive the dynamic control part to move in the reverse direction.

The first driving part of the manipulator is independent of the movable part of the parallel operating arm and the control handle, which reduces the fatigue of holding the handle for a long time and increases the user's smoothness of operation. The first driving part is used to control the movement process of the actuator. The external force received in the controller is fed back to the control part through the transmission part. When the controller has clamping force feedback, there is enough power to provide force feedback for the parallel operating arm.

In some embodiments, the control part can move in a first direction relative to the main body part to control the movement of the actuator, and the first driving member passes through the transmission according to the external force received during the movement of the actuator. The component causes the control part to move in a second direction, thereby feeding back the external force received during the movement of the actuator to the control part, wherein the second direction is opposite to the first direction. Preferably, the control part can rotate relative to the main body part. The control unit configured in this way has the same operating habits as traditional endoscopic instruments, making the user more familiar and with a shorter learning curve.

In some embodiments, the control part is hingedly connected to the main body part, and the manipulator further includes an encoder for detecting the rotation angle of the control part along the first direction, so that the actuator according to The control part moves along the rotation angle in the first direction. The encoder can effectively prevent the transmission part from creeping and being unable to accurately transmit the rotation angle of the control part in the first direction to the first driving part after long-term use, making the movement control of the actuator more precise.

In some embodiments, the control part is hingedly connected to the main body part, and the first driving member is used to identify the rotation angle of the control part along the first direction via the transmission member so that the execution The element moves according to the rotation angle of the control part along the first direction. The rotation angle of the control part along the first direction is directly transmitted to the first driving part through the transmission part, and the structure is relatively simple.

In some embodiments, the first driving member includes a driving motor, the output shaft of the driving motor is drivingly connected to the transmission member; the transmission member is drivingly connected to the control part, or the transmission member is drivingly connected to the control part. The control part is directly connected. Feedback is provided through the motor with high accuracy.

In some embodiments, the actuator includes two parts that can move relative to each other, and the opening and closing movement includes an opening movement and a closing movement, and the control part is used to control the opening and closing movement of the actuator, so The first driving member is used to feed back the external force received during the opening or closing movement of the actuator to the control part through the transmission member, and drive the dynamic control part to move in the reverse direction. This configuration is particularly suitable for feedback on the clamping force of the actuator.

In some embodiments, the control handle further includes a first roller provided inside the main body, the first roller is rotationally connected to the main body, and the first roller is synchronously driven with the control part. The first end of the transmission member is connected to the first roller and can be wound around the first roller. The first roller can transmit the rotation angle of the control part to the transmission member and then to the first driving member. In turn, the first driving member can also transmit the external force received during the opening and closing process of the actuator to the first roller through the transmission member. Then feedback to the control department.

In some embodiments, the control handle further includes one or more first guide wheels provided in the main body, and a section of the transmission member adjacent to its first end is located on the one or more first guide wheels. The guide wheel extends upward to make the transmission member slide according to a predetermined path. The first guide wheel can limit the path of the transmission member, making the transmission of the transmission member more stable.

In some embodiments, the first drive member includes a drive motor, the output shaft of the drive motor is synchronously connected to the second roller, the second end of the transmission member is connected to the second roller and can be wound on the second roller, and/or the first drive member also includes one or more second guide wheels, and the section of the transmission member adjacent to its second end extends on the one or more second guide wheels so that the transmission member slides along a predetermined path. Similarly, the rotation from the control part can be transmitted to the output shaft of the drive motor via the transmission member through the second roller. Conversely, the external force received by the actuator during the opening and closing process can also be transmitted to the second roller via the output shaft of the drive motor and then fed back to the control part through the transmission member. In addition, the path of the transmission member can be limited by the second guide wheel, so that the transmission of the transmission member is more stable.

In some embodiments, the manipulator further comprises a protective cover sleeved outside the transmission member, the protective cover is provided with a first protective head at one end close to the main body, the protective cover is provided with a second protective head at one end close to the first driving member, and the transmission member can slide freely in the protective cover. The protective cover can define the path of the transmission member as a whole, and the first protective head and the second protective head help fix the two ends of the protective cover to ensure that the ends of the protective cover are subjected to force.

In some embodiments, the parallel operating arm includes a static platform, a moving platform and several branch chains. The branch chain includes a support rod and a bracket. The support rod is slidingly connected to the bracket. The moving platform is connected to the On the support rod, the bracket is connected to the static platform, the main body of the control handle is connected to the moving platform, and the movable part of the parallel operating arm is the moving platform and the branch chain. of the support rod and the bracket, and the relatively stationary part is the stationary platform. The parallel operating arm arranged in this way can not only realize force feedback and attitude control, but also has simple wiring. The first driving part is located on the static platform, which can reduce the fatigue of holding the handle for a long time.

In some embodiments, the main body of the control handle is fixedly or rotationally connected to the moving platform, and the parallel operating arm includes a plurality of second driving members, which drive the moving platform to move by controlling the branch chain to rotate and move relative to the static platform, thereby driving the control handle to move. The force feedback of the parallel operating arm can be achieved by the second driving member driving the branch chain to move and then driving the moving platform and the control handle thereon to move.

On the other hand, the present invention provides a control console, including the aforementioned controller. The number of the controllers is one or two or more. The first driving member of the feedback device is disposed on the control panel. On stage. The beneficial effects that can be achieved by the console refer to the effective effects of the above-mentioned controllers, which will not be described again here.

In some embodiments, the console includes a base plate, the relatively stationary portion of the parallel operating arm is provided on the base plate, the first driving member is provided on the relatively stationary portion and/or the on the base plate. Arranging the first driving member on the base plate can minimize the impact of the transmission member on the parallel operating arm.

In some embodiments, the console includes a base plate, the relatively stationary portion of the parallel operating arm is provided on the base plate, the console further includes a viewfinder and a support member supporting the viewfinder, so The support member is fixedly connected to the bottom plate, the viewfinder is located above the parallel operating arm and the control handle, and the first driving member may be provided on the support member and/or the viewfinder. Arranging the first driving member on the support member and/or on the viewfinder can also reduce the fatigue of holding the handle for a long time and increase the smoothness of the user's operation.

In another aspect, the present invention also provides a robot, including the aforementioned control console. The robot is a surgical robot or an industrial robot. When the robot is a surgical robot, the surgical robot further includes a bedside robotic arm, so The bedside robotic arm includes a surgical execution mechanism. The surgical execution mechanism includes a surgical instrument disposed at an end of the surgical execution mechanism. The end of the surgical instrument away from the bedside robotic arm is provided with the execution element. The technical effects that the robot can achieve can be referred to the technical effects described by the previous controller, and will not be repeated here.

In the manipulator of the embodiment of the present invention, not only can the external force received during the movement of the actuator be fed back to the control part through the transmission member, but the first driving member is set independently of the movable part of the parallel operating arm and the control handle (i.e., the third The first driving member is not provided on the movable part of the parallel operating arm and the control handle), therefore, a relatively high-power motor can be selected as the first driving member to provide a larger force feedback adjustment range. In particular, since the first driving member is not provided on the movable part of the parallel operating arm and the control handle, the weight of the movable part of the parallel operating arm and the control handle is effectively reduced, so only relatively less power is required. By balancing the movable part of the parallel operating arm and the gravity of the control handle, relatively more power can be used for the parallel operating arm to provide force feedback, which effectively enhances the force feedback effect of the parallel operating arm, reduces fatigue, and makes the user's operation smoother. .

Description of drawings

Figure 1A is a schematic three-dimensional view of the console according to the first embodiment of the present invention;

Figure 1B is a schematic diagram of a bedside robotic arm for a surgical robot;

Figure 1C is a schematic diagram of the use of surgical instruments at the end of the bedside robotic arm shown in Figure 1B, in which the actuator clamps tissue;

Figure 2 is a perspective view of some components of the controller of the console shown in Figure 1A;

Figure 3 is an exploded view of the control handle of the manipulator shown in Figure 2;

Figure 4 is an exploded view of the internal components of the control handle shown in Figure 3;

Figure 5 is a perspective view of the first driving member of the manipulator shown in Figure 2;

Figure 6 is an exploded view of the first driving member shown in Figure 5;

Figure 7 is a schematic diagram of the internal structure of the control handle of the manipulator according to the second embodiment of the present invention;

FIG. 8 is an exploded view of the internal components of the control handle shown in FIG. 7 .

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present invention. In addition, the embodiments described below can be combined with each other as long as there is no contradiction or conflict, and the same or similar concepts or processes may not be described again in some embodiments.

The robot of the embodiment of the present invention may be, for example, but not limited to, an industrial robot such as a handling robot, a welding robot, a painting robot, etc., a medical robot such as a surgical robot, a tunneling robot such as a mining robot, a rescue robot, etc. The actuator may be, but not limited to, a robotic arm for performing the following corresponding functions, such as material handling, circuit welding, painting, medical simulation, mining and excavation, on-site rescue, etc.

1A to 1C, the robot of the first embodiment of the present invention is a surgical robot, and the surgical robot includes an active end and a passive end. The active end includes a control console 1, and the control console 1 includes a base plate 2, a viewfinder 3 arranged on the base plate 2, and a manipulator 4. In this embodiment, the control console 1 includes two manipulators 4. In other embodiments, other numbers of manipulators 4 may also be provided. The passive end includes a bedside robotic arm 10, and the bedside robotic arm 10 includes a surgical actuator, and the surgical actuator includes a driving assembly and a surgical instrument 11 located at the end of the surgical actuator, and the surgical instrument 11 includes an actuator 12 located at the end of the surgical instrument 11.

The actuator 12 includes scissors, needle holders, separation forceps, etc. When the actuator 12 is a separation forceps, the actuator 12 includes two parts 120 that can open and close relatively, and the opening and closing movement includes opening movement and closing movement. The two parts 120 move toward each other (for example, the two parts 120 rotate toward each other) for closing movement, and the two parts 120 move in opposite directions (for example, the two parts 120 rotate away from each other) for opening movement. During surgery, the user can manipulate the manipulator 4 at the active end to transmit the user's position, speed, clamping and other motion information to the passive end to perform surgery.

In this embodiment, the manipulator 4 includes a parallel operating arm 5 , a control handle 6 , and a feedback device. The feedback device includes a first driving member 7 and a transmission member 8 . In this embodiment, the parallel operating arm 5 is a six-degree-of-freedom parallel mechanism used to control the movement of the surgical instrument 11, including a static platform 51, a moving platform 52, and several arms connecting the static platform 51 and the moving platform 52. Chain 53 (three shown). The static platform 51 is provided on the bottom plate 2 . Each branch chain 53 includes a support rod 531 and a bracket 532 that are connected to each other. The support rod 531 can slide relative to the bracket 532 . The static platform 51 is connected to each bracket 532 of each branch chain 53 . The moving platform 52 is connected to each support rod 531 of each branch chain 53 . It can be seen that in this embodiment, the movable part of the parallel operating arm 5 includes the moving platform 52 and each support rod 531 of each branch chain 53 and each bracket 532, while the relatively stationary part of the parallel operating arm 5 is Including the static platform 51.

Furthermore, the parallel operating arm 5 of this embodiment also includes a plurality of second driving parts 54. The second driving parts 54 control the branch chain 53 to rotate and move relative to the static platform 51, driving the moving platform 52 to move, thereby driving the control Handle 6 movement. In this embodiment, the second driving component 54 is a driving motor. As an example, the second driving member 54 may be a rotary motor and/or a linear motor. The rotary motor is a motor used to drive the components connected to it to rotate, and the linear motor is used to drive the components connected to it to rotate. Linear motion motor. Depending on the movement of the bedside robotic arm 10, the rotary motor can drive the branch chain 53 to rotate relative to the static platform 51, and the linear motor can drive the branch chain 53 to move, thereby driving the moving platform 52 that is rotationally connected to the branch chain 53 to rotate and/or Or move, the control handle 6 provided on the moving platform 52 will of course also move together, thereby realizing the movement of the bedside robotic arm 10 is mapped to the user, so that the user has a sense of operational presence, in order to achieve force feedback and posture control, and Wiring is simple. It can be understood that in other embodiments, the second driving member 54 may only include a rotary motor or a linear motor, and then drive the branch chain 53 to rotate and/or move through a mechanical transmission mechanism, thereby driving the moving parts rotationally connected to the branch chain 53. The platform 52 rotates and/or moves so that the control handle 6 moves. Alternatively, in other embodiments, the parallel operating arm 5 may also adopt other parallel mechanisms, wherein the parallel operating arm 5 is a parallel mechanism with at least five degrees of freedom.

In turn, the control handle 6 can also be actively controlled by the user, that is, the user can actively operate the control handle 6 to drive the driving platform 52 to move (for example, rotate and/or move), thereby driving the branch chain 53 to move. The second drive The component 54 can accept the movement of the branch chain 53 and control the movement of the bedside robotic arm 10 accordingly, thereby controlling the movement of the surgical instrument 11, thereby achieving posture control from the user.

Referring to FIG. 1A and FIG. 2 simultaneously, in this embodiment, the control handle 6 includes a main body part 60 and a control part 61 movably connected with the main body part 60 . The main body part 60 is fixedly connected to the moving platform 52. In other embodiments, the main body part 60 and the moving platform 52 may also be rotationally connected. The control part 61 is used to control the opening and closing movement of the actuator 12 , in this embodiment, it controls the two parts 120 of the actuator 12 to rotate toward or away from each other.

In this embodiment, the control part 61 is hingedly connected to the main body 60. Specifically, the control part 61 is rotatably connected to the main body 60. In other embodiments, the control part 61 and the main body 60 can be slidably connected to the main body 60. Any connection method can be used as long as the control part 61 and the main body 60 are mechanically connected and the control part 61 can move relative to the main body 60.

In the existing technology, most control handles are composed of two control parts. They have no main body part and no first driving part. Therefore, the two control parts cannot provide force feedback to the user, and the user does not have a sense of on-the-spot operation. The actuator 12 cannot be effectively controlled in time. Without clamping force feedback, the user's manipulation of the manipulator cannot ensure the contact force between the actuator 12 and the tissue. When performing blunt cutting and suturing, clamping force feedback is very important to avoid damage to tissues and important organs. It can ultimately reduce damage to tissues, especially to avoid secondary damage to the suture due to excessive force.

Contrary to the prior art, the first driving member 7 of the embodiment of the invention is provided independently of the movable part of the parallel operating arm 5 and the control handle 6 . In other words, the first driving member 7 is not provided on the movable part of the parallel operating arm 5 and the control handle 6 . In this embodiment, the first driving member 7 is disposed on the bottom plate 2 of the console 1, which facilitates the wiring of the transmission member 8 and prevents motion coupling between the transmission member 8 and the parallel operating arm 5. In other embodiments, the first driving member 7 may also be provided in other places besides the movable part of the parallel operating arm 5 and the control handle 6 , such as the relatively stationary part of the parallel operating arm 5 (specifically, that is, The static platform 51) can also be arranged at any position on the console 1, as long as the motion coupling between the transmission member 8 and the parallel operating arm 5 can be avoided to the greatest extent. For example, it can be arranged at the support member 30 (which supports the viewfinder 3). It is fixedly connected to the base plate 2), and can also be arranged on the lower side or the left and right sides of the viewfinder 3, where the viewfinder 3 is located above the parallel operating arm 5 and the control handle 6 as shown in Figure 1A .

The first end of the transmission member 8 is connected to the operating part 61, and the second end is connected to the first driving member 7, so that the first driving member 7 can feed back the external force exerted on the actuator 12 during the opening and closing process (in this embodiment, specifically, the resistance exerted on the two parts 120 of the actuator 12 when clamping harder tissue during the closing process; in other embodiments, it can also be the resistance exerted on the two parts 120 of the actuator 12 during the opening process (for example, from surrounding human tissue/organs)) to the operating part 61 via the transmission member 8, and lead the operating part 61 to reverse movement. It can be understood that the reverse movement in this embodiment is movement in the direction away from the main body 60 (that is, the second direction mentioned below).

A controller 4 designed in this way is advantageous. First, when the external force received during the opening and closing process of the actuator 12 is fed back to the first driving member 7, it can be fed back to the control part 61 through the transmission member 8, so that the user can know the force situation of the actuator 12 and judge whether Continue the current operation to reduce surgical risks. Secondly, the first driving part 7 is set independently of the movable part of the parallel operating arm 5 and the control handle 6. Therefore, there is no need to consider the impact of the load of the first driving part 7 on the movable part of the parallel operating arm 5 and the control handle 6. If weight has an impact, a relatively high-power first driving component 7 can be selected to provide a larger clamping force feedback adjustment range, making the clamping feedback force more realistic and increasing the user's on-the-spot operation feeling. Thirdly, since the first driving member 7 is not arranged on the movable part of the parallel operating arm 5 and the control handle 6, the weight of the movable part of the parallel operating arm 5 and the control handle 6 is effectively reduced, so only a relatively small amount of time is required. A small amount of power (from the second driving member 54 of the parallel operating arm 5) can balance the gravity of the movable part of the parallel operating arm 5 and the control handle 6, and relatively more power can be provided by the parallel operating arm 5. Force feedback (that is, the parallel operating arm 5 simulates the posture, speed and other information of the driven end to give the user a sense of on-the-spot operation), effectively enhances the six-dimensional force feedback effect of the parallel operating arm 5, making the six-dimensional feedback force more realistic and increasing the number of users On-the-spot operation feeling, since there is no first driving member 7 in the control handle 6, the gravity of the control handle 6 is greatly reduced, reducing the fatigue caused by the user holding the control handle 6 for a long time, and also reducing the difficulty of moving the control handle. 6 the inertia generated. It avoids the problem of excessive weight caused by arranging the first driving member 7 on the movable part of the parallel operating arm 5 or on or in the control handle 6, and avoids excessive inertia caused by excessive weight. There will be a dragging feeling during the rapid multi-angle manipulation of the control handle 6, which makes the user's operation not smooth and prone to fatigue.

Preferably, the control part 61 can rotate relative to the main body part 60 in a first direction (for example, toward the direction closer to the main body part 60 ) to control the closing of the actuator 12 (on the contrary, toward the direction away from the main body part 60 Turning the control part 61 in the direction can control the opening of the actuator 12), and the control part 61 is located on the lower side of the main body part 60. The control method of the control part 61 configured in this way is the same as the operation habit of traditional endoscopic instruments, and the user is more familiar with it. Sense, the learning curve is shorter.

Furthermore, in this embodiment, during the closing process of the two parts 120 of the actuator 12, the resistance encountered when clamping the tissue is detected and received by the instrument drive mechanism (not shown in the figure) in the surgical instrument 11, or detected and received by the sensor (not shown in the figure) connected to the actuator 12. After the external force signal is processed by the control system, the control system controls the first drive member 7 to output a torque corresponding to the external force. The first drive member 7 rotates the control part 61 in a second direction (for example, in a direction away from the main body 60) via the transmission member 8 according to the external force encountered during the closing process of the actuator 12, thereby feeding back the external force encountered during the closing process of the actuator 12 to the control part 61, wherein the second direction is opposite to the first direction.

It should be understood that the rotation of the control part 61 in the second direction by the first driving member 7 through the transmission member 8 may include movement trends and forces, and does not necessarily cause displacement. In fact, the control part 61 is caused to rotate in the second direction. Directional rotation may mean that the control part 61 actually rotates in the second direction, or it may be a tendency for the control part 61 to rotate in the second direction.

In this embodiment, the transmission member 8 is a transmission rope, and the material of the transmission rope is preferably a steel rope. This also corresponds to the fact that the aforementioned first driving member 7 can feed back the resistance encountered by the two parts 120 of the actuator 12 when clamping harder tissue during the closing process to the control part 61 via the transmission member 8 . It is understood that in other embodiments, the transmission member 8 may also include other numbers of transmission ropes, such as two or more transmission ropes. For example, in the case of two transmission ropes, not only one of the transmission ropes can be used, but the resistance feedback received by the two parts 120 of the actuator 12 when clamping the harder tissue during the closing process through the first driving member 7 can be fed back. to the control part 61, and the resistance experienced by the two parts 120 of the actuator 12 during the opening process can also be fed back to the control part 61 through the first driving member 7 based on another transmission rope, that is, the actuator 12 can be moved at the same time. The resistance received during the opening and closing process of 12 performs force feedback.

Preferably, a protective cover 9 is also provided outside the transmission member 8, and the transmission member 8 can slide freely inside the protective cover 9. In this embodiment, the first driving member 7 is used to identify the rotation angle of the control part 61 along the first direction via the transmission member 8, so that the actuator 12 is closed according to the rotation angle of the control part 61 along the first direction. In other words, in this embodiment, the transmission member 8 is not only used to feed back the external force received by the actuator 12 during the closing process to the control part 61 so that the control part 61 rotates passively, but also used to directly transmit the active rotation angle of the control part 61 to the first driving member 7 to control the actuator 12 to close, and the structure is simple.

In the prior art, the inside of the control handle is transmitted through a connecting rod. Considering the transmission efficiency and service life, the connecting rod is usually made of steel, which increases the weight of the control handle.

Referring to FIGS. 3 and 4 simultaneously, in this embodiment, the control handle 6 further includes a first roller 62 provided inside the main body 60 . The transmission member 8 is transmission connected with the control part 61 through the first roller 62 . Specifically, the first roller 62 is rotationally connected to the main body part 60 and is synchronously connected to the control part 61 in transmission. The first end of the transmission member 8 is connected to the first roller 62 and can be wound on the first groove 620 of the first roller 62 , thereby realizing the connection between the transmission member 8 and the control part 61 . Transmission connection. Therefore, when the user actively rotates the control part 61 in the first direction, the first roller 62 will rotate synchronously with the control part 61 and then wind the partial section of the transmission member 8 on the first groove 620 of the first roller 62 , the transmission member 8 uses its own winding motion to transmit the active rotation angle of the control part 61 to the first driving member 7 to control the actuator 12 to close. Conversely, when the actuator 12 receives an external force during the closing process, the first driving member 7 will receive such force feedback, and then drive the first roller 62 to rotate through the transmission member 8, and then drive the control part 61 to passively rotate, thereby realizing force feedback. feedback.

Because the first roller 62 is rotatably connected to the main body 60, the first roller 62 and the control part 61 can be made of plastic material, further reducing the weight of the control handle. Furthermore, the rotation angle of the first roller 62 is usually about 30°, specifically 23±2°.

In this embodiment, the main body 60 of the control handle 6 includes a first half shell 601 , a second half shell 602 and a top cover 603 . The first half shell 601 and the second half shell 602 are each provided with a connecting portion 604 on the front side, a first opening 605 on the top side, and a second opening 606 on the bottom side.

When the first half shell 601 and the second half shell 602 are fastened to each other, the connecting portion 604 of the first half shell 601 and the second half shell 602 is connected together for connecting with the The moving platform 52 is fixedly connected. The top cover 603 is closed in the first opening 605 of the first half shell 601 and the second half shell 602 . Parts of the control portion 61 are exposed from the second openings 606 of the first half shell 601 and the second half shell 602 . It can be understood that in other embodiments, the main body portion 60 of the control handle 6 can also adopt other structures.

In this embodiment, the control part 61 includes a U-shaped connecting section 610, an elliptical holding section 611, and a neck 612 connecting the U-shaped connecting section 610 and the elliptical holding section 611. It can be understood that in other embodiments, the control part 61 can also adopt other structures. In this embodiment, the first roller 62 is received in the U-shaped connecting section 610 of the control part 61, and the U-shaped connecting section 610 of the control part 61 and the first roller 62 are synchronously driven and connected through a connecting shaft 63. For example, the U-shaped connecting section 610 of the control part 61 and the first roller 62 can be tightly matched with the connecting shaft 63, so that when either of the control part 61 and the first roller 62 rotates, the other will also rotate synchronously. The neck 612 passes through the second opening 606 of the first half shell 601 and the second half shell 602. The holding section 611 is exposed outside the first half shell 601 and the second half shell 602.

In this embodiment, the control handle 6 also includes a first mounting frame 64 fixedly disposed in the main body 60. The first mounting frame 64 includes a first mounting plate 641 and a second mounting plate 642 vertically or substantially vertically connected to the first mounting plate 641. Two connecting arms 643 are fixedly connected to the bottom side of the first mounting plate 641, and both ends of the connecting shaft 63 are rotatably connected to the corresponding connecting arms 643 through bearings 630. It can be understood that in other embodiments, the connecting shaft 63 can also be rotatably connected to the main body 60 using other structures.

Preferably, the control handle 6 also includes one or more first guide wheels 65 disposed in the main body 60. For example, as shown in FIG4 , two first guide wheels 65 are provided in this embodiment. The section of the transmission member 8 adjacent to its first end is wound around the first guide wheel 65 so that the transmission member 8 slides along a predetermined path, and the transmission is more stable. In this embodiment, the first guide wheel 65 is disposed on the third mounting plate 644, and the third mounting plate 644 is fixedly mounted on the inner side of the second mounting plate 642. It can be understood that in other embodiments, the first guide wheel 65 can also be installed in other ways.

In this embodiment, a fourth mounting plate 645 is fixedly connected to the inner side of the second mounting plate 642. The fourth mounting plate 645 is provided with a first receiving groove 646 and a first through hole 647 that communicate with each other. The protective cover 9 is provided with a first protective head 91 at one end close to the main body 60. The first protective head 91 is fixed in the first receiving groove 646, and the first end of the transmission member 8 passes through the first protective head 91. The first through hole 647 is then wound around the first guide wheel 65 and then connected to the first roller 62 . The first protective head 91 helps to fix the end of the protective cover 9 close to the main body 60 and ensures that the end is stressed.

5 and 6, in this embodiment, the first driving member 7 includes a driving motor 71, and the output shaft 710 of the driving motor 71 is drivingly connected to the transmission member 8. Specifically, the output shaft 710 of the driving motor 71 is synchronously drivingly connected to the second roller 72, and the second end of the transmission member 8 is connected to the second roller 72 and can be wound on the second groove 720 of the second roller 72, thereby realizing the driving connection between the output shaft 710 of the driving motor 71 and the transmission member 8.

Therefore, before the user operates the control handle 6, the drive motor 71 will continue to output a certain torque value, driving the second roller 72 to rotate to pre-tighten the transmission member 8 and keep the transmission member 8 in a tight state, which will cause the transmission to change. The first roller 62 connected to the first end of the component 8 rotates, causing the control part 61 to rotate completely along the second direction, so that the control part 61 rotates to a position away from the main body part 60 .

When the user actively rotates the control part 61 in the first direction, as mentioned above, part of the transmission member 8 will be wrapped around the first groove 620 of the first roller 62 , which will cause the transmission member 8 to The second roller 72 connected to the second end rotates, thereby driving the output shaft 710 of the drive motor 71 to rotate. The control system can control the actuator 12 to close through the change in the rotation angle of the output shaft 710 of the drive motor 71 .

In turn, when the actuator 12 is subjected to an external force during the closing process, as mentioned above, the instrument driving mechanism or sensor in the surgical instrument 11 will detect and receive the external force, and process it through the control system to drive the output shaft 710 of the motor 71 On the basis of the pretightening torque, a torque corresponding to the external force is superimposed and outputted. The rotation of the output shaft 710 of the drive motor 71 drives the second roller 72 to rotate, and some sections of the transmission member 8 will be wound around the second roller 72 on the second groove 720, thereby driving the first roller 62 to rotate through the transmission member 8, and then driving the control part 61 to passively rotate, thereby realizing force feedback.

It is worth mentioning that the rotation angle of the control part 61 and the opening and closing angle of the actuator 12 may be in a 1:1 ratio, or may not be a 1:1 ratio, but have a specific corresponding ratio, and this ratio adjustable.

In this embodiment, the second roller 72 is connected to the driving motor 71 through a second mounting bracket 74 . The second mounting bracket 74 includes a fifth mounting plate 741 , a sixth mounting plate 742 vertically connected to one side of the second mounting bracket 74 , and a seventh mounting plate 743 vertically connected to the other side of the second mounting bracket 74 . . The second roller 72 is installed on the fifth mounting plate 741 . The driving motor 71 is installed on the sixth mounting plate 742 .

Preferably, the first driving member 7 also includes one or more second guide wheels 75 provided on the bottom side of the seventh mounting plate 743 of the second mounting bracket 74. For example, as shown in Figures 5 and 6, this invention The embodiment is provided with a second guide wheel 75 . The section of the transmission member 8 adjacent to its second end is wound around the second guide wheel 75 so that the transmission member 8 slides according to a predetermined path and the transmission is more stable.

Preferably, the protective sleeve 9 is provided with a second protective head 92 at one end close to the first driving member 7 . The seventh mounting plate 743 is provided with a second receiving groove 746 and a second through hole (not shown) that communicate with each other. The second protective head 92 is fixed in the second receiving groove 746. The transmission The second end of the member 8 passes through the second through hole and is wound around the second guide wheel 75 and then connected to the second roller 72 . The second protective head 92 helps to fix the end of the protective sleeve 9 close to the first driving member 7 and ensures that the end is stressed.

Referring to FIG. 7 , the controller of the second embodiment of the present invention is substantially the same as the controller of the first embodiment, and the similarities are not repeated here. The main difference between the controller of the second embodiment of the present invention and the controller of the first embodiment is the control handle. Specifically, the control handle 26 of this embodiment no longer includes the first roller 62, the first end of the transmission member 8 is directly connected to the control part 261, and the active rotation angle of the control part 261 of this embodiment is no longer transmitted to the first driving member 7 through the transmission member 8, but the rotation angle of the control part 261 along the first direction is detected by the encoder 66, so that the actuator 12 is closed according to the rotation angle of the control part 261 along the first direction.

Because the protective sleeve 9 outside the transmission member 8 is made of plastic and has the ability to deform, during the process of operating the control handle 6, the transmission member 8 will have additional elongation or shortening in the protective sleeve 9, causing the drive The angle recognized by the motor 71 is inaccurate. If the protective cover 9 is made of a metal flexible hose, during the process of operating the control handle 6, the protective cover 9 will have resistance to the movement of the control handle 6, and this resistance cannot This is offset by the drive motor 71 compensation. The encoder 66 can effectively prevent the transmission member 8 from creeping and being unable to accurately transmit the rotation angle of the control part 261 in the first direction to the first driving member 7 after long-term use, making the movement control of the actuator 12 more precise. .

Specifically, referring to FIGS. 7 and 8 at the same time, in this embodiment, the control part 261 no longer includes the U-shaped connecting section 610 , but only includes a substantially U-shaped holding part 2611 and a neck connected to the holding part 2611 . Department 2612. The holding portion 2611 is provided with a fixing hole 613 for fixing the first end of the transmission member 8 .

In this embodiment, the control part 261 is synchronously connected to the connecting shaft 263 through a connecting member 67. One end of the connecting member 67 is fixedly connected to the neck 2612 of the control part 261, and the other end is fixedly connected to the connecting shaft 263. Both ends of the connecting shaft 263 are rotatably connected to corresponding connecting arms 2643 through bearings (not shown). The connecting arm 2643 is fixedly mounted on the first mounting plate 641 of the first mounting frame 64. In this embodiment, one end of the connecting shaft 263 is also fixedly connected to a receiving slot 2630 for mounting some parts of the encoder 66.

In this embodiment, the encoder 66 includes a magnet 661 and a read head 662. The magnet 661 is fixedly installed in the receiving groove 2630 of the connecting shaft 263, and is specifically a magnet block, the left and right sides of which are N pole and S pole respectively. The read head 662 is installed on one of the connecting arms 2643 through the third mounting bracket 68 and connected to wires. Specifically, the third mounting bracket 68 includes a support bracket 680 and a cover plate 681 . The support frame 680 is fixedly installed on one of the connecting arms 2643 and is provided with a support groove 682 . The read head 662 is received in the support groove 682 and is provided with two opposite engaging steps 663. The cover 681 is pressed on the engaging steps 663 and connected with the support frame 680. Fixed connection, thereby realizing the installation of the read head 662.

When the user actively rotates the control part 261 in the first direction, the control part 261 drives the connecting shaft 263 to rotate synchronously through the connecting member 67, and the connecting shaft 263 drives the magnetic steel 661 to rotate together, thereby, the reading head 662 will cut the magnetic flux lines of the magnetic steel 661 based on the Hall principle, and then judge the rotation angle of the control part 261 in the first direction, so that the actuator 12 is closed according to the rotation angle of the control part 261 in the first direction. Conversely, when the actuator 12 is subjected to external force during the closing process, the sensor or instrument drive mechanism in the surgical instrument 11 detects and receives the information of the force (such as the magnitude of the force, and in other embodiments, it may also include the direction information of the force), and processes it through the control system so that the output shaft 710 of the drive motor 71 outputs a torque of a corresponding proportional magnitude, and then directly drives the control part 261 to passively rotate in the second direction through the transmission member 8 to achieve clamping force feedback.

The above are only preferred specific embodiments of the present invention. The protection scope of the present invention is not limited to the above-listed embodiments. Any person familiar with the technical field can obviously obtain the technology within the technical scope disclosed in the present invention. Simple changes or equivalent substitutions of the scheme fall within the protection scope of the present invention.

Claims (16)

1. A manipulator, used to control the movement of an actuator, characterized in that the manipulator includes: The parallel operating arm includes a relatively stationary part and a movable part connected to it; Control handle, the control handle is connected to the movable part of the parallel operating arm, the control handle includes a main body part and a control part movably connected with the main body part, the control part is used to control the movement of the actuator , Feedback device, the feedback device includes a first driving member and a transmission member. The first driving member is provided independently of the movable part of the parallel operating arm and the control handle. The first end of the transmission member It is connected to the control part, and the second end is connected to the first driving member, The first driving member is used to feed back the external force received during the movement of the actuator to the control part through the transmission member, and drive the dynamic control part to move in the reverse direction. 2. The controller according to claim 1, wherein the control part can move in a first direction relative to the main body part to control the movement of the actuator, and the first driving member moves according to the actuator. The external force received during the movement causes the control part to move in the second direction through the transmission member, thereby feeding back the external force received during the movement of the actuator to the control part, wherein the second direction is related to the The first direction is opposite. 3. The controller according to claim 2, wherein the control part is hingedly connected to the main body part, and the controller further includes a device for detecting the rotation angle of the control part along the first direction. an encoder, so that the actuator moves according to the rotation angle of the control part along the first direction. 4. The controller according to claim 2, wherein the control part is hingedly connected to the main body part, and the first driving member is used to identify the direction of the control part along the first direction via the transmission member. A rotation angle in one direction, so that the actuator moves according to the rotation angle of the control part in the first direction. 5. The controller according to claim 1, wherein the first driving member includes a driving motor, the output shaft of the driving motor is drivingly connected to the transmission member; the transmission member is connected to the control part transmission connection, or the transmission member is directly connected to the control part. 6. The manipulator according to claim 1, characterized in that the actuator includes two parts that can move relatively open and close, the opening and closing motion includes an opening movement and a closing movement, and the control part is used for To control the opening and closing movement of the actuator, the first driving member is used to feed back the external force received during the opening or closing movement of the actuator to the control part via the transmission member, and bring the The manual control part moves in reverse direction. 7. The controller according to claim 1, wherein the control handle further includes a first roller provided inside the main body, and the first roller is rotationally connected to the main body, and the first roller is rotatably connected to the main body. The first roller is synchronously connected to the control part in transmission, and the first end of the transmission member is connected to the first roller and can be wound around the first roller. 8. The controller according to any one of claims 1 to 7, wherein the control handle further includes one or more first guide wheels provided in the main body, and the transmission member is adjacent to A section of its first end extends on the one or more first guide wheels to allow the transmission member to slide along a predetermined path. 9. The controller according to any one of claims 1 to 7, characterized in that the first driving member includes a driving motor, the output shaft of the driving motor is synchronously connected to a second roller, and the transmission The second end of the piece is connected to the second roller and can be wound on the second roller, and/or, The first driving member also includes one or more second guide wheels, and a section of the transmission member adjacent to its second end extends on the one or more second guide wheels, so that the transmission member is driven according to Slide along the established path. 10. The manipulator according to claim 1 is characterized in that it comprises a protective cover mounted on the outside of the transmission member, a first protective head is provided at one end of the protective cover close to the main body, a second protective head is provided at one end of the protective cover close to the first driving member, and the transmission member can slide freely in the protective cover. 11. The manipulator according to claim 1 is characterized in that the parallel operating arm includes a static platform, a dynamic platform and a plurality of branch chains, the branch chains include a support rod and a bracket, the support rod is slidably connected to the bracket, the dynamic platform is connected to the support rod, the bracket is connected to the static platform, the main body of the control handle is connected to the dynamic platform, the movable parts of the parallel operating arm are the dynamic platform and the support rod and the bracket of the branch chains, and the relatively static part is the static platform. 12. The manipulator according to claim 11 is characterized in that the main body of the control handle is fixedly or rotatably connected to the moving platform, and the parallel operating arm includes a plurality of second driving members, which drive the moving platform to move by controlling the branch chain to rotate and move relative to the static platform, thereby driving the control handle to move. 13. A control console, characterized by comprising a manipulator according to any one of claims 1 to 12, wherein the number of the manipulators is one, two or more, and the first driving member of the feedback device is arranged on the control console. 14. The control console according to claim 13, wherein the control console includes a base plate, and the relatively stationary portion of the parallel operating arm is provided on the base plate, The first driving member is provided on the relatively stationary part and/or the bottom plate. 15. The control console according to claim 13, wherein the control console includes a base plate, the relatively stationary portion of the parallel operating arm is disposed on the base plate, the control console further includes a viewfinder and a viewfinder. A support member that supports the viewfinder, the support member is fixedly connected to the base plate, and the viewfinder is located above the parallel operating arm and the control handle, The first driving member may be provided on the support member and/or the viewfinder. 16. A robot, characterized in that it includes a control console according to any one of claims 13 to 15, and the robot is a surgical robot or an industrial robot. When the robot is a surgical robot, the surgical robot It also includes a bedside robotic arm. The bedside robotic arm includes a surgical execution mechanism. The surgical execution mechanism includes a surgical instrument provided at the end of the surgical execution mechanism. The surgical instrument is provided with a terminal at an end away from the bedside robotic arm. Describe the executive components.