CN204484326U - The main hands of a kind of peritoneoscope micro-wound operation robot principal and subordinate's isomorphism formula remote operating - Google Patents

Abstract

The utility model discloses a laparoscopic minimally invasive surgery robot master-slave isomorphic teleoperation main hand, which mainly includes a base, a universal joint mechanism component I arranged on the base, and universal joints connected sequentially through joint joints. Joint mechanism components II, III, IV, thumb part and index finger part, said universal joint mechanism components I, II, III and IV are equipped with angle sensor S1, angle sensor S2, angle sensor S3, displacement sensor S4, Angle sensor S5, angle sensor S6, and angle sensor S7; the degree of freedom of each joint on the master hand of the teleoperation corresponds to the degree of freedom of movement of the surgical instrument at the operating end, realizing the master-slave isomorphism, which can be directly through the corresponding (mapping ) relationship to realize the control and adjustment of the operation end by the master hand of the teleoperation, avoiding the motion analysis time required for the master-slave heterogeneous teleoperation, and reducing the system delay; it also enhances the intuitiveness of the teleoperation itself, effectively reducing the operation time. Difficulty and operational error.

Description

A master-slave isomorphic teleoperation master hand of a laparoscopic minimally invasive surgical robot

technical field

The utility model belongs to the field of medical robots, in particular to a master-slave isomorphic teleoperation master hand of a laparoscopic minimally invasive surgery robot.

Background technique

The teleoperated minimally invasive surgical robot system provides surgeons with the operating environment of traditional minimally invasive surgery, which can assist doctors to complete more precise surgical actions and reduce misoperation due to fatigue or damage caused by hand tremor during surgery; It is also widely used because of its small damage, fast healing, and better surgical results for patients. At present, the da Vinci minimally invasive surgical robot system (da Vinci System) in the United States has been widely used in clinical practice and has been affirmed by surgeons.

The laparoscopic minimally invasive surgical robot system in the prior art generally adopts the master-slave teleoperation control mode, that is, the surgical robot arm at the operating end obtains the control signal of the main operating end operating the main hand through wired or wireless communication to perform corresponding operations. operate. At present, the world's only commercial laparoscopic minimally invasive surgical robot da Vinci system and other well-known minimally invasive surgical robot systems such as Raven, DLR and IBIS all use the master-slave heterogeneous method to realize the teleoperation control of surgical robots. This master-slave heterogeneous teleoperation method requires the system to first decompose the movement of the main operator mechanism, and then control the corresponding joints of the surgical robot at the slave operation end to carry out corresponding surgical operations. That is to say, the main operator of the surgical robot and the The setting of joint degrees of freedom of the surgical robot arms from the operating end is not exactly the same. Therefore, this operation method will increase the system delay, and there is also room for improvement in the intuitiveness of teleoperation.

Contents of the invention

In view of this, the purpose of this utility model is to provide a master-slave isomorphic teleoperation master hand for a laparoscopic minimally invasive surgery robot, which can reduce system delay and can directly realize remote operation on the end of the surgical instrument.

In order to achieve the above purpose, the utility model provides the following technical solutions: a laparoscopic minimally invasive surgery robot master-slave isomorphic teleoperation master hand, mainly including a base, a universal joint mechanism component I, a universal joint mechanism component II, Universal joint mechanism component III, universal joint mechanism component IV, thumb part and index finger part;

The universal joint mechanism component I is arranged on the base, the universal joint mechanism component II is connected with the universal joint mechanism component I through the rotary joint J1 and the rotary joint J2, and the universal joint mechanism component III is rotated The joint J3 is connected with the universal joint mechanism component II, and the rotary joint J3 is provided with a telescopic mechanism J4 that performs linear motion along the axis of the rotary joint J3. The joint mechanism component III is connected, and the thumb part and index finger part are connected to the universal joint mechanism component IV through the rotating joint J7;

The universal joint mechanism component I is correspondingly equipped with an angle sensor S1 and an angle sensor S2 for detecting the rotation of the universal joint mechanism component II around the axes of the rotary joints J1 and J2;

The universal joint mechanism component II is correspondingly equipped with an angle sensor S3 and a displacement sensor S4. The angle sensor S3 is used to detect the rotation angle of the universal joint mechanism component III around the axis of the rotary joint J3. The displacement sensor S4 is used for To detect the displacement of the universal joint mechanism component III along the axis direction of the rotary joint J3;

The universal joint mechanism component III is correspondingly equipped with an angle sensor S5 and an angle sensor S6 for detecting the rotation of the universal joint mechanism component IV around the axes of the rotary joints J5 and J6;

The universal joint mechanism assembly IV is provided with an angle sensor S7 for detecting the relative rotation generated by the rotation of the thumb member and the index finger member around the axis of the rotary joint J7.

The beneficial effect of the utility model is that: compared with the existing master-slave heterogeneous teleoperation mode, the teleoperation main hand structure realizes the master-slave isomorphism, that is, the movement joints of the teleoperation main hand and the surgical execution end There is a one-to-one correspondence between the degrees of freedom of movement of the instrument, and the control and adjustment of the main hand of the teleoperation to the surgical execution end can be realized directly through the correspondence (mapping) relationship, without the need for motion coupling and analysis, avoiding the master-slave heterogeneous teleoperation The required motion analysis time reduces the system delay; at the same time, the corresponding (mapping) relationship between the main hand of the teleoperation and its generation also enhances the intuitiveness of the teleoperation itself, effectively reducing the difficulty and error of operation.

Description of drawings

In order to make the purpose, technical solutions and beneficial effects of the utility model clearer, the utility model provides the following drawings for illustration:

Fig. 1 is the structural representation of the utility model;

Figure 2 is a comparison diagram of the joints between the main hand of teleoperation and the operation execution end;

FIG. 3 is a corresponding (mapping) relationship diagram of FIG. 2 .

Detailed ways

The preferred embodiments of the present utility model will be described in detail below in conjunction with the accompanying drawings.

As shown in Figure 1, the laparoscopic minimally invasive surgery robot master-slave isomorphic teleoperation main hand in the utility model mainly includes a base 1, a universal joint mechanism component I2, a universal joint mechanism component II3, a universal joint Mechanism component III4, universal joint mechanism component IV5, thumb part 6 and forefinger part 7; said universal joint mechanism component I2 is arranged on the base 1, and said universal joint mechanism component II3 passes through the rotating joint J1, rotating joint J2 Connected with the universal joint mechanism component I2, the universal joint mechanism component III4 is connected with the universal joint mechanism component II3 through the rotary joint J3, and the rotary joint J3 is provided with a telescopic mechanism for linear motion along the axis of the rotary joint J3 J4, the universal joint mechanism component III4 can move up and down through the moving joint J4, the universal joint mechanism component IV5 is connected with the universal joint mechanism component III4 through the rotary joint J5 and the rotary joint J6, the thumb part 6 and The index finger parts 7 are all connected to the universal joint mechanism component IV5 through the rotary joint J7; the universal joint mechanism component I2 is correspondingly provided with an angle sensor S1 for detecting the rotation of the universal joint mechanism component II3 around the axis of the rotary joint J1, J2 and Angle sensor S2; the universal joint mechanism component II3 is correspondingly equipped with an angle sensor S3 and a displacement sensor S4, and the angle sensor S3 is used to detect the rotation angle of the universal joint mechanism component III4 around the axis of the rotary joint J3. The displacement sensor S4 is used to detect the displacement of the universal joint mechanism component III4 along the axial direction of the rotary joint J3; the universal joint mechanism component III4 is equipped with a corresponding device for detecting the universal joint mechanism component IV5 around the rotary joint J5, J6 axis Rotating angle sensor S5 and angle sensor S6; the universal joint mechanism assembly IV5 is provided with an angle sensor S7 for detecting the relative rotation generated by the rotation of the thumb member 6 and the index finger member 7 around the axis of the rotary joint J7.

In this embodiment, the universal joint mechanism component I2 is arranged on the base 1, the universal joint mechanism component I2, the universal joint mechanism component II3, the universal joint mechanism component III4, the universal joint mechanism component IV5, and the thumb part 6 and the index finger part 7 are connected correspondingly through joint joints in turn; specifically, the universal joint mechanism assembly II3 can rotate around the rotation axes of the rotation joints J1 and J2 respectively, and the telescopic mechanism J4 performs linear motion along the rotation axis of the rotation joint J3, that is, The knuckle mechanism component III4 can not only rotate around the rotation axis of the swivel joint J3, but also produce displacement along the axis direction (J4) of the swivel joint J3, and the universal joint mechanism component IV5 can rotate around the rotation axes of the swivel joints J5 and J6 respectively, The thumb part 6 and the forefinger part 7 can rotate around the rotation axis of the rotary joint J7, forming an angle θ between them during relative rotation.

Compared with the existing master-slave heterogeneous teleoperation mode, the structure of the master-slave teleoperation master hand realizes master-slave isomorphism. The one-to-one correspondence relationship can directly realize the control and adjustment of the operation end by the master hand of the teleoperation through the correspondence (mapping) relationship, without the need for motion coupling and analysis, avoiding the motion analysis time required for the master-slave heterogeneous teleoperation, reducing Small system delay; at the same time, the corresponding (mapping) relationship between the main hand of the teleoperation and its generation also enhances the intuitiveness of the teleoperation itself, effectively reducing the operation difficulty and operation error.

Its working principle is shown in attached drawings 2 and 3. Attached drawing 2 is a comparison diagram of the joints between the main hand of teleoperation and the surgical execution end. The right side is a schematic diagram of the performing end of laparoscopic minimally invasive robotic surgery; during the operation, the doctor operates the thumb part 6 and the index finger part 7 to perform the surgical operation, the angle sensor S1, the angle sensor S2, the angle sensor S3, the displacement sensor S4, and the angle sensor S5, the angle sensor S6, and the angle sensor S7 respectively detect the rotation angle of the universal joint mechanism component II3 around the rotary joints J1 and J2, the rotation angle of the universal joint mechanism component III4 around the rotary joint J3 and the axial displacement along the rotary joint J3, The rotation angle of the universal joint mechanism component IV5 around the rotation joints J5 and J6, the relative angle θ when the thumb part 6 and the index finger part 7 rotate around the rotation joint J7, and then control the abdominal cavity through a one-to-one correspondence (mapping) relationship (see Figure 3). Surgical instruments at the execution end of minimally invasive robot surgery revolve around the rotary joint G1, rotary joint G2, rotary joint G3, linear displacement degree of freedom G4 (movement of surgical instruments in and out of the abdominal cavity), rotary joint G5, rotary joint G6 and rotary joint G7 to generate corresponding Movement amount φ (equal or proportional scaling).

Finally, it is noted that the above preferred embodiments are only used to illustrate the technical solutions of the present utility model without limitation. Although the utility model has been described in detail through the above preferred embodiments, those skilled in the art should understand that it can be described in the form Various changes can be made in the above and in the details without departing from the scope defined by the claims of the present invention.

Claims (1)

1. A laparoscopic minimally invasive surgery robot master-slave isomorphic teleoperation master hand, characterized in that: it mainly includes a base, a universal joint mechanism component I, a universal joint mechanism component II, a universal joint mechanism component III, Universal joint mechanism component IV, thumb part and index finger part; The universal joint mechanism component I is arranged on the base, the universal joint mechanism component II is connected with the universal joint mechanism component I through the rotary joint J1 and the rotary joint J2, and the universal joint mechanism component III is rotated The joint J3 is connected with the universal joint mechanism component II, and the rotary joint J3 is provided with a telescopic mechanism J4 that performs linear motion along the axis of the rotary joint J3. The joint mechanism component III is connected, and the thumb part and index finger part are connected to the universal joint mechanism component IV through the rotating joint J7; The universal joint mechanism component I is correspondingly equipped with an angle sensor S1 and an angle sensor S2 for detecting the rotation of the universal joint mechanism component II around the axes of the rotary joints J1 and J2; The universal joint mechanism component II is correspondingly equipped with an angle sensor S3 and a displacement sensor S4. The angle sensor S3 is used to detect the rotation angle of the universal joint mechanism component III around the axis of the rotary joint J3. The displacement sensor S4 is used for To detect the displacement of the universal joint mechanism component III along the axis direction of the rotary joint J3; The universal joint mechanism component III is correspondingly equipped with an angle sensor S5 and an angle sensor S6 for detecting the rotation of the universal joint mechanism component IV around the axes of the rotary joints J5 and J6; The universal joint mechanism assembly IV is provided with an angle sensor S7 for detecting the relative rotation generated by the rotation of the thumb member and the index finger member around the axis of the rotary joint J7.