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Series-parallel-connection force-feedback remote-control manipulator

A remote operation and parallel technology, applied in the field of surgical operators and series-parallel force feedback shaking operators, can solve the problems of the series-type main hand structure without clamping freedom, small working space, and large rotation angle.

Inactive Publication Date: 2013-05-22
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that the main hand of the master-slave teleoperation robot used in the existing minimally invasive abdominal surgery only adopts a series or parallel structure. The series main hand structure has no degree of freedom for clamping, and the operator is not suitable. Long-term operation will cause hand fatigue, and the parallel main hand structure has inflexible movement and small working space, which makes it difficult to meet the requirements of flexible movements and large rotation angles of abdominal surgical instruments, and then provides a series-parallel force feedback remote operator

Method used

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specific Embodiment approach 1

[0020] Specific implementation mode one: combine Figure 1-Figure 5 Describe this embodiment, a series-parallel force feedback remote operation hand of this embodiment includes a series mechanism 1, a parallel mechanism 2 and a clamping mechanism 3;

[0021] The series mechanism 1 includes a first rotating arm 1-1, a second rotating arm 1-2, a first counterweight 1-3, a second counterweight 1-4, a first encoder 1-5, a second Encoder 1-6, the third encoder 1-7 and force sensor 1-8, the first rotating arm 1-1 is a rectangular arm, the second rotating arm 1-2 is a rectangular arm, the first rotating arm 1- One end of 1 is rotationally connected with one end of the second rotating arm 1-2, the end of one end of the first rotating arm 1-1 is provided with a second encoder 1-6, and the end of the other end of the first rotating arm 1-1 The first counterweight 1-3 is arranged on the upper part, and the same side of the middle part of the other end of the first rotating arm 1-1 is ar...

specific Embodiment approach 2

[0025] Specific implementation mode two: combination Image 6 Describe this embodiment, the operator described in this embodiment also includes a control device, and the control device includes an industrial computer 6, a motion control card 7, a first servo controller 5 and three second servo controllers 4, and the motion control card The signal output terminal of 7 is connected with the signal input terminal of industrial computer 6, the position signal output terminal of the first servo controller 5 and the position signal output terminals of three second servo controllers 4 correspond to the signal of the motion control card 7 one by one The input end is connected, the electric signal output end of the first servo controller 5 is connected with the electric signal input end of the first servo motor 2-5, the electric signal output end of three second servo controllers 4 is connected with three second servo motors The electrical signal input ends of 3-7-3 are connected one b...

specific Embodiment approach 3

[0026] Specific implementation mode three: combination image 3 To describe this embodiment, the first encoder 1-5, the second encoder 1-6 and the third encoder 1-7 in this embodiment are all incremental encoders. With this setting, the resolution is high and the measurement effect is good. Others are the same as in the first or second embodiment.

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Abstract

The invention provides a series-parallel-connection force-feedback remote-control manipulator, and relates to an operation manipulator to resolve the problems that a master manipulator of a master-slave remote-control operation robot only adopts a series-connection or parallel-connection structure, a series-connection master manipulator structure has no clamping freedom degree, an operator can not adapt, and the hands of the operator are tired after long-time operation, and a parallel-connection master manipulator structure is not flexible to move, small in work space, difficult to meet the requirements of flexible motion and large rotation angle of an enterocoelia operation instrument. The series-parallel-connection force-feedback remote-control manipulator comprises a series-connection mechanism, a parallel-connection mechanism and a clamping mechanism, wherein the series-connection mechanism comprises a first rotation arm, a second rotation arm, a first balancing weight, a second balancing weight, a first encoder, a second encoder, a third encoder and a force sensor, and the clamping mechanism comprises a clamping seat, a fourth encoder, a first servo motor, a speed reducer, a third balancing weight and a clamping device. The series-parallel-connection force-feedback remote-control manipulator is applied to the mini-invasive enterocoelia surgery.

Description

technical field [0001] The invention relates to a surgical operating hand, in particular to a series-parallel force feedback rocking operating hand, which belongs to the field of minimally invasive surgical robots. Background technique [0002] Minimally invasive abdominal surgery robot is a medical robot that organically combines teleoperation robot with minimally invasive abdominal surgery. It provides visual guidance or monitoring service functions during surgery, and is an integrated robot system that assists doctors to complete surgical operations with high quality. It improves the quality of surgery, overcomes the defects of traditional minimally invasive surgery, broadens the scope of minimally invasive surgery, and can perform surgical simulation. These advantages have greatly promoted the research and application of minimally invasive surgical robots. The force feedback master hand is the key device of the master-slave teleoperation robot system. It is the input de...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 杜志江闫志远董为王宏民
Owner HARBIN INST OF TECH
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