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

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...

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