Master-slave isomorphic teleoperation main hand of laparoscope minimally-invasive surgery robot

Abstract

The invention discloses a master-slave isomorphic teleoperation main hand of a laparoscope minimally-invasive surgery robot. The master-slave isomorphic teleoperation main hand mainly comprises a base, a universal joint mechanism assembly I, universal joint mechanism assemblies II, III and IV, a thumb part and an index finger part, wherein the universal joint mechanism assembly I is arranged on the base; the universal joint mechanism assemblies II, III and IV, the thumb part and the index finger part are sequentially and correspondingly connected through joint connecting parts; and the universal joint mechanism assemblies I, II, IIII and IV are correspondingly provided with angle sensors S1, S2, S3, S4, S5, S6 and S7. The freedom degrees of all joints on the teleoperation main hand correspond to the motion freedom degrees of surgical instruments at a surgery executing end one to one, so that master-slave isomorphism is realized, the surgery executing end can be directly controlled and regulated by the teleoperation main hand according to a corresponding (mapping) relationship, the motion analysis time required by master-slave isomeric teleoperation is avoided, and the system delay is reduced; in addition, the intuition of teleoperation is also enhanced, and the operation difficulty and errors are effectively reduced.

Description

technical field [0001] The invention belongs to the field of medical robots, and in particular relates to a master-slave isomorphic teleoperation master hand of a laparoscopic minimally invasive surgery robot. Background technique [0002] 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. [0003] The laparoscopic minimally invasive surgical robot system in the prior art generally adopts the master-slave teleoperation control mode, that is,...

AI Technical Summary

Problems solved by technology

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 joint degree of freedom settings of the surgical robot arms from the operating end are 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

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