Force feedback master manipulator of minimally invasive surgical robot having redundant freedom degree

A technology of minimally invasive surgery and main manipulator, which is applied in the field of robot force feedback main manipulator and minimally invasive surgical robot force feedback main manipulator, which can solve the problem of expensive force feedback main manipulator, limited attitude angle output range, main The lack of freedom of the operator and other problems achieves the effect of compact structure, reduced quality and small space occupation

Inactive Publication Date: 2018-08-10
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Benefits of technology

Introduced into this new technology described in this patents allows surgeons to work within minimal physical constraints while still being able to see what they have done during procedures without causing any harm or injury themselves. It uses specialized structures called robots (a type of machine) attached to the arms of the microsurgery robot. These robots move around inside the operating room under guidance provided by computer programs running them. They use wireless signals sent between their actuators and sensory devices like cameras to provide visual confirmations about how far away objects were seen beforehand. By doing these operations autonomously, the microscopic medical team does less effort than traditional methods. Overall, this innovative technical means improve the functionality and usability of the robot systems used in neurosurgeries.

Problems solved by technology

This patented technical problem addressed in this patents relates to improving the performance of minimal invasively surgery robots without compromising their safety or comfort level during movement. Current methods involve either reducing body weight or increasing muscle strength, making them heavier than usual. Additionally, existing techniques require multiple motors to generate six degrees of rotation per second, leading to longer operating times.

Method used

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  • Force feedback master manipulator of minimally invasive surgical robot having redundant freedom degree
  • Force feedback master manipulator of minimally invasive surgical robot having redundant freedom degree
  • Force feedback master manipulator of minimally invasive surgical robot having redundant freedom degree

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specific Embodiment approach 1

[0033] Specific implementation mode one: combine figure 1 and figure 2 Describe this embodiment, a minimally invasive surgical robot force feedback main operator with redundant degrees of freedom described in this embodiment, it includes a first drive joint 1, a second drive joint 2, a third drive joint 3, a fourth drive joint The drive joint 4, the fifth drive joint 5, the sixth drive joint 6, the seventh drive joint 7 and the eighth drive joint 8, the drive output end of the first drive joint 1 is connected with the drive input end of the second drive joint 2 and the drive input end of the second drive joint 2 respectively. The driving ends of the three driving joints 3 are connected, the second driving joint 2 is connected to the third driving joint 3, the driving output end connected to the third driving joint 3 is connected to the fourth driving joint 4, and the driving output end of the fourth driving joint 4 is connected to The fifth driving joint 5 is connected, the ...

specific Embodiment approach 2

[0035] Specific implementation mode two: combination Figure 1-Figure 3 Describe this embodiment, a minimally invasive surgical robot force feedback main operator with redundant degrees of freedom described in this embodiment, the first drive joint 1 includes a first driver 1-0, a first drive motor 1-1, a first A shaft coupling 1-2, the first wire drum shaft 1-3, the first wire drum 1-4, the first limit pin 1-5, the first absolute angle encoder 1-6, the first rotating shaft 1- 7. The first drive joint output turntable 1-8 and the first drive joint base 1-9; the first drive 1-0, the first drive motor 1-1, the first coupling 1-2 and the first wire drum The shafts 1-3 are all installed on the first driving joint base 1-9, the first driver 1-0 is connected with the first driving motor 1-1, and one end of the first coupling 1-2 is connected with the first driving motor 1 -1 The output end of the rotating shaft is fixedly connected, the other end of the first coupling 1-2 is fixedl...

specific Embodiment approach 3

[0038] Specific implementation mode three: combination figure 1 , figure 2 , Figure 4-Figure 7 Describe this embodiment, a minimally invasive surgical robot force feedback main operator with redundant degrees of freedom described in this embodiment, the second drive joint 2 includes a second driver 2-0, a second drive motor 2-1, a second Two couplings 2-2, the second wire drum 2-3, the second wire drum shaft, the second absolute angle encoder 2-4, the second driving joint turntable 2-5, the second driving joint connecting rod 2- 6. The second drive joint shaft 2-7 and the second drive joint support 2-8; the third drive joint 3 includes a third driver 3-0, a third drive motor 3-1, a third coupling 3-2, The third wire drum 3-3, the third wire drum shaft, the third absolute angle encoder 3-4, the third driving joint turntable 3-5, the third driving joint connecting rod 3-6 and the third driving joint output rod 3-7; both the second driver 2-0 and the third driver 3-0 are ins...

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Abstract

The invention discloses a force feedback master manipulator of a minimally invasive surgical robot having a redundant freedom degree, relates to the force feedback master manipulator of the robot, andaims to solve the problems that a systematic force feedback master manipulator of the minimally invasive surgical robot in the prior art are high in price, the force feedback master manipulator is ageneral type force feedback master manipulator, the master manipulator of the minimally invasive surgical robot lacks a freedom degree, a working space is not matched, a posture angle output range islimited and wrists are not flexible enough. An output end of a first driving joint is connected with an input end of a second driving joint and an input end of a third driving joint; the second driving joint is connected with the third driving joint; the third driving joint is connected with a fourth driving joint; the fourth driving joint is connected with a fifth driving joint; the driving jointis connected with a sixth driving joint; the sixth driving joint is connected with a seventh driving joint; the seventh driving joint is connected with an eighth driving joint. The force feedback master manipulator of the minimally invasive surgical robot having the redundant freedom degree disclosed by the invention belongs to the field of minimally invasive surgical robots.

Description

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Claims

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Application Information

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Owner HARBIN INST OF TECH
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