Force feedback main manipulator for minimally invasive surgery

Abstract

The invention discloses a force feedback main manipulator for minimally invasive surgery. The force feedback main manipulator comprises a first parallelogram structure, a second parallelogram structure, an attitude adjusting mechanism and a clamping mechanism; the first parallelogram structure and the second parallelogram structure are both formed by a plurality of rod pieces which are sequentially hinged end to end; a first hinging point of the first parallelogram structure is coaxial with a first hinging point of the second parallelogram structure; a second hinging point of the first parallelogram structure is connected with a second hinging point of the second parallelogram structure through a connecting rod; the tail end of the second parallelogram structure is a wrist part, wherein the wrist part can be keep horizontal under connection of the first parallelogram structure and the second parallelogram structure; the wrist part is hinged with the attitude adjusting mechanism; and the attitude adjusting mechanism is hinged with the clamping mechanism. The force feedback main manipulator provided by the invention can meet the requirements of minimally invasive surgery, conforms toergonomics, has a force feedback function and is low in cost.

Description

Technical field [0001] The invention relates to the field of medical machinery, in particular to a force feedback main operating hand used for minimally invasive surgery. Background technique [0002] With the maturity of robotics and minimally invasive surgery, minimally invasive surgical robots representing the top technology of minimally invasive surgery have emerged. The emergence of minimally invasive surgical robots has improved the accuracy and reliability of minimally invasive surgery. Doctors use the main operating hand of the console to remotely operate surgical instruments. Digital manipulators replace human hands to complete the surgery, reducing hand tremor and ensuring more surgical actions. Flexible and accurate. The main operator should have a force feedback function while ensuring sufficient working space, so that the doctor can accurately perceive the force between the surgical instrument and the human tissue, and improve the transparency of the operation. [00...

AI Technical Summary

Problems solved by technology

[0003] At present, the most successful minimally invasive robot main operator is the main operator of da Vinci Surgical System, which adopts a series structure with a large working space, but its mechanism is too large, and the clamping mechanism does not have force feedback function, which is not conducive to doctors to judge surgical instruments The force between the organization

The more successful commercialized main operators on the market include 3D Systems’ Phantom series tandem main operators. This series of main operators has a large working space, but the series structure has low rigidity, so the feedback force that can be provided is limited; Force Dimension A variety of parallel main hands developed by the company based on the Stewart mechanism have good rigidity and precision, but their working space is relatively small

These two kinds of commercialized main hands are aimed at general-purpose occasions, and their structure and function cannot fully meet the needs of minimally invasive surgery, and they have been in a monopoly position for a long time, and the price is expensive.

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