A master manipulator with force feedback for minimally invasive surgery

Abstract

The invention discloses a force feedback main operating hand for minimally invasive surgery, comprising a first parallelogram structure, a second parallelogram structure, a posture adjustment mechanism and a clamping mechanism, the first parallelogram structure and the second parallelogram structure The structures are all hinged by a plurality of rods in the first order, the first hinge point of the first parallelogram structure and the first coincident hinge point in the second parallelogram structure, and the second hinge point in the first parallelogram structure passes through The connecting rod connects the second hinge point in the second parallelogram structure, the end of the second parallelogram structure is the wrist, the wrist can be kept horizontal under the connection of the first parallelogram structure and the second parallelogram structure, and the wrist is hinged Attitude adjustment mechanism, the attitude adjustment mechanism is hinged clamping mechanism. The invention can meet the requirement of minimally invasive surgery, conforms to ergonomics, has 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 master manipulator for minimally invasive surgery. Background technique [0002] With the maturity of robot technology and minimally invasive surgery, the minimally invasive surgery robot, which represents the top technology of minimally invasive surgery, came into being. The emergence of minimally invasive surgical robots has improved the accuracy and reliability of minimally invasive surgery. Doctors use the main operator of the console to remotely operate surgical instruments, and digital manipulators replace human hands to complete the operation, reducing hand tremors and ensuring smoother surgical movements. 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 transparen...

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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