Force feedback main manipulator and puncture surgery robot system

A main operator and force feedback technology, applied in surgical navigation systems, surgical manipulators, surgical robots, etc., can solve problems such as the inability to effectively simulate live puncture, and achieve the goal of improving the success rate of surgery, improving the user experience, and ensuring the safety of patients. Effect

Active Publication Date: 2021-07-16
WUHAN UNITED IMAGING HEALTHCARE SURGICAL TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of this, it is necessary to provide a force feedback main operator to solve the technical problem that the main operator in the prior art cannot effectively simulate the actual puncture when using the needle

Method used

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  • Force feedback main manipulator and puncture surgery robot system
  • Force feedback main manipulator and puncture surgery robot system
  • Force feedback main manipulator and puncture surgery robot system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0029] like figure 1 As shown, this embodiment discloses a force feedback master operator 100 , which includes a base 1 , an operating device 2 , an attitude adjustment device 3 and a force feedback device 4 .

[0030] Wherein, the base 1 is used to support and carry the entire main operator 100, and has a mounting end surface 11, preferably, the mounting end surface 11 is located at the upper end of the base.

[0031] combine figure 2 As shown, the operating device 2 includes a connecting rod 21, a hinge part 22 and a handle 23, the hinge part 22 is located at one end of the connecting rod 21, and the end of the connecting rod 21 away from the hinge part 22 is away from the installation The end surface 11 is set, and the connecting rod 21 can rotate on the installation end surface 11 with the hinge part 22 as the center of rotation; in this embodiment, the hinge part 22 is located at the lower end of the connecting rod 21; the connecting rod 21 passes through the The hinge...

Embodiment 2

[0056] like figure 1 and Figure 5 As shown, this embodiment discloses a puncture surgery robot system, which includes a master operator 100, a slave operator 200, and a communication device 300 as described in the embodiment, wherein the slave operator 200 communicates with the operator through the communication device 300 The force feedback device 4 realizes the transmission of force or torque.

[0057] combine figure 2 In some embodiments, the above-mentioned first feedback motor 4113, second feedback motor 4123, and third feedback motor 421 are all connected to the communication device 300 through a control system 50, and the force applied by the user on the handle 23 of the main operator 100 is passed through After being decomposed, they are respectively transmitted to the first feedback motor 4113, the second feedback motor 4123 and the third feedback motor 421, and at the same time, the resistance from the operation hand 200 is passed through the first feedback motor...

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Abstract

The invention relates to a force feedback main manipulator and a puncture surgery robot system. The manipulator comprises a base, an operating device, a posture adjusting device and a force feedback device. The base is provided with a mounting end face. The operating device comprises a connecting rod, a hinge part and a handle, the hinge part is located at one end of the connecting rod, the connecting rod is hinged to the mounting end face through the hinge part, and the end, away from the hinge part, of the connecting rod is arranged away from the mounting end face. The handle is slidably mounted on the connecting rod in the axial direction of the connecting rod. The posture adjusting device comprises a posture transmission assembly and a depth transmission assembly, the posture transmission assembly and the depth transmission assembly are both connected with the operating device, and the posture adjusting device and the force feedback device can help a doctor to transmit corresponding adjusting actions of the handle to an auxiliary manipulator in real time and feed back contact force with an object when the auxiliary manipulator conducts the corresponding adjusting actions. Therefore, a more real feeling of simulating a puncture operation during actual needle holding is provided for a doctor, the success rate of an operation is increased, and the life safety of a patient is ensured.

Description

technical field [0001] The invention relates to the technical field of puncture surgery equipment, in particular to a force feedback master operator and a puncture surgery robot system. Background technique [0002] In recent years, X-ray computed tomography (CT) imaging technology has made great progress both in basic technology and in new clinical applications. Various components of CT, such as light pipes, detectors, slip rings, data acquisition systems and algorithms, have made great progress. Since the advent of spiral CT and multi-slice CT, many new clinical applications have emerged, and they have the advantages of fast scanning time and clear images, and can be used for the examination of many diseases. After more than three decades of development, CT technology has once again become one of the most exciting diagnostic methods in the field of medical imaging; today CT no longer exists as a simple imaging examination. Under the impetus of modern medical science cons...

Claims

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Application Information

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IPC IPC(8): A61B34/00A61B34/20A61B34/37A61B17/34
CPCA61B34/76A61B34/37A61B17/3403A61B2017/3409
Inventor 翟明春屈萌焦伟
Owner WUHAN UNITED IMAGING HEALTHCARE SURGICAL TECH CO LTD
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