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Main manipulator force feedback clamping mechanism and main manipulator

A clamping mechanism and force feedback technology, which is applied in the field of medical devices, can solve the problems of low control accuracy of the main hand of remote operation and easy fatigue of operation, and achieve the effects of improving immersion, achieving gravity balance, and reducing production and processing costs

Pending Publication Date: 2022-06-24
LINYI UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a main hand force feedback clamping mechanism and a main operator, which can detect in real time the opening and closing angle of the clamp controlled by the doctor during the control process; the added transmission mechanism can feedback The contact force of the clamp from the end improves the sense of presence in the surgical operation; the overall clamping mechanism adopts a center-symmetrical design, and the twisting operation does not need to overcome gravity, which reduces the fatigue strength of the doctor's operation and solves the problem of the existing remote operation. The problem of low intensity and easy fatigue in operation

Method used

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  • Main manipulator force feedback clamping mechanism and main manipulator
  • Main manipulator force feedback clamping mechanism and main manipulator
  • Main manipulator force feedback clamping mechanism and main manipulator

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Experimental program
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Embodiment 1

[0040] In a typical embodiment of the present invention, as Figure 1-Figure 7 As shown, a main hand force feedback clamping mechanism is proposed, which includes four parts: an operating mechanism, a transmission mechanism, a motor and a detection mechanism, and a housing support mechanism. The cooperation of the four mechanisms can realize the detection of the operator's opening and closing angle and provide interactive force. feedback.

[0041] The operating mechanism includes a fingerboard 4 and a finger cover 5. There are two fingerboards 4, and each fingerboard 4 is fixed with a finger cover 5 with adjustable size. The two fingerboards 4 are respectively located on the housing support mechanism On both sides of the housing, two fingerboards 4 are symmetrically arranged relative to the center line of the housing support mechanism; the transmission mechanism, the motor and the detection mechanism are all arranged in the housing support mechanism.

[0042] Specifically, th...

Embodiment 2

[0071] In another typical embodiment of the present invention, a main operator is provided, including a main hand wrist and a main hand force feedback clamping mechanism as described in Embodiment 1, wherein the main hand force feedback clamping mechanism passes through The main hand connection hole 3 is connected to the main hand wrist, and all kinds of wires are stored in the cable holes 1-5.

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Abstract

The invention discloses a main manipulator force feedback clamping mechanism and a main manipulator, relates to the technical field of medical instruments, solves the problems that an existing teleoperation main manipulator is low in control accuracy and prone to fatigue during operation, reduces cost and improves comfort, and adopts the specific scheme that the main manipulator force feedback clamping mechanism comprises a shell, and the shell is sealed through a cover plate; a transmission mechanism, a motor and a detection mechanism are fixedly arranged in the shell; the operating mechanisms are rotationally arranged on the two sides of the shell, and the operating mechanisms can be opened and closed within the working range; the transmission mechanism is provided with two fingerboard reels and a motor reel, the fingerboard reels are vertically arranged, the motor reel is horizontally arranged between the two fingerboard reels and is in winding connection with the fingerboard reels on the two sides of the motor reel through a closed-loop transmission wire, and the fingerboard reels are fixedly connected with the operating mechanism; the motor and detection mechanism comprises a motor and an encoder, one end of the motor is connected with the motor reel, and the other end of the motor is connected with the encoder.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a main hand force feedback clamping mechanism and a main operator. Background technique [0002] The statements herein merely provide background related to the present invention and do not necessarily constitute prior art. [0003] At present, surgical robots mostly use the master-slave operation mode. The doctor operates the distal master hand to control the patient's distal slave operating arm to perform surgery. At this time, the gripping mechanism of the master hand can accurately collect the doctor's gripping action. At the same time, the master hand clamping mechanism can accurately feedback the contact force between the slave end clamp and human tissue. [0004] The inventors found that the current commercial masters can be roughly divided into two categories, one is a series masters represented by touch masters, and the other is a delta structure parallel masters...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/37A61B34/00A61B90/00A61B17/28H02K7/10H02K11/21
CPCA61B34/37A61B34/74A61B34/76A61B34/71A61B90/06A61B17/282H02K7/10H02K11/21A61B2034/305A61B2090/067A61B2090/065
Inventor 张丽萍李晓东类延法程燕
Owner LINYI UNIVERSITY