Force sensing operation terminal and teleoperated robot

Abstract

The present invention provides a force-sensing operation terminal and a teleoperated robot. According to the force-sensing operation terminal of the present invention, it includes an operating device and a resistance generating device, and the operating device and the resistance generating device are connected by a one-way transmission mechanism. According to the force-sensing operation terminal and the teleoperated robot of the present invention, the operating device and the resistance generating device are connected by a one-way transmission mechanism, that is, a one-way transmission mechanism is provided on the force transmission path, so that a directional resistance is simulated by a resistance generating device without a direction, thereby giving a directional feedback force to the operating terminal, thereby improving the reliability and accuracy of the operation. The present invention provides a low-cost and high-reliability solution through a simple one-way transmission mechanism.

Description

Technical Field

[0001] The present invention relates to the field of force feedback devices, and in particular to a force sensing operation terminal and a teleoperated robot. Background Art

[0002] A haptic rendering system is a computer force perception / interface device that can enhance the operator's sense of presence when controlling operations by controlling the magnitude and direction of the force / torque it emits, while using its own sensors (such as position encoders, force / torque sensors) to transmit the current operating position and force conditions to the operating system. The force feedback system enhances the coupling between humans and computers, facilitates the operator's reception and processing of information, and helps improve the safety and efficiency of the operation process. Currently, there are dozens or even hundreds of types of force feedback systems, which are widely used in remote control operations in extreme environments, deep space exploration, telemedicine, virtual reality, flexible manufacturing and other fields. The known force feedback system can be divided into a mechanical part and a control part in terms of system composition, wherein the control part drives the mechanical part through a drive motor to output feedback force.

[0003] A vascular interventional surgical robot is a device that replaces the doctor's on-site catheter and guidewire manipulation, which the doctor controls remotely. Remote control allows the doctor to avoid radiation damage and, through mechanical and motion control algorithms, eliminates hand tremors, improving interventional precision. The remote control handle serves as an interactive tool between the doctor and the robot, transmitting the doctor's movement information to the robot, enabling the robot to manipulate the catheter and guidewire. Developing a reliable, safe, and user-friendly handle is a key component of the development of interventional surgical robots.

[0004] The Sensi robotic catheter system was the first vascular interventional surgical robot used. Guided by three-dimensional images, the doctor remotely controls the catheter, providing force feedback. The handle of the vascular interventional surgical robot system developed by Catheter Robotics can control the axial movement, rotational movement, and bending angle of the catheter's front end, allowing access to vessels with challenging angles. The University of Western Ontario in Canada has developed a reciprocating and rotational operating device that uses a real catheter guidewire as an operating handle, without force feedback. Harbin Institute of Technology in China uses friction rolling to transport the guidewire, using the main hand to sense force feedback. The Shenzhen Institute of Advanced Technology uses motors for force feedback to achieve master-end operation.

[0005] According to various sources, the primary functional requirement for a vascular interventional surgical robot operating handle is the ability to rotate, push, pull, or a combination of the two for the catheter guidewire. The secondary functional requirement is the ability to feedback the resistance or torque of the patient-side catheter guidewire during the interventional procedure to the physician's operating device, enhancing the physician's hand feel and sense of presence, and increasing the safety and stability of the surgical operation. Currently, there are numerous and mature methods for meeting the first functional requirement, but simultaneously meeting the second functional requirement still presents some challenges, such as adjusting the dynamic range of loading force and torque, and matching force and torque, requiring the exploration of new structures and principles.

[0006] In the prior art, some force feedback devices use a magnetic powder clutch, a magnetic powder brake, or a direct connection between a motor shaft and an operating lever to simulate the force, torque, or resistance torque given by a computer.

[0007] However, using motors to simulate the force output of a computer introduces energy input, which can generate positive feedback in certain control situations, causing system instability. The operator's force interaction raises the question of force feedback device stability. However, the device's ability to achieve stable interaction depends not only on the control strategy but also on the damping of the mechanical components of the force feedback device.

[0008] Using a magnetic powder clutch or brake as a force feedback mechanism can better simulate the resistance encountered, but the simulated resistance has no directionality. Summary of the Invention

[0009] The present invention aims to provide a force sensing operation terminal and a teleoperated robot that simulate directional resistance.

[0010] The present invention provides a force sensing operation terminal, comprising an operating device and a resistance generating device, wherein the operating device and the resistance generating device are connected through a one-way transmission mechanism.

[0011] Furthermore, the one-way transmission mechanism includes a first one-way mechanism and a second one-way mechanism, and the transmission directions of the first one-way mechanism are opposite to those of the second one-way mechanism; the resistance generating device includes a first generating device connected to the output shaft of the first one-way mechanism and a second generating device connected to the output shaft of the second one-way mechanism.

[0012] Furthermore, the force sensing operation terminal further includes a transmission mechanism, an input shaft of the transmission mechanism is connected to the operating device, and an output shaft of the transmission mechanism is connected to the input shaft of the one-way transmission mechanism.

[0013] Furthermore, the input shaft of the first one-way mechanism and the input shaft of the second one-way mechanism are parallel to each other; the transmission mechanism is a synchronous pulley or a gear set, which synchronously drives the first input shaft and the second input shaft.

[0014] Furthermore, the input shaft of the first one-way mechanism and the input shaft of the second one-way mechanism are coaxial, and the operating device drives the input shaft of the first one-way mechanism and the input shaft of the second one-way mechanism through the transmission mechanism.

[0015] Furthermore, the force sensing operation terminal further includes a torque adjustment mechanism, which is connected to the output end of the operating device.

[0016] Furthermore, the force sensing operation terminal further includes a position measuring device, which is used to measure the position of the output end of the operation device.

[0017] Furthermore, the position measuring device is at least one of an encoder, a grating ruler or a laser rangefinder.

[0018] Furthermore, the operating device is at least one of a knob, a linear slider or a rocker.

[0019] Furthermore, the one-way transmission mechanism is a ratchet device or a one-way shaft device.

[0020] The present invention also provides a teleoperated robot, comprising the aforementioned force sensing operation terminal.

[0021] In the force-sensing operation terminal and teleoperated robot of the present invention, the operating device and the resistance generating device are connected via a one-way transmission mechanism. Specifically, the one-way transmission mechanism is provided along the force transmission path, thereby simulating directional resistance through the non-directional resistance generating device. This provides a directional feedback force to the operating terminal, improving the reliability and accuracy of the operation. This invention provides a low-cost, high-reliability solution through a simple one-way transmission mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 is a schematic diagram of the principle of a first embodiment of a force sensing operation terminal according to the present invention;

[0024] Figure 2 is a first principle schematic diagram of a second embodiment of a force sensing operation terminal according to the present invention;

[0025] Figure 3 is a second principle schematic diagram of a second embodiment of the force sensing operation terminal according to the present invention;

[0026] Figure 4 is a third principle schematic diagram of the second embodiment of the force sensing operation terminal according to the present invention;

[0027] Figure 5 is a schematic structural diagram of a third embodiment of a force sensing operation terminal according to the present invention;

[0028] Figure 6 is a schematic structural diagram of a fourth embodiment of a force-sensing operation terminal according to the present invention;

[0029] Figure 7 is a schematic structural diagram of a fifth embodiment of a force-sensing operation terminal according to the present invention;

[0030] Figure 8 is a schematic structural diagram of a sixth embodiment of a force-sensing operation terminal according to the present invention;

[0031] Figure 9 2 is a schematic diagram of the principle of the teleoperated robot according to the present invention. DETAILED DESCRIPTION

[0032] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0033] like Figure 1 As shown, in a first embodiment of the present invention, a force sensing operation terminal is provided, including an operating device 10 and a resistance generating device 60 , wherein the operating device 10 and the resistance generating device 60 are connected to each other through a one-way transmission mechanism 50 .

[0034] The operating device 10 is a device for an operator to operate. It can be a rotating component such as a steering wheel or knob, a linear motion component such as a pull rod, or a curved motion component such as a rocker. The one-way transmission mechanism 50 can only transmit power in one direction. It can adopt a ratchet mechanism, which has the characteristics of simple structure and high reliability. Alternatively, it can adopt a mechanism such as an overrunning clutch, which can also achieve locked transmission in one direction and free or fixed rotation with low resistance in the other direction, thereby achieving one-way transmission and simulating the effect of directional resistance.

[0035] The resistance generating device 60 is a device that generates resistance. Common examples of damping generating devices include magnetic powder clutches, magnetic powder brakes, brakes, and braking devices. These are non-directional braking devices. For example, a braking device is typically composed of a fixed component and a rotating component. A brake pad is fixed to the fixed component, applying friction to the moving component to generate an adjustable resistance torque on the rotating component. When the braking device applies resistance torque, the rotating component experiences resistance torque in both directions of rotation.

[0036] In the present invention, a one-way transmission mechanism 50 is provided on the transmission path between the operating device 10 and the resistance generating device 60, so that a one-way resistance torque feedback can be obtained, that is, when rotating in one direction, the brake pad is applied and the force-applying person (operator) can feel the resistance. When rotating in the opposite direction, the overrunning clutch principle of the ratchet mechanism is utilized, and the resistance applied by the brake pad is not felt at all. This situation often occurs in reality. However, the above situation cannot be simulated by the current brake device. However, the present invention provides a one-way transmission mechanism 50 on the transmission path between the operating device 10 and the resistance generating device 60, that is, a one-way transmission mechanism 50 is provided on the force transmission path, thereby simulating directional resistance through the resistance generating device 60 without direction, thereby giving the operating end a directional feedback force, thereby improving the reliability and accuracy of the operation. The present invention provides a low-cost and high-reliability solution through a simple one-way transmission mechanism 50.

[0037] like Figure 2 As shown, in the second embodiment of the present invention, based on the first embodiment, the second embodiment can simulate resistance in two directions separately. Specifically, in the second embodiment, the one-way transmission mechanism 50 includes a first one-way mechanism 51 and a second one-way mechanism 52, and the transmission directions of the first one-way mechanism 51 and the second one-way mechanism 52 are opposite. Accordingly, the resistance generating device 60 includes a first generating device 61 connected to the output shaft of the first one-way mechanism 51 and a second generating device 62 connected to the output shaft of the second one-way mechanism 52. In other words, because the first one-way mechanism 51 and the second one-way mechanism 52 have opposite transmission directions, the directions of the resistance they transmit are also opposite. The first generating device 61 and the second generating device 62 simulate resistance in two directions separately, thereby resolving the problem in the first embodiment that a single one-way transmission mechanism 50 can only simulate force in one direction.

[0038] Preferably, a corresponding transmission mechanism 40 may also be provided depending on the configuration of the first one-way mechanism 51 and the second one-way mechanism 52. The input shaft of the transmission mechanism 40 is connected to the operating device 10, and the output shaft of the transmission mechanism 40 is connected to the input shaft of the one-way transmission mechanism 50. This ensures that the motion of the operating device 10 is reliably transmitted to the first one-way mechanism 51 and the second one-way mechanism 52, and that the resistance simulated by the first generating device 61 and the second generating device 62 is reliably transmitted to the operating device 10. In other words, the transmission mechanism 40 achieves a function similar to a one-to-two-motor system.

[0039] In addition, as needed, Figure 3 and Figure 4As shown, in the first and second embodiments, the force-sensing operating terminal may further include a torque adjustment mechanism 30 and a position measuring device 20. The torque adjustment mechanism 30 is connected to the output of the operating device 10 to amplify or reduce the force or torque output by the operating device 10. The position measuring device 20 is used to measure the position change at the output of the operating device 10. It may be an encoder, which may be photoelectric, magnetic, or mechanical. A grating ruler, laser rangefinder, or the like may also be used. The position measuring device 20 may also utilize a combination of the aforementioned sensors. The position measuring device 20 converts the detected position change into an operation signal and transmits it to the control device. The control device then controls the execution device to perform the corresponding operation based on the operation signal.

[0040] Combine Figure 5 The third embodiment shown in FIG. 1 is based on the second embodiment, in which the input shaft of the first one-way mechanism 51 and the input shaft of the second one-way mechanism 52 are arranged parallel to each other, that is, the first one-way mechanism 51 and the first generating device 61 are arranged parallel to the second one-way mechanism 52 and the second generating device 62.

[0041] The transmission mechanism 40 may also employ synchronous pulleys, including a first synchronous pulley 41 for driving the first one-way mechanism 51 and a second synchronous pulley 42 for driving the second one-way mechanism 52. Specifically, two driving pulleys are provided on the driving shaft connected to the operating device 10, and driven pulleys are provided on the first input shaft and the second input shaft, respectively. The driving pulleys and the driven pulleys are driven by synchronous belts, thereby ensuring reliable transmission.

[0042] Similarly, if Figure 6 In the fourth embodiment shown, the synchronous pulley in the third embodiment is replaced by a gear set, that is, two driving gears 43 are provided on the driving shaft connected to the operating device 10, and driven gears 44 and 45 are provided on the first input shaft and the second input shaft respectively. The driving gear 43 and the driven gears 44 and 45 are engaged for transmission, thereby ensuring reliable transmission.

[0043] Combine Figure 5 and Figure 6 The working principle of the force sensing operation terminal of the present invention is described in detail. Figure 5 and Figure 6 As shown, the operating device 10 can be a knob fixed on a main shaft that passes through the position detection device 20. The position detection device 20 can be a photoelectric encoder to detect the angle of rotation of the operating device 10. The photoelectric encoder is connected to a computer to provide input signals for subsequent actions.

[0044] The torque regulating mechanism 30 can be configured as a reducer, which can amplify the force of the operating device 10. The output shaft of the reducer is connected to another shaft through a coupling. Figure 5 Two synchronous pulleys are mounted on the shaft connected to the torque adjustment mechanism 30. These are connected to the left and right synchronous pulleys (i.e., a first synchronous pulley 41 and a second synchronous pulley 42) via synchronous belts, respectively, to achieve power transmission. The left and right synchronous pulleys have the same structure, and their output shafts are connected to resistance generating devices 61 and 62, respectively, via corresponding one-way transmission mechanisms 51 and 52. Figure 6 The middle gear set is similar and will not be described in detail.

[0045] When the user turns the knob clockwise while facing the operating device 10, the middle synchronous pulley rotates clockwise. At this time, the synchronous pulley drives the synchronous pulleys on both sides to rotate through the synchronous belt. All the synchronous pulleys rotate clockwise. Figure 5 and 6 In the embodiment, the first one-way mechanism 51 and the second one-way mechanism 52 are two ratchet mechanisms with opposite rotations. Assuming that the ratchet and pawl of the first one-way mechanism 51 are locked when the synchronous pulley rotates clockwise, the first synchronous pulley 41 transmits power to the first generating device 61 (magnetic powder brake) through the first one-way mechanism 51.

[0046] At this point, the ratchet wheel and teeth of the second one-way mechanism 52 are disengaged, and the second synchronous pulley 42 rotates freely, unable to transmit power to the second generating device 62 (magnetic powder brake). The control device can then control the magnetic powder brake to cause the magnetic powder brake of the first generating device 61 to generate a rated load torque. This load torque is transmitted to the operating device 10 via the transmission mechanism 40, causing the operator to feel simulated resistance.

[0047] When the operating device 10 rotates counterclockwise, the second synchronous pulley 42 transmits power to the second generating device 62 (magnetic powder brake) through the second one-way mechanism 52. The first one-way mechanism 51 rotates freely and disengages from the first generating device 61. At this time, the magnetic powder brake of the second generating device 62 can be controlled by a computer to generate a rated load torque. This load torque is transmitted to the operating device 10 through the transmission mechanism 40, causing the operator to feel simulated resistance.

[0048] like Figure 7 The fifth embodiment shown in the figure builds on the second embodiment by placing the input shaft of the first one-way mechanism 51 and the input shaft of the second one-way mechanism 52 coaxially. The transmission mechanism 40 utilizes a bevel gear set, wherein the driving gear 46 is mounted on the driving shaft connected to the operating device 10, and the driven gear 47 is mounted on the input shafts of the first one-way mechanism 51 and the second one-way mechanism 52. The driving shafts are arranged perpendicular to or at a certain angle to the input shafts of the first one-way mechanism 51 and the second one-way mechanism 52. The first and second generating devices 61 and 62 are respectively mounted at opposite ends of the input shafts of the first and second one-way mechanisms 51 and 52.

[0049] In addition, if Figure 8 As shown, in the sixth embodiment, unlike the fifth embodiment, the input shaft of the first one-way mechanism 51 and the input shaft of the second one-way mechanism 52 can be coaxially arranged, and the shaft is set as a driving shaft connected to the operating device 10. In order to facilitate the arrangement of individual components, the first one-way mechanism 51 and the second one-way mechanism 52 are output through corresponding pulleys or gears.

[0050] like Figure 9 As shown, the present invention also provides a teleoperated robot, including the aforementioned force sensing operation terminal, thereby realizing teleoperation and capable of directional force feedback. Specifically, the teleoperated robot can be used as a training simulator or as an actual operation robot.

[0051] If used as a simulator, the aforementioned force-sensing operating terminal is connected to a control device 70, such as a computer. Software on the control device 70 calculates the desired force value, which is then achieved by controlling a resistance-generating device 60, such as a magnetic powder brake. Depending on the direction of the resistance, the corresponding magnetic powder brake is controlled to simulate directional resistance. Alternatively, if resistance is applied in both directions, the magnetic powder brake can be controlled simultaneously to simulate the force.

[0052] When the robot is used as a real-world operating robot that senses real force, the force sensing operation terminal is connected to a control device 70, such as a computer. Furthermore, the control device 70 is connected to a corresponding actuator 80 and a sensor 90 for detecting the force applied to the actuator 80. The sensor 90 can be a force sensor or a sensor that converts force into force through calculation.

[0053] The position measurement device 20 in the aforementioned force sensing operation terminal converts the position change of the operating device 10 detected into an operation signal and sends it to the control device 70. The control device 70 then controls the execution device 80 to perform the corresponding operation according to the operation signal and the corresponding software design.

[0054] The sensor 90 acquires the real-world force information of the actuator 80. This force information is then processed by the control device 70 and output through the resistance generating device 60. Ultimately, it is felt by the operator through the force sensing operation terminal. This process enables the operator to obtain real-world force information through the force sensing operation terminal.

[0055] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A force sensing operation terminal, comprising an operating device (10) and a resistance generating device (60), characterized in that: The operating device (10) and the resistance generating device (60) are connected in transmission via a one-way transmission mechanism (50); the operating device (10) is a device for an operator to operate, the one-way transmission mechanism (50) can only transmit power in one direction, and the resistance generating device (60) is a device that generates resistance. The one-way transmission mechanism (50) comprises a first one-way mechanism (51) and a second one-way mechanism (52), wherein the transmission directions of the first one-way mechanism (51) and the second one-way mechanism (52) are opposite; The resistance generating device (60) comprises a first generating device (61) connected to the output shaft of the first one-way mechanism (51) and a second generating device (62) connected to the output shaft of the second one-way mechanism (52); The force sensing operation terminal further comprises a transmission mechanism (40), an input shaft of the transmission mechanism (40) is connected to the operating device (10), and an output shaft of the transmission mechanism (40) is connected to the input shaft of the one-way transmission mechanism (50).

2. The force sensing operation terminal according to claim 1, characterized in that: The input shaft of the first one-way mechanism (51) and the input shaft of the second one-way mechanism (52) are a first input shaft and a second input shaft that are parallel to each other; The transmission mechanism (40) is a synchronous pulley or a gear set, and the synchronous pulley or the gear set synchronously drives the first input shaft and the second input shaft.

3. The force sensing operation terminal according to claim 1, characterized in that: The input shaft of the first one-way mechanism (51) and the input shaft of the second one-way mechanism (52) are coaxial, and the operating device (10) drives the input shaft of the first one-way mechanism (51) and the input shaft of the second one-way mechanism (52) through the transmission mechanism (40).

4. The force sensing operation terminal according to any one of claims 1 to 3, characterized in that: The force sensing operation terminal further comprises a torque adjustment mechanism (30), and the torque adjustment mechanism (30) is connected to the output end of the operating device (10).

5. The force sensing operation terminal according to any one of claims 1 to 3, characterized in that: The force sensing operation terminal further comprises a position measuring device (20), and the position measuring device (20) is used to measure the position of the output end of the operation device (10).

6. The force sensing operation terminal according to claim 5, characterized in that: The position measuring device (20) is at least one of an encoder, a grating ruler or a laser rangefinder.

7. The force sensing operation terminal according to any one of claims 1 to 3, characterized in that: The operating device (10) is at least one of a knob, a linear slider or a rocker.

8. The force sensing operation terminal according to claim 1, characterized in that: The one-way transmission mechanism (50) is a ratchet device or a one-way shaft device.

9. A teleoperated robot, comprising a force sensing operation terminal, characterized in that: The force sensing operation terminal is the force sensing operation terminal according to any one of claims 1 to 8.

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