A force feedback master hand for minimally invasive surgery robots

Abstract

The application discloses a force feedback master hand for minimally invasive surgery robots, which comprises a base, feed motion joints, self-rotation motion joints, pitching motion joints, deflection motion joints and clamping motion joints which are sequentially connected to form the force feedback master hand; the feed motion joints are fixed on the base; the feed motion joints can be translated along an axis A and can drive the self-rotation motion joints, the pitching motion joints, the deflection motion joints and the clamping motion joints to be linearly translated; the self-rotation motion joints can be rotated around the axis A, the pitching motion joints can be rotated around an axis B, the deflection joints can be rotated around an axis C, and the clamping motion joints can be rotated around the axis C to realize opening and closing actions; the axis A, the axis B and the axis C intersect at a point. The intersection of the axis A, the axis B and the axis C is a force receiving point of the force feedback master hand, and the decoupling of the feed motion, the self-rotation motion, the pitching motion, the deflection motion and the clamping motion is realized.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a force feedback master hand of a minimally invasive surgical robot. Background Technology

[0002] Minimally invasive surgery is a surgical paradigm that uses endoscopes and surgical instruments to perform procedures without creating large incisions on the patient's body surface. Compared to traditional open surgery, minimally invasive surgery has many advantages, such as smaller incisions, less pain, and shorter hospital stays, and is welcomed by a wide range of medical professionals and patients.

[0003] With the continuous advancement of surgical techniques, minimally invasive surgery has evolved from single-port to multi-port laparoscopy. Now, natural orifice endoscopic surgery (NOTES), as a minimally invasive or even non-invasive procedure, has received widespread attention in recent years and is being applied to the diagnosis and treatment of various diseases. NOTES involves using a surgical robot to reach the lesion site through natural orifices such as the esophagus, urethra, and nasal cavity, performing the surgical procedure based on visual images provided by the endoscope. Currently, the design of NOTES robots and research on related key technologies have become one of the hot research topics in the field of robotics.

[0004] In surgical robotic systems designed for natural orifice procedures, a master-slave teleoperation mode is commonly used. This involves the surgeon manipulating a pair of master hands to control instruments held by the distal slave hands. As the medium for human-machine interaction between the surgeon and the surgical instruments, the master hand should possess two basic functions: master-slave motion control and force feedback. Master-slave motion control transmits the surgeon's hand movements to the slave hand, controlling the instruments to complete the surgical procedure. Force feedback presents the force feedback electrical signals generated by the interaction between the slave hand instruments and the surgical environment as forces and transmits them to the surgeon, providing a realistic sense of force.

[0005] However, existing surgeons specializing in natural orifice surgery and general commercial surgeons generally suffer from the following shortcomings:

[0006] (1) The degrees of freedom are redundant and do not match the degrees of freedom of the surgical slave robot, so the slave instruments cannot be directly controlled; (2) The commercial master hand is expensive, and the maintenance cost is high and the cycle is long; (3) The structure design is complex, the operation flexibility is limited, and the efficiency and comfort of doctors are not good; (4) The torque motor, magnetic powder brake and other force feedback drive units used will generate heat after long-term operation and the output force will change nonlinearly.

[0007] The performance of the master hand determines whether it can transmit complete and accurate doctor's operating actions to the slave hand, and enable the doctor to perceive the interaction force between the slave hand and the patient's tissues, thereby improving the safety and reliability of the surgery and directly affecting the feasibility of the surgical robot system.

[0008] Therefore, developing a force feedback master hand for natural cavity surgery is crucial and of great significance for improving the performance and functionality of robotic technology. Summary of the Invention

[0009] The purpose of this invention is to solve one or more of the above-mentioned problems. Based on the pose adjustment and surgical operation requirements of the surgical slave robot, and after analyzing the motion form and degrees of freedom of the slave robot, an isomorphic design approach is adopted, and a lightweight and effective force feedback drive method is selected. This results in a force feedback master hand for a minimally invasive surgical robot with completely decoupled motion degrees of freedom, a compact and ingenious mechanical structure, and high operational flexibility and comfort.

[0010] The technical solution adopted to achieve the purpose of this invention is:

[0011] A force feedback master hand for a minimally invasive surgical robot includes a base for fixing the force feedback master hand, arranged sequentially from one side to the opposite side; a feed joint for adjusting the position of the slave instrument, connected in sequence to form the force feedback master hand; a rotation joint, a pitch joint, and a yaw joint for adjusting the posture of the slave instrument; and a clamping joint for enabling the instrument to perform pickup and suturing tasks. The clamping joint, yaw joint, pitch joint, rotation joint, and feed joint are connected in series and fixed to the base via the feed joint. The motion joint can translate along axis A and drive the rotation joint, pitch joint, yaw joint, and clamping joint to perform linear translation. The rotation joint can rotate around axis A, the pitch joint can rotate around axis B, the yaw joint can rotate around axis C, and the clamping joint can rotate around axis C to achieve opening and closing movements. The axes A, B, and C intersect at one point. The intersection of axes A, B, and C is the force feedback point of the master hand, thereby achieving decoupling of the feed motion, rotation motion, pitch motion, yaw motion, and clamping motion.

[0012] The feed joint has a rotation axis, and the rotation axes of the spin joint, pitch joint, and yaw joint are each coaxially connected to an incremental encoder for collecting the rotation angle information of the corresponding joint and an airbag force feedback unit for providing feedback resistance to the corresponding joint. The airbag force feedback unit is coaxially connected to the incremental encoder. An incremental encoder for collecting the rotation angle information of the clamping joint is provided inside the clamping joint. Both the airbag force feedback unit and the incremental encoder are connected to the master control system.

[0013] The feed motion joint includes a lower feed motion frame, an upper feed motion frame, eight feed motion rotary shafts, a front gear set, a rear gear set, an upper double parallelogram, a lower double parallelogram, and a vertical plate. The upper and lower feed motion frames are vertically arranged and fixed to the base. The upper and lower feed motion frames are connected to the corresponding feed motion rotary shafts through rotary bearings in the arranged bearing mounting holes. The upper and lower parallelograms are arranged vertically. The two upper parallel feed motion rotary shafts on the vertical plate side are installed and connected by passing through the two meshing gears of the rear gear set at the upper end of the vertical plate, the two mounting holes on the rod of the upper parallelogram, and the two round holes at the upper end of the vertical plate. The two lower parallel feed motion rotary shafts are connected to the two round holes at the lower end of the vertical plate. The two parallel feed motion rotary shafts arranged in layers are connected by passing through two meshing gears of the front gear set, two mounting holes on the upper parallelogram rod, and two round holes on the upper feed motion frame. The two parallel feed motion rotary shafts arranged in the lower layers are connected by passing through two round holes on the lower feed motion frame and two mounting holes on the lower parallelogram rod. The front gear set and the rear gear set can be unfolded and folded along the axis A of the upper and lower double parallelograms. The feed motion incremental encoder used to measure the rotation angle of the feed motion rotary shaft and the feed motion airbag force feedback unit used to provide force feedback for the feed motion are fixed on the support plate of the base. The output shaft of the feed motion incremental encoder is fixed to the feed motion rotary shaft, and the passive frictional resistance generated by the feed motion airbag force feedback unit acts on the feed motion rotary shaft.

[0014] The rotating motion joint includes a rotating rod and a rotating shaft. A rotary bearing is mounted on the vertical plate of the feed motion joint. The vertical plate has a circular hole at its center, with its center line coinciding with axis A. The rotating shaft is interference-fitted with the rotary bearing in the circular hole and rotates around axis A. The rotating shaft abuts against and is fixed to the mounting hole on the rotating rod. An incremental encoder for measuring the rotation angle of the rotating shaft and a force feedback unit for providing force feedback for the rotating motion are fixed on the vertical plate. The output shaft of the incremental encoder is fixedly connected to the rotating shaft. The passive frictional resistance generated by the force feedback unit acts on the rotating shaft.

[0015] The pitch joint includes a pitch support rod, a pitch rotating rod, and a pitch rotating shaft. The pitch support rod is perpendicularly fixed to the rotating rod. One end of the pitch support rod has a circular hole whose center line coincides with axis B. The pitch rotating shaft is fitted with a rotary bearing in the circular hole and rotates around axis B. The pitch rotating shaft is installed in a mounting hole on the pitch rotating rod. A pitch incremental encoder for measuring the rotation angle of the pitch rotating shaft and a pitch airbag force feedback unit for providing force feedback for the pitch motion are fixed to the pitch support rod. The output shaft of the pitch incremental encoder is fixed to the pitch rotating shaft. The passive frictional resistance generated by the pitch airbag force feedback unit acts on the pitch rotating shaft.

[0016] The deflection joint includes an upper deflection support rod, a lower deflection support rod, a deflection rotation shaft, an upper deflection rotation rod, and a lower deflection rotation rod. The upper and lower deflection support rods are respectively fixed to one end of a pitch rotation rod. Each end face of the upper and lower deflection support rods has a circular hole. The center lines of the two circular holes on the upper and lower deflection support rods coincide with and are aligned with axis C. A rotary bearing is installed in each of the two circular holes on the upper and lower deflection support rods. The upper deflection rotation rod is connected to the rotation shaft mounted on the end face of the upper deflection support rod. The system features a transition fit; the deflection motion rotating shaft is inserted into the mounting hole inside the lower deflection motion rotating member and fixed; the deflection motion rotating shaft is connected to the rotating bearing mounted on the end face of the lower deflection motion support member with a transition fit; the upper deflection motion rotating member and the lower deflection motion rotating member are fixedly connected to achieve deflection motion around axis C; the deflection motion incremental encoder used to measure the rotation angle of the deflection motion rotating shaft and the deflection motion airbag force feedback unit used to provide force feedback for pitch motion are fixed on the lower deflection motion support member; the output shaft of the deflection motion incremental encoder is fixedly connected to the deflection motion rotating shaft; and the passive frictional resistance generated by the deflection motion airbag force feedback unit acts on the deflection motion rotating shaft.

[0017] The clamping motion joint includes a clamping motion fixed rod and a clamping motion movable rod. The clamping motion fixed rod is fixedly connected to the deflection motion rotating upper rod, and the clamping motion movable rod is fixedly connected to the output shaft of the incremental encoder of the clamping motion joint. The clamping motion fixed rod and the clamping motion movable rod are arranged at a certain angle. By rotating the clamping motion movable rod relative to the clamping motion fixed rod, the pinching action of the thumb and forefinger of the hand is simulated. The deflection motion rotating lower rod is provided with an inner hole to install the incremental encoder of the clamping motion joint for detecting the rotation angle of the clamping motion movable rod.

[0018] The deflection motion rotating rod has a slot for placing and framing the clamping moving rod, thus limiting the rotation angle of the clamping moving rod relative to the clamping moving fixed rod.

[0019] The base includes a base plate, a support frame, a support plate, a left fixing plate, and a right fixing plate. The support frame is vertically fixed to the base plate. The left and right fixing plates, which are used to connect and fix the feed motion joint, are respectively fixed to both sides of the support frame. The support plate, which is used to fix and support the airbag force feedback unit and the incremental encoder of the feed motion joint, is vertically fixed to the support frame.

[0020] This invention matches the required degrees of freedom to the surgical robot's hand instruments based on their position adjustment and operational requirements, and decomposes the motion into: feed motion, rotation motion, pitch motion, yaw motion, and gripping motion. Analyzing the structural characteristics and motion patterns of each joint of the hand instruments, an isomorphic design is adopted to integrate a five-degree-of-freedom master hand, connecting the feed, rotation, pitch, yaw, and gripping joints sequentially from right to left. The feed joint is used for adjusting the position of the hand instruments; the rotation, pitch, and yaw joints work together to adjust the posture; and the gripping joint is used for intraoperative grasping and suturing. The joints are compactly arranged, ensuring that the motion axes of each joint intersect at a single point and coincide with the force point of the master hand, achieving decoupling of the joints. Each degree of freedom can move independently, while the structural design combines flexibility and operational comfort.

[0021] This invention incorporates airbag force feedback units within the feed, rotation, pitch, and yaw joints. By inflating the airbags and compressing the rotational axes of each joint, passive frictional resistance is generated, establishing a linear relationship between air pressure and frictional resistance. During operation, when the slave instrument within the cavity contacts human tissue, the sensing unit generates a feedback electrical signal, which is transmitted to the control system. This system then proportionally adjusts the air pressure to apply corresponding resistance to the operator. This invention solves the problem of the lack of force feedback functionality in the master hand of existing minimally invasive surgical robots. Compared to traditional motor-driven methods, the airbag force feedback unit is lightweight, significantly reducing the weight and inertia of the movable parts of the master hand. It is also inexpensive and easy to implement, and can stably output resistance during long-term continuous operation.

[0022] In the feed motion joint of this invention, a gear and a double parallelogram structure are integrated to realize the linear translational motion of the master hand. At the same time, the translational motion is converted into the rotation angle around the rotary joint. The incremental encoder directly measures the rotation angle. The double parallelogram structure allows the feed motion joint to have a large linear translational motion range while using small-sized rods. The movement of the clamping motion joint simulates the pinching action of the thumb and index finger of the human hand, which is in line with ergonomics. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the force feedback master hand of the minimally invasive surgical robot according to an embodiment of the present invention.

[0024] Figure 2 This is an exploded view of the base structure according to an embodiment of the present invention.

[0025] Figure 3 This is an exploded view of the feed motion joint in an embodiment of the present invention.

[0026] Figure 4 This is an exploded view of the structure of the rotation joint in an embodiment of the present invention.

[0027] Figure 5 This is an exploded view of the pitch joint in an embodiment of the present invention.

[0028] Figure 6 This is an exploded view of the deflection joint in an embodiment of the present invention.

[0029] Figure 7 This is an exploded view of the clamping joint structure according to an embodiment of the present invention.

[0030] Figure 8 This is an exploded view of the airbag force feedback unit according to an embodiment of the present invention.

[0031] Explanation of reference numerals in the attached figures:

[0032] 1. Base; 1-1. Base plate; 1-2. Support frame; 1-3. Support plate; 1-4. Left fixing plate; 1-5. Right fixing plate;

[0033] 2. Feed motion joint; 2-1. Lower feed motion frame; 2-2-1. First feed motion rotary axis; 2-2-2. Second feed motion rotary axis; 2-2-3. Third feed motion rotary axis; 2-2-4. Fourth feed motion rotary axis; 2-2-5. Fifth feed motion rotary axis; 2-2-6. Sixth feed motion rotary axis; Eighth feed motion rotary axis; 2-2-7, 2-2-8. Eighth feed motion rotary axis; Feed motion rotary axis; 2-3. Upper feed motion frame; 2-4. Front gear set; 2-5. Upper double parallelogram; 2-6. Lower double parallelogram; 2-7. Rear gear set; 2-8. Vertical plate; 2-9. Feed motion airbag force feedback unit; 2-10. Incremental encoder for feed motion;

[0034] 3. Rotational joint; 3-1. Retaining ring at the end of the rotational shaft; 3-2. Rotational rod; 3-3. Rotational shaft; 3-4. Airbag force feedback unit for rotation; 3-5. Incremental encoder for rotation.

[0035] 4. Pitch joint; 4-1. Angle iron; 4-2. Pitch shaft end retaining ring; 4-3. Pitch support rod; 4-4. Pitch rotating rod; 4-5. Pitch rotating shaft; 4-6. Pitch airbag force feedback unit; 4-7. Pitch incremental encoder;

[0036] 5. Deflection joint; 5-1. Upper deflection support rod; 5-2. Upper angle iron; 5-3. Upper deflection rotating rod; 5-4. Lower deflection rotating rod; 5-5. Lower angle iron; 5-6. Lower deflection support rod; 5-7. Deflection rotating shaft; 5-8. Deflection airbag force feedback unit; 5-9. Deflection incremental encoder;

[0037] 6. Clamping the moving joint; 6-1. Clamping the fixed moving rod; 6-2. Clamping the movable moving rod; 6-3. Clamping the incremental encoder;

[0038] 7-1. Joint rotation axis; 7-2. Airbag mounting base; 7-3. Annular airbag; 7-4. Encoder mounting plate; 7-5. Encoder. Detailed Implementation

[0039] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0040] The force feedback master hand of the minimally invasive surgical robot in this embodiment of the invention analyzes the movements of the slave instrument, decomposing them into feed motion, rotation motion, pitch motion, yaw motion, and clamping motion. Based on the structural characteristics and motion mode of the slave instrument, the degrees of freedom are configured, and finally integrated into the design. Figure 1 As shown, the force feedback master hand of the minimally invasive surgical robot includes a base 1, a feed joint 2, a rotation joint 3, a pitch joint 4, a yaw joint 5, and a clamping joint 6 arranged sequentially from one side (e.g., the right side) to the opposite side (e.g., the left side). The base 1 is used to fix the master hand; the feed joint 2 is used to adjust the position of the slave instrument; the rotation joint 3, pitch joint 4, and yaw joint 5 are used to adjust the posture of the slave instrument; and the clamping joint 6 is used to enable the instrument to complete the picking and suturing tasks, and has a clamping part. The aforementioned joints are connected in series, with the feed joint 2... Fixed on base 1; the feed motion joint 2 can perform linear translational motion along axis A; the rotation motion joint 3 can rotate around axis A; the pitch motion joint 4 can rotate around axis B; the yaw motion joint 5 can rotate around axis C; the clamping motion joint 6 can rotate around axis C to perform corresponding opening and closing actions; axes A, B, and C intersect at one point; during operation, the force point of the main hand coincides with the intersection point, which can completely decouple each degree of freedom and realize independent force transmission of each motion joint. In addition, this design also gives the main hand good operational flexibility and improves the comfort of the doctor during operation.

[0041] In some embodiments, such as Figures 2 to 8 As shown, to address the common lack of force feedback functionality in the master hand of existing minimally invasive surgical robots, an airbag force feedback unit with superior torque output characteristics is installed in each joint to provide real-time feedback of electrical signals transmitted from the slave instrument. For example, airbag force feedback units are installed in the feed joint 2, rotation joint 3, pitch joint 4, and yaw joint 5 to provide force feedback during the movement of each joint. Each airbag force feedback unit is directly connected to the rotation axis of its corresponding joint for more accurate force transmission. Simultaneously, an incremental encoder is integrated at the end of each airbag force feedback unit to directly collect the rotation angle information of each joint. Both are connected to the master hand control system.

[0042] In some embodiments, the base 1 may include a base plate 1-1, a support frame 1-2, a support plate 1-3, a left fixing plate 1-4, and a right fixing plate 1-5; the support frame 1-2 is vertically fixed to the side of the base plate 1-1 via a threaded connection; threaded holes are provided on both sides of the support frame 1-2, and the left fixing plate 1-4 and the right fixing plate 1-5 are respectively fixed to the support frame 1-2 via threaded connections and are arranged opposite to each other, perpendicular to the support frame 1-2 and perpendicular to the base plate 1-1. 1. Vertical; At the same time, a rectangular groove is provided on the support frame 1-2, one end of the support plate 1-3 is inserted into the rectangular groove and fixedly connected to the support frame 1-2, perpendicular to the support frame 1-2 and parallel to the base plate 1-1, and located below the left fixing plate 1-4 and the right fixing plate 1-5. The support plate 1-3 is used to fix and support the feed motion airbag force feedback unit 2-9 of the feed motion joint 2; the left fixing plate 1-4 and the right fixing plate 1-5 are used to connect and fix the feed motion joint 2.

[0043] In some embodiments, such as Figure 3 As shown, the feed motion joint 2 includes a feed motion upper frame 2-1, a feed motion lower frame 2-3, a feed motion first rotating shaft 2-2-1, a feed motion second rotating shaft 2-2-2, a feed motion third rotating shaft 2-2-3, a feed motion fourth rotating shaft 2-2-4, a feed motion fifth rotating shaft 2-2-5, a feed motion sixth rotating shaft 2-2-6, a feed motion seventh rotating shaft 2-2-7, a feed motion eighth rotating shaft 2-2-8, a front gear set 2-4, an upper double parallelogram 2-5, a lower double parallelogram 2-6, a rear gear set 2-7, a vertical plate 2-8, a feed motion airbag force feedback unit 2-9, and a feed motion incremental encoder 2-10.

[0044] The upper feed motion frame 2-1 and the lower feed motion frame 2-3 are fixed on the left fixed plate 1-4 and the right fixed plate 1-5 of the base via threaded connection, arranged vertically. The upper feed motion frame 2-1 and the lower feed motion frame 2-3 are each provided with two circular holes with parallel axes. A rotary bearing is installed in each circular hole and connected by interference fit. The first rotary shaft 2-2-1, the second rotary shaft 2-2-2, the third rotary shaft 2-2-3, and the fourth rotary shaft 2-2-4 of the feed motion are inserted into the corresponding rotary bearings and connected by transition fit.

[0045] Both the upper double parallelogram 2-5 and the lower parallelogram 2-6 have mating mounting holes. The third rotating shaft 2-2-3 and the fourth rotating shaft 2-2-4 of the feed motion are inserted into the mounting holes and fixedly connected to the upper parallelogram 2-5. Similarly, the first rotating shaft 2-2-1 and the second rotating shaft 2-2-2 of the feed motion are inserted into the mounting holes of the lower parallelogram 2-6 and fixedly connected to the lower parallelogram 2-6.

[0046] The second rotating shaft 2-2-2 of the feed motion is inserted into the force feedback unit 2-9 of the feed motion airbag. The airbag generates frictional resistance that hinders the rotation of the second rotating shaft 2-2-2 of the feed motion, thereby realizing force feedback during the feed motion.

[0047] Meanwhile, an incremental encoder 2-10 for feed motion is integrated with the force feedback unit 2-9 for feed motion airbag and fixed on the support plate 1-3.

[0048] The third rotating shaft 2-2-3 and the fourth rotating shaft 2-2-4 of the feed motion are inserted into the shaft holes of the two meshing gears of the front gear set 2-4. The cylindrical surface of the front gear set 2-4 is provided with threaded holes. A set screw is screwed in, and the gears are fixedly connected to the third rotating shaft 2-2-3 and the fourth rotating shaft 2-2-4 of the feed motion through the threaded connection.

[0049] Two circular holes are provided on the vertical bends at the upper and lower ends of the vertical plate 2-8. Each hole houses the fifth rotating shaft 2-2-5, the sixth rotating shaft 2-2-6, the seventh rotating shaft 2-2-7, and the eighth rotating shaft 2-2-8 of the feed motion. The upper parallelogram 2-5 is fixedly connected to the fifth rotating shaft 2-2-5 and the sixth rotating shaft 2-2-6 of the feed motion through the corresponding circular holes. The lower parallelogram 2-5 is fixedly connected to the seventh rotating shaft 2-2-7 and the eighth rotating shaft 2-2-8 of the feed motion through the corresponding circular holes. The fifth rotating shaft 2-2-5 and the sixth rotating shaft 2-2-6 of the feed motion, which are fixedly connected to the upper parallelogram 2-5, are then fixedly connected to the two meshing gears of the rear gear set 2-7.

[0050] Among them, the upper parallelogram 2-5 and the lower parallelogram 2-6 have the same structure, and the upper and lower layers are arranged separately. They are all cross members formed by the cross-shaped rotational connection of two main members. Each main member has two ends rotatably connected to one end of a side member, for a total of four side members. The other end of each side member is provided with a mounting hole that matches a corresponding rotating shaft.

[0051] In this embodiment of the invention, the main hand can be linearly translated along the axis A by combining a gear set with a double parallelogram structure. The unfolding and folding of the double parallelogram structure ensures a large linear motion range while using small-sized rods.

[0052] In some embodiments, such as Figure 4 As shown, the self-rotating joint 3 includes a self-rotating shaft end retaining ring 3-1, a self-rotating rotating rod 3-2, a self-rotating rotating shaft 3-3, a self-rotating airbag force feedback unit 3-4, and a self-rotating incremental encoder 3-5.

[0053] The vertical plate 2-8 has a circular hole in the center for mounting a rotary bearing with an interference fit, and the center line of the circular hole coincides with the axis A. One end face of the vertical plate 2-8 is used to mount the self-rotation motion airbag force feedback unit 3-4 and the self-rotation motion incremental encoder 3-5 of the self-rotation motion joint 3. The vertical plate 2-8 has a threaded hole for connecting the two by thread fastening.

[0054] The self-rotating rotating shaft 3-3 is transitionally fitted with the aforementioned rotating bearing and can rotate around axis A to complete the self-rotation action; at the same time, the self-rotating rotating shaft 3-3 is inserted into the self-rotating airbag force feedback unit 3-4, generating passive frictional resistance acting on the self-rotating rotating shaft 3-3, and the shaft is fixedly connected to the self-rotating incremental encoder 3-5 to measure the self-rotation angle.

[0055] Meanwhile, the rotating shaft 3-3 is directly fixed to the rotating rod 3-2 and connected to the end retaining ring 3-1 of the rotating shaft. The rotating shaft 3-3 is fixed to the end face of the rotating rod 3-2 through the mounting hole, so the feedback force is directly transmitted to the rod when the rotation action is performed.

[0056] In some embodiments, such as Figure 5 As shown, the pitch joint 4 includes an angle iron 4-1, a pitch shaft end retaining ring 4-2, a pitch support rod 4-3, a pitch rotating rod 4-4, a pitch rotating shaft 4-5, a pitch airbag force feedback unit 4-6, and a pitch incremental encoder 4-7.

[0057] The pitch motion support rod 4-3 is perpendicularly connected to the rotation motion rotating rod 3-2, forming an L-shaped structure. One end of both rods is provided with a threaded hole, and the two rods are fixedly connected by screws screwed into a vertical angle iron 4-1. The other end of the pitch motion support rod 4-3 is provided with a circular hole for installing a rotary bearing, and the center line of the circular hole coincides with the axis B. The pitch motion rotating shaft 4-5 is inserted into the rotary bearing with a transition fit, and rotates around the axis B to complete the pitch motion.

[0058] The pitch motion support rod 4-3 has threaded holes around its circular hole. Screws are screwed in to fix the pitch motion airbag force feedback unit 4-6 of the pitch motion joint. The pitch motion rotation shaft 4-5 is inserted into the pitch motion airbag force feedback unit and connected to the pitch motion incremental encoder 4-7.

[0059] Furthermore, the pitch motion rotating shaft 4-5 is inserted into the mounting hole of the pitch motion rotating rod 4-4, and a pitch motion shaft end retaining ring 4-2 is installed to restrict the axial movement of the shaft. During operation, the pitch motion rotating rod 4-4 and the pitch motion rotating shaft 4-5 rotate around axis B simultaneously, and the resulting frictional feedback force is directly transmitted to the pitch motion rotating rod 4-4.

[0060] In some embodiments, such as Figure 6 As shown, the deflection joint includes a deflection support upper rod 5-1, an upper angle iron 5-2, a deflection rotation upper rod 5-3, a deflection rotation lower rod 5-4, a lower angle iron 5-5, a deflection support lower rod 5-6, a deflection rotation shaft 5-7, a deflection airbag force feedback unit 5-8, and a deflection incremental encoder 5-9.

[0061] Among them, the upper rod 5-1 and the lower rod 5-6 of the deflection motion support are provided with threaded holes on one end face. They are vertically fixed to one end of the pitch motion rotating rod 4-4 by the upper angle iron 5-2 and the lower angle iron 5-5 respectively, and are fixed by screws.

[0062] Furthermore, the other end of the end face of the upper rod 5-1 and the lower rod 5-6 of the deflection motion support are both provided with round holes. The center lines of the two round holes coincide and coincide with the axis C. A rotary bearing is installed in each of the two round holes with an interference fit.

[0063] A threaded hole is provided near the round hole of the deflection motion support rod 5-6. A screw is screwed in to fix the deflection motion airbag force feedback unit 5-8. The deflection motion rotating shaft 5-7 passes through the rotating bearing on the deflection motion support rod 5-6 and is inserted into the deflection motion airbag force feedback unit 5-8. When the deflection motion is executed and the shaft rotates around axis C during operation, the deflection motion rotating shaft 5-7 will be subjected to frictional feedback resistance generated by the airbag. The deflection motion incremental encoder 5-9, which is fixed to the deflection motion rotating shaft 5-7, will record the rotation information.

[0064] The lower rod 5-4 of the deflection motion has an installation hole inside, and the other end of the deflection motion rotating shaft 5-7 is inserted into the hole and fixed. Therefore, the feedback force when performing the deflection motion can be directly transmitted to the lower rod 5-4 of the deflection motion.

[0065] Furthermore, the upper end of the deflection motion rotating upper rod 5-3 is inserted into the rotating bearing on the end face of the deflection motion supporting upper rod 5-1, and can rotate around axis C; at the same time, a groove is provided on the end face of the deflection motion rotating lower rod 5-4, and a boss is provided on the corresponding end face of the deflection motion rotating upper rod 5-3. The boss is inserted into the groove to complete the positioning and fixing of the two, so as to realize simultaneous rotation around axis C.

[0066] In some embodiments, such as Figure 7 As shown, the clamping motion joint 6 includes a clamping motion fixed rod 6-1, a clamping motion movable rod 6-2, and a clamping motion incremental encoder 6-3;

[0067] The lower lever 5-4 of the deflection motion rotation is provided with an inner hole for fixing and mounting the clamping motion incremental encoder 6-3. The output shaft of the clamping motion incremental encoder 6-3 is fixedly connected to the clamping motion movable lever 6-2, so the opening and closing angle of the clamping motion joint 6 can be directly detected. The clamping motion fixed lever 6-1 is fixedly connected to the upper lever 5-3 of the deflection motion rotation and is arranged at a certain angle with the clamping motion movable lever 6-2. By rotating the clamping motion movable lever 6-2 relative to the clamping motion fixed lever 6-1, the pinching action of the thumb and index finger of the hand is simulated.

[0068] Furthermore, a slot is made on the deflection motion rotating upper rod 5-3 to place and frame the clamping motion movable rod 6-2, limiting the rotation angle of the clamping motion movable rod 6-2 relative to the clamping motion fixed rod 6-1, such as 60°.

[0069] In some embodiments, such as Figure 8 As shown, the airbag force feedback unit set in each joint includes a joint rotation shaft 7-1, an airbag mounting base 7-2, an annular airbag 7-3, an encoder mounting plate 7-4, and an encoder 7-5.

[0070] The annular airbag 7-3 is placed inside the airbag mounting base 7-2. The joint's rotation shaft 7-1 is inserted into the inner hole of the annular airbag 7-3. Inflating the annular airbag 7-3 will compress the joint's rotation shaft 7-1 radially, generating frictional resistance that hinders the joint's rotation shaft 7-1, which is then transmitted to the operator. Subsequently, the joint's rotation shaft 7-1 is coaxially connected to the encoder 7-5, enabling the rotation information to be recorded. At the same time, the encoder 7-5 is mounted on the encoder fixing plate 7-4, which is then fixedly connected to the airbag mounting base 7-2.

[0071] Among them, the encoders 7-5 mentioned above are motion incremental encoders for each joint, and the rotation axis of each joint is the rotation axis of each joint.

[0072] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention.

[0073] Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of the equivalents of the claims be included within the invention.

[0074] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A minimally invasive surgical robotic force feedback master hand, characterized by, The device comprises a base for fixing a force feedback master hand, a feed motion joint for realizing adjustment of an end instrument position, a self-rotation motion joint for realizing adjustment of an end instrument posture, a pitch motion joint, a deflection motion joint and a clamping motion joint for making the instrument complete picking and sewing tasks, which are arranged in sequence from one side to the opposite side; the clamping motion joint, the deflection motion joint, the pitch motion joint, the self-rotation motion joint and the feed motion joint are connected in series and fixed on the base through the feed motion joint; the feed motion joint can be translated along an axis A and can drive the self-rotation motion joint, the pitch motion joint, the deflection motion joint and the clamping motion joint to linearly translate; the self-rotation motion joint can rotate around the axis A, the pitch motion joint can rotate around an axis B, the deflection joint can rotate around an axis C, and the clamping motion joint can rotate around the axis C to realize opening and closing actions; the axes A, B and C intersect at a point; the intersection of the axes A, B and C is a force receiving point of the force feedback master hand, so as to realize decoupling of the feed motion, the self-rotation motion, the pitch motion, the deflection motion and the clamping motion; A rotation axis of the feed motion joint and rotation axes of the self-rotation motion joint, the pitch motion joint and the deflection motion joint are coaxially connected with an incremental encoder for collecting rotation angle information of the corresponding motion joint and an air bag force feedback unit for providing feedback resistance to the corresponding motion joint; The feed motion joint comprises a feed motion lower frame, a feed motion upper frame, eight feed motion rotation axes, a front gear set, a rear gear set, an upper double parallelogram, a lower double parallelogram and a vertical plate; the upper parallelogram and the lower parallelogram are arranged in a vertical manner; the feed motion upper frame and the feed motion lower frame are vertically arranged and fixed to the base; the front gear set and the rear gear set realize unfolding and folding of the upper double parallelogram and the lower double parallelogram along the axis A; the feed motion upper frame and the feed motion lower frame are connected through rotary bearings in bearing mounting holes and the corresponding feed motion rotation axes; Two upper arranged parallel feed motion rotation axes on the vertical plate side are installed and connected through two meshing gears of the rear gear set on the upper end of the vertical plate, two mounting holes on rod members of the upper parallelogram and two round holes on the upper end of the vertical plate; two lower arranged parallel feed motion rotation axes are connected with two round holes on the lower end of the vertical plate; two upper arranged parallel feed motion rotation axes on the frame side are installed and connected through two meshing gears of the front gear set, two mounting holes on rod members of the upper parallelogram and two round holes of the feed motion upper frame; two lower arranged parallel feed motion rotation axes are installed and connected through two round holes of the feed motion lower frame and two mounting holes on rod members of the lower parallelogram. The self-rotation motion joint comprises a self-rotation motion rotating rod and a self-rotation motion rotating shaft; one self-rotation motion rotating bearing is mounted on the vertical plate of the feed motion joint, the vertical plate is provided with a circular hole with a center line coinciding with the axis A in the center, the self-rotation motion rotating shaft is mounted in the rotating bearing in the circular hole in transition fit and rotates around the axis A; the self-rotation motion rotating shaft is in abutment with and fixed in the mounting hole on the self-rotation motion rotating rod; The pitch motion joint comprises a pitch motion support rod, a pitch motion rotating rod, and a pitch motion rotating shaft; the pitch motion support rod is vertically fixed with the self-rotation motion rotating rod, the pitch motion rotating shaft is mounted in the rotating bearing in the circular hole in transition fit and rotates around the axis B; the pitch motion rotating shaft is mounted in the mounting hole on the pitch motion rotating rod; The deflection motion joint comprises a deflection motion support upper rod, a deflection motion support lower rod, a deflection motion rotating shaft, a deflection motion rotating upper rod, and a deflection motion rotating lower rod; the deflection motion support upper rod and the deflection motion support lower rod are respectively fixed with one end of the pitch motion rotating rod, the deflection motion rotating upper rod is in transition fit with the rotating bearing mounted on the end surface of the deflection motion support upper rod; the deflection motion rotating shaft is inserted into the mounting hole provided in the interior of the deflection motion rotating lower rod and is fixed; the deflection motion rotating shaft is in transition fit with the rotating bearing mounted on the end surface of the deflection motion support lower rod; the deflection motion rotating upper rod is fixedly connected with the deflection motion rotating lower rod, so as to realize the deflection motion around the axis C; The clamping motion joint comprises a clamping motion fixed rod and a clamping motion movable rod; the clamping motion fixed rod is fixed with the deflection motion rotating upper rod, and the clamping motion movable rod is fixed with the output shaft of the incremental encoder of the clamping motion joint; the clamping motion fixed rod and the clamping motion movable rod are arranged at a certain angle, and the clamping motion movable rod rotates relative to the clamping motion fixed rod to simulate the pinching action of the thumb and the index finger of the hand.

2. The force feedback master hand for minimally invasive surgery robots of claim 1, wherein The air bag force feedback unit is coaxially connected with the incremental encoder; the clamping motion joint is provided with an incremental encoder for collecting the rotation angle information of the clamping motion joint; the air bag force feedback unit and the incremental encoder are connected with the master hand control system.

3. The force feedback master hand for minimally invasive surgery robots of claim 2, wherein, A feed motion incremental encoder for measuring the rotation angle of the feed motion rotating shaft and a feed motion air bag force feedback unit for providing force feedback for the feed motion are fixed on the support plate of the base; the output shaft of the feed motion incremental encoder is fixed with the feed motion rotating shaft, and the passive friction resistance generated by the feed motion air bag force feedback unit acts on the feed motion rotating shaft.

4. The force feedback master hand for minimally invasive surgery robots of claim 3, wherein, A self-rotation motion incremental encoder for measuring the rotation angle of the self-rotation motion rotating shaft and a self-rotation motion air bag force feedback unit for providing force feedback for the self-rotation motion are fixed on the vertical plate; the output shaft of the self-rotation motion incremental encoder is fixed with the self-rotation motion rotating shaft, and the passive friction resistance generated by the self-rotation motion air bag force feedback unit acts on the self-rotation motion rotating shaft.

5. The force feedback master hand for minimally invasive surgery robots of claim 4, wherein, The center line of the hole at one end of the pitch motion support rod coincides with the axis B, a pitch motion incremental encoder for measuring the rotation angle of the pitch motion rotation shaft and a pitch motion air bag force feedback unit for providing force feedback for the pitch motion are fixed on the pitch motion support rod, the output shaft of the pitch motion incremental encoder is fixedly connected with the pitch motion rotation shaft, and the passive friction resistance generated by the pitch motion air bag force feedback unit acts on the pitch motion rotation shaft.

6. The force feedback master hand for minimally invasive surgery robots of claim 5, wherein, The end faces of the deflection motion support upper rod and the deflection motion support lower rod are each provided with a circular hole, the center lines of the two circular holes on the deflection motion support upper rod and the deflection motion support lower rod coincide and coincide with the axis C; a rotary bearing is respectively installed in the two circular holes of the deflection motion support upper rod and the deflection motion support lower rod; a deflection motion incremental encoder for measuring the rotation angle of the deflection motion rotation shaft and a deflection motion air bag force feedback unit for providing force feedback for the pitch motion are fixed on the deflection motion support lower rod, the output shaft of the deflection motion incremental encoder is fixedly connected with the deflection motion rotation shaft, and the passive friction resistance generated by the deflection motion air bag force feedback unit acts on the deflection motion rotation shaft.

7. The force feedback master hand for minimally invasive surgery robots of claim 6, wherein, The deflection motion rotation lower rod is provided with an inner hole to install the incremental encoder of the clamping motion joint for detecting the rotation angle of the clamping motion movable rod.

8. The force feedback master hand for minimally invasive surgery robots of claim 7, wherein, A slot is opened on the deflection motion rotation upper rod for placing and framing the clamping motion movable rod to limit the rotation angle of the clamping motion movable rod relative to the clamping motion fixed rod.

9. The force feedback master hand for minimally invasive surgery robots of claim 8, wherein, The base includes a bottom plate, a support frame, a support plate, a left fixed plate and a right fixed plate; the support frame is fixedly connected with the bottom plate vertically, and the left fixed plate and the right fixed plate for connecting and fixing the feed motion joint are respectively fixedly connected with the two sides of the support frame; The support plate for fixing the air bag force feedback unit and the incremental encoder for supporting the feed motion joint is fixedly connected vertically on the support frame.

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