Operation main hand, doctor console and laparoscopic surgical robot

Abstract

The invention provides an operation main hand, a doctor console and a laparoscopic surgery robotic.The operation main hand comprises a parallel operation arm and a driving assembly connected with the parallel operation arm, and the parallel operation arm comprises a base platform, a motion platform and at least two motion branch chains rotationally connected to the base platform and the motion platform; the moving branch chain is connected with the base platform through the rotating joint, the rotating joint comprises a first support and a second support rotationally connected with the first support, the first support is provided with a support shaft, the support shaft is rotationally connected to the base platform, the driving assembly comprises a driving motor and a transmission assembly connected with the driving motor, and the transmission assembly is installed on the moving branch chain. The device is used for driving the motion branch chains to extend and shorten. The moving branch chain and the driving motor are both arranged on the second support, the axis, rotating relative to the first support, of the second support is a first rotating axis, the moving branch chain rotates around the first rotating axis, and the length direction of the driving motor is the same as the rotating axis direction of the second support.

Description

Technical Field

[0001] The present invention relates to the technical field of teleoperated robots, and in particular to an operating master hand, a doctor's console including the operating master hand, and a laparoscopic surgical robot. Background Art

[0002] The birth of minimally invasive surgery has largely overcome the defects of traditional surgery, such as large incisions, large amounts of bleeding, many complications, and high surgical risks. Using surgical robots to assist doctors in minimally invasive surgery can make the operation more sensitive and precise, especially in the field of laparoscopic surgical robots, which have been widely used.

[0003] A surgical robot usually consists of an operating end (also called a master end) and an execution end (also called a slave end). During operation, the operating end, as an interactive device between the operator and the robot, can transmit information such as the position and speed given by the operator to the slave end. At the same time, the execution end can also transmit environmental information such as the force / torque received by the slave end to the operator, so that the operator can have a sense of presence during the operation, thereby effectively controlling and intervening in the movement of the slave end system in a timely manner.

[0004] In surgical robots, the operating end is the carrier for transmitting information between doctors and the execution end, assisting doctors in performing precise operations. Usually, an assisted surgery takes from tens of minutes to several hours, and doctors need to interact with the operating end for a long time, which puts forward higher requirements for the flexibility and convenience of the operating end.

[0005] However, existing operating terminals are prone to lag, jamming or jitter during use. After a doctor performs a hand movement, he often needs to stay for a while before continuing with the next movement. Compared with the operating experience of traditional laparoscopic surgery, this is an extremely poor experience, which results in the doctor's inability to use the operating terminal flexibly. Summary of the invention

[0006] One of the main purposes of the present invention is to provide an operating hand that ensures that the branch chain can move smoothly, a doctor's console including the operating hand, and a laparoscopic surgical robot, so as to at least solve the above-mentioned problems.

[0007] In view of the above-mentioned invention object, the present invention provides the following technical solutions:

[0008] According to one aspect of the present invention, there is provided a main operating hand, which may include a parallel operating arm and a driving assembly connected to the parallel operating arm, the parallel operating arm including a base platform, a motion platform and at least two motion branches respectively rotatably connected to the base platform and the motion platform, the motion branch chain is connected to the base platform via a rotating joint, the rotating joint includes a first bracket and a second bracket rotatably connected to the first bracket, the first bracket is provided with a bracket shaft, the bracket shaft is rotatably connected to the base platform, and is used to drive the motion branch chain to rotate around the axis where the bracket shaft is located, the driving assembly includes a driving motor and a transmission assembly connected to the driving motor, the transmission assembly is installed on the motion branch chain, and is used to drive the motion branch chain to extend and shorten; the motion branch chain and the driving motor are both arranged on the second bracket, the axis of rotation of the second bracket relative to the first bracket is the first rotation axis, the motion branch chain rotates around the first rotation axis, and the length direction of the driving motor is the same as the direction of the rotation axis of the second bracket.

[0009] The rotation axis of the drive motor may be co-linear with the first rotation axis.

[0010] The length direction of the driving motor may be arranged perpendicularly to the axis of the support shaft, and / or the length direction of the driving motor may be arranged perpendicularly to the motion branch chain.

[0011] The rotation axis of the output end of the drive motor may coincide with the first rotation axis.

[0012] The axis of the support shaft may be perpendicular to and intersect with the rotation axis of the drive motor.

[0013] Each of the at least two motion branches may include a first support rod, a second support rod and a slider fixed on the first support rod, the slider is slidably connected to the second support rod, the transmission assembly is fixedly connected to the slider, and an extension line of the first support rod is perpendicular to the rotation axis of the drive motor and passes through an intersection where the axis of the support shaft intersects with the drive motor.

[0014] The intersection point may be located on a central axis of the first bracket and the second bracket.

[0015] The first bracket may include a first annular bracket and a second annular bracket arranged in parallel to each other and a first connecting bracket connecting the first annular bracket and the second annular bracket, the bracket shaft is set on the first connecting bracket and installed to the base platform, the second bracket includes a first rotating bracket set on the inner side of the first annular bracket, a second rotating bracket set on the inner side of the second annular bracket and a second connecting bracket connecting the first rotating bracket and the second rotating bracket, wherein a first bearing is installed between the first annular bracket and the first rotating bracket, and a second bearing is installed between the second annular bracket and the second rotating bracket.

[0016] At least a portion of the driving motor may be located in a receiving space formed by the second connecting bracket, and the second support rod is fixed to an outer surface of the second connecting bracket.

[0017] The center of gravity of the driving motor may be located on one side of the central axis where the intersection is located, and the center of gravity of the transmission assembly and the second support rod as a whole may be located on the other side of the central axis where the intersection is located.

[0018] The operating master hand may further include an encoder, which may include a magnet and a receiving end, wherein the magnet is fixed to the first rotating bracket or the second rotating bracket, and the receiving end is fixedly mounted to the second annular bracket or the first annular bracket.

[0019] The transmission assembly may be a synchronous belt transmission assembly, and the drive motor is mounted on one end of the motion branch chain close to the base platform.

[0020] Each of the at least two moving branches may include a first support rod, a second support rod and a slider fixed on the first support rod, the slider is slidably connected to the second support rod, the transmission assembly includes a first synchronous pulley, a second synchronous pulley and a synchronous belt respectively meshed with the first synchronous pulley and the second synchronous pulley, the first synchronous pulley and the second synchronous pulley are both connected to the second support rod, and the synchronous belt is fixedly connected to the slider to drive the first support rod to move relative to the second support rod.

[0021] The number of the motion branches may be three, and the motion branches may be UPS branches.

[0022] The diameter ratio of the motion platform to the base platform may be greater than or equal to 1 / 2 and less than or equal to 1, wherein the at least two motion branches may include three or more motion branches, the diameter of the motion platform is the diameter of the circumscribed circle of the hinge points of the three or more motion branches and the motion platform, and the diameter of the base platform is the diameter of the circumscribed circle of the hinge points of the three or more motion branches and the base platform.

[0023] The diameter of the motion platform may be greater than or equal to 100 mm.

[0024] In an initial state, each of the three or more motion branches may have an angle with the base platform in a range of 60 to 90 degrees.

[0025] According to another aspect of the present invention, a doctor's console is provided, and the control console may include the operating master hand as described above.

[0026] According to another aspect of the present invention, a laparoscopic surgical robot is provided. The robot may include the doctor console as described above.

[0027] According to an embodiment of the present invention, by making the length direction of the driving motor the same as the rotation axis direction of the second bracket, the rotation inertia of the branch chain in the rotation direction around the rotation axis of the second bracket can be reduced to ensure that the branch chain can move smoothly.

[0028] According to an embodiment of the present invention, by using a synchronous belt drive assembly to drive the extension and contraction of the motion branch chain, an accurate transmission ratio can be ensured, making force feedback more direct, and by installing the drive motor at one end of the motion branch chain close to the base platform, the weight on the operating side can be prevented from increasing and affecting the operating feel. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and / or other objects and advantages of the present invention will become more apparent through the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0030] Figure 1 A schematic diagram showing the structure of an operating end of a robot according to an embodiment of the present invention is shown;

[0031] Figure 2 A partial structural schematic diagram of a master operating hand according to an embodiment of the present invention is shown;

[0032] Figure 3 A schematic diagram showing the structure of the operating master hand from another angle is shown;

[0033] Figure 4 A schematic diagram of the structure of the first branch chain and its rotating joint is shown;

[0034] Figure 5 Shows Figure 4 A partially cutaway stereogram of

[0035] Figure 6 Shows Figure 4 Schematic diagram of the local structure of the decomposition;

[0036] Figure 7 Shows Figure 4 A cutaway plan view from another angle;

[0037] Figure 8 A structural schematic diagram of a local position of an operating master hand according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0038] Example embodiments will now be described more fully with reference to the accompanying drawings. However, it should not be understood that the implementation of the present invention is limited to the embodiments described herein. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted.

[0039] The operating hand, the control console and the robot of the present invention are described below with reference to the accompanying drawings. It should be noted that, in the following, the descriptions and terms related to directions such as "upward and downward direction", "vertical direction", "upward", "downward", "upper end", "lower end", "upper part", "lower part" are all based on the direction of the surgical robot or the operating hand relative to the ground when in use (e.g. Figure 1 When the relative reference object changes or the usage direction of the product changes, the description about the above directions will also change accordingly.

[0040] In addition, in the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0041] When describing the operating hand, control console and robot according to an embodiment of the present invention, a surgical robot will be introduced as an example, but those skilled in the art will realize that the operating hand according to the present invention is not limited to application to surgical robots, but can be a remote-controlled robot used in various other fields.

[0042] Figure 1 FIG. 2 shows a schematic diagram of the structure of the operating end of a robot according to an embodiment of the present invention. Figure 1 As shown, the surgical robot includes an operating end 1, an execution end (not shown), and an imaging device (not shown). The operating end 1 includes a doctor's console, the execution end includes a robotic arm system for performing surgery with a terminal surgical instrument, and the imaging device includes a display for displaying images of the patient's lesion and other related information.

[0043] The operating hand 11 is set on the doctor's console. The operator (doctor) controls the operation of the execution end by operating the operating hand 11. The force condition of the terminal surgical instrument at the execution end can be fed back to the operating hand 11 through force sensors, force analysis, etc., so as to establish a mechanical model between the operating end and the execution end.

[0044] The doctor's console usually includes two operating main hands 11. The doctor's hands can hold two handles (not shown) at the same time. Since the two operating main hands 11 have the same structure and are arranged symmetrically to each other, the structure of one operating main hand will be taken as an example for description.

[0045] The main manipulator usually includes a handle and an operating arm. To meet the requirements of various postures and simplify the design structure, the operating arm can be implemented using a parallel mechanism. The parallel mechanism includes a base platform, a motion platform, and a motion branch chain connected to the base platform and the motion platform.

[0046] The handle is usually installed on the motion platform. When the doctor holds the handle to drive the motion platform to move, the motion branch chain will extend, shorten or rotate accordingly. In order to achieve the extension and shortening of the motion branch chain, the motion branch chain usually includes two branches that can slide relative to each other and a driving module that drives the relative sliding of the two branches.

[0047] When using different types of drive modules, the connection structure of the two struts needs to be adjusted and designed accordingly. The type of drive module and the design of the strut will have a great impact on the user's operating feel. When designing, it is necessary to consider the weight of the branch chain, the weight of the drive module, the associated impact of the parallel space structure, and the friction and inertia of the motion module. It is also necessary to integrate motion space, ergonomics, etc. The design and development process is very complicated and verification is also very difficult. In order to solve the hysteresis and jitter of the operating end during use, the applicant designed the following solution to improve the doctor's operating feel.

[0048] The following describes the operating master hand according to an embodiment of the present invention with reference to the accompanying drawings. Figure 2 and Figure 3 A three-dimensional schematic diagram of the partial structure of the operating master hand 11 according to an embodiment of the present invention is shown. Figure 2 1 shows a perspective view when viewed from the front of the operator's hand 11. Figure 3 A perspective view when viewed from the back of the operator's hand 11 is shown.

[0049] like Figure 2 and Figure 3As shown, the operating master hand 11 according to the embodiment of the present invention includes a parallel operating arm 10 and a driving assembly 370 connected to the parallel operating arm 10, the parallel operating arm 10 includes a base platform 100, a motion platform 200 and a motion branch chain 300 connected between the base platform 100 and the motion platform 200, and the handle is installed on the motion platform 200. The motion branch chain 300 can move relative to the base platform 100, and the motion platform 200 and the handle installed on the motion platform 200 can move accordingly with the movement of the parallel operating arm 10.

[0050] Specifically, the motion branch chain 300 can be extended or shortened, and can also be rotated relative to the base platform 100 and the motion platform 200, so that the handle can move flexibly. The linear movement (i.e., extension or shortening) of the motion branch chain 300 is realized by the drive assembly 370. The drive assembly 370 includes a drive motor 371 and a transmission assembly 375 connected to the drive motor 371. The transmission assembly 375 is installed on the motion branch chain 300 and is used to drive the motion branch chain 300 to extend and shorten. The transmission assembly 375 can be a synchronous belt transmission assembly. Due to the high transmission accuracy of the belt drive, there is almost no delay in the conversion process of the motion branch chain 300 from extension to shortening or from shortening to extension. Therefore, the hand holding the handle will hardly feel hysteresis, which is particularly suitable for repeated bidirectional movements within a small motion range.

[0051] According to an embodiment of the present invention, the drive motor 371 is installed at one end of each motion branch 300 of the parallel operating arm 10 close to the base platform 100, so as to avoid an increase in components and weight on the operating side (i.e., the motion platform 200 where the handle is located), thereby avoiding affecting the operating feel.

[0052] In order to enable the handle to move flexibly, according to a preferred embodiment of the present invention, the parallel operating arm 10 of the operating master hand is implemented by a 3-UPS parallel mechanism, that is, the parallel operating arm 10 includes three motion branches and each motion branch is implemented by a UPS branch, so that the motion platform 200 can have six degrees of freedom of motion, and the handle can correspondingly achieve six degrees of freedom of motion. In the case where the drive motor drives the UPS branch to move, when the control system controls the operating end, a geometric model calculation can also be established based on the structure of the 3-UPS parallel mechanism, and then each drive motor can be controlled based on the calculation result, so that the handle can achieve the required motion and force feedback, and balance the gravity of the entire operating master hand.

[0053] Therefore, the parallel operating arm 10 of the embodiment of the present invention includes three kinematic branches, namely, the first branch 310, the second branch 320 and the third branch 330, and the first branch 310, the second branch 320 and the third branch 330 have the same structure. However, the parallel operating arm 10 according to the present invention is not limited to including three kinematic branches, but may also include a greater number of kinematic branches or a smaller number of kinematic branches (for example, two kinematic branches), which is determined according to the degree of freedom of movement required by the actual operating master hand.

[0054] In the following, the case where the parallel operating arm 10 includes three motion branches will be described as an example, and since the three motion branches have the same structure, when introducing a single motion branch, the first branch 310 will be described as an example.

[0055] Figure 4 A schematic diagram of the three-dimensional structure of a single kinematic branch (first branch) and its rotating joint is shown.

[0056] According to an embodiment of the present invention, the first branch chain 310 includes a first branch rod 301, a second branch rod 302 and a slider 350 fixed on the first branch rod 301, and the slider 350 slides on the second branch rod 302 to drive the first branch rod 301 and the second branch rod 302 to move linearly relative to each other, wherein the linear movement refers to the first branch rod 301 and the second branch rod 302 moving parallel to each other relative to each other, thereby enabling the first branch chain 310 to be extended or shortened.

[0057] The transmission assembly 375 includes a first synchronous pulley 372 installed at the output end of the driving motor 371, a second synchronous pulley 373 installed on the second support rod 302, and a synchronous belt 374 respectively meshed with the first synchronous pulley 372 and the second synchronous pulley 373. The first synchronous pulley 372 and the second synchronous pulley 373 are both connected to the second support rod 302, and the synchronous belt 374 is fixedly connected to the slider 350 to drive the first support rod 301 to move relative to the second support rod 302.

[0058] In addition, the driving motor 371 and the second support rod 302 are fixed to each other, so that the first synchronous pulley 372 is driven to rotate by the driving motor 371, so that the synchronous belt 374 rotates around the first synchronous pulley 372 and the second synchronous pulley 373, thereby driving the slider 350 and the first support rod 301 to move along the second support rod 302. Due to the high transmission accuracy between the synchronous belt and the synchronous pulley, there is almost no delay in the parallel operating arm 10 during the conversion process of the motion branch chain 300 from extension to shortening or from shortening to extension, so the hand will hardly feel hysteresis.

[0059] In addition, according to a preferred embodiment of the present invention, the first end of the first support rod 301 is connected to the motion platform 200, the slider 350 is fixed to the second end of the first support rod 301, and the first end of the second support rod 302 can be connected to the base platform 100. Therefore, the first synchronous pulley 372 is located at the first end of the second support rod 302, and the second synchronous pulley 373 is located at the second end of the second support rod 302. For example, the second synchronous pulley 373 is installed at the second end of the second support rod 302 through a supporting frame. In this way, the driving motor 371 of the driving assembly 370 can be set near one end of the base platform 100 to avoid affecting the operating feel.

[0060] According to an embodiment of the present invention, the first branch chain 310 is connected to the base platform 100 via a rotation joint.

[0061] Figure 5 and Figure 6 A cutaway view at the location of the revolute joint is shown.

[0062] Combination Figures 4 to 6 The rotation joint includes a first bracket 360 and a second bracket 460 rotatably connected to the first bracket 360 . The first bracket 360 is provided with a bracket shaft 368 and is connected to the base platform 100 through the bracket shaft 368 .

[0063] The support shaft 368 is used to drive the first support 360 to rotate around the axis of the support shaft 368 (hereinafter referred to as the "central axis of the support shaft 368"), thereby driving the first branch chain 310 to rotate around the central axis of the support shaft 368. In addition, the first branch chain 310 and the driving motor 371 are both arranged on the second support 460, and the length direction of the driving motor 371 is perpendicular to the central axis of the support shaft 368.

[0064] Among them, the length direction of the driving motor 371 refers to the extension direction of the rotation axis of the output end of the driving motor, or refers to the direction of the relatively larger value of the length of the driving motor 371 in terms of spatial dimensions. For example, if the spatial dimensions of the driving motor 371 are length*width*height, and the length is greater than the width and height, then the length direction is the length direction of the driving motor 371.

[0065] In addition, the rotation axis of the drive motor 371 and the axis of rotation of the second bracket 460 relative to the first bracket 360 (hereinafter referred to as the "first rotation axis") are colinear with each other. The rotation axis of the drive motor 371 is located at the position where the rotational inertia of the entire drive motor 371 is the smallest. Therefore, through such an arrangement, the position where the rotational inertia of the drive motor 371 is the smallest can be made to coincide with the rotation axis of the first branch chain 310 (i.e., the first rotation axis), which can reduce the rotational inertia of the first branch chain 310 and the drive motor 371 rotating around the first rotation axis. In addition, the rotational inertia of another rotation angle is offset by the synchronous belt motor 503 (which will be described later) that drives the rotating joint to rotate around the bracket shaft 368, so that it has almost no effect on the hand feel.

[0066] Since the rotation axis of the first branch chain 310 is the rotation center line of the first synchronous pulley 372 , the rotation axis of the output end of the driving motor 371 coincides with the rotation center line of the first synchronous pulley 372 .

[0067] According to the embodiment of the present invention, since the first support rod 301 is connected to the motion platform 200 and the handle is installed on the motion platform 200, the displacement and rotation of the handle depend on the motion of each first support rod 301, and therefore, the geometric model of the 3-UPS is established based on the position where the first support rod 301 is located. In this case, the extension line of the first support rod 301 passes through the first rotation axis and intersects with the central axis of the support shaft 368. Further, the central axis of the support shaft 368 and the first rotation axis are perpendicular to each other and intersect, and the plane where the central axis of the support shaft 368 and the first rotation axis are located is parallel to the surface of the base platform 100, so that the intersection of the three lines (the central axis of the support shaft 368, the first rotation axis and the extension line of the first support rod 301) can be used as a coordinate origin of the 3-UPS geometric model at this position.

[0068] like Figure 4 As shown, assuming that the Y axis represents the extension direction of the first support rod 301, the Z axis represents the first rotation axis of the second support 460 relative to the first support 360, and the X axis represents the central axis of the support axis 368, the X axis, the Y axis and the Z axis intersect each other at point O, so that the movement and / or rotation of the first support rod 301 can be calculated based on the theoretical geometric model of 3UPS with point O as the coordinate origin at this position. Among them, the XZ plane can coincide with the surface of the base platform 100 or be parallel to the surface of the base platform 100.

[0069] It should be noted that since the direction of the Y axis is not fixed, for example, the Y axis can rotate around the Z axis alone to get closer to or farther away from the X axis, the angle between the Y axis and the X axis is variable instead of remaining constant as shown in the drawings.

[0070] The specific structure of the rotary joint is described in detail below with reference to the accompanying drawings.

[0071] As described above, the rotation joint includes a first bracket 360 and a second bracket 460. The first bracket 360 includes a first annular bracket 361 and a second annular bracket 362 arranged in parallel to each other and a first connecting bracket 363 connecting the first annular bracket 361 and the second annular bracket 362, and the bracket shaft 368 is arranged on the first connecting bracket 363 and mounted to the base platform 100. The second bracket 460 includes a first rotating bracket 461 arranged inside the first annular bracket 361 and coaxially arranged with the first annular bracket 361, a second rotating bracket 462 arranged inside the second annular bracket 362 and coaxially arranged with the second annular bracket 362, and a second connecting bracket 463 connecting the first rotating bracket 461 and the second rotating bracket 462. In addition, the rotation joint also includes a bearing arranged between the first bracket 360 and the second bracket 460.

[0072] The bearings include a first bearing 391 installed between the first annular bracket 361 and the first rotating bracket 461 and a second bearing 392 installed between the second annular bracket 362 and the second rotating bracket 462. In this way, the rotation center lines of the first bearing 391 and the second bearing 392 coincide with each other and their rotation center lines form the first rotation axis of the second bracket 460 relative to the first bracket 360 as described above. An accommodation space is formed in the second connecting bracket 463, in which at least a portion of the driving motor 371 and the first synchronous pulley 372 are located, and the second support rod 302 is fixed to the outer surface of the second connecting bracket 463.

[0073] In addition, as described above, the first branch chain 310 and the rotating joint rotate together around the central axis (X-axis) of the bracket shaft 368. Therefore, in order to make the rotational inertia of the entire structure roughly consistent when rotating to different positions around the X-axis direction (that is, to minimize the rotational inertia of rotating around the X-axis direction), the weight distribution of the first branch chain 310 and the rotating joint as a whole on both sides relative to the X-axis is as similar as possible. To this end, the intersection O of the X-axis, Y-axis and Z-axis can be located on the center line of the first bracket 360 and the second bracket 460. Further, the first bracket 360 and the second bracket 460 are approximately cylindrical in shape as a whole, so they each have a central axis, and the intersection O is located on the central axis. In addition, as Figure 4 and Figure 5 As shown, the distance between the intersection point O and the first bearing 391 and the second bearing 392 can be adjusted according to the weight of the motor, so that the intersection point O is arranged close to the second bearing 392.

[0074] by Figure 5Taking the direction shown as an example, the drive motor 371 is arranged close to the second annular bracket 362, and the drive motor 371 protrudes outside the internal space of the second connecting bracket 463, so that the center of gravity of the drive motor 371 is located on the right side of the intersection (point O), the first synchronous pulley 372, the second synchronous pulley 373, the synchronous belt 374 and the second support rod 302 are arranged close to the first annular bracket 361, so that their center of gravity is located on the left side of point O, and the torque of the drive motor 371 relative to the intersection (point O) is approximately equal to the torque of the first synchronous pulley 372, the second synchronous pulley 373, the synchronous belt 374 and the second support rod 302 relative to point O. According to such a layout, the rotational inertia of the first branch chain 310 and the rotating joint when rotating to different positions can be roughly consistent, so as to ensure that the first branch chain 310 can move smoothly.

[0075] According to an embodiment of the present invention, in order to achieve the positioning of bearings 391 and 392, the rotating joint may also include a first positioning plate 461b arranged on one side of the first annular bracket 361 and the first rotating bracket 461, and a second positioning plate 369 arranged on one side of the second annular bracket 362 and the second rotating bracket 462. The first positioning plate 461b is fixed to the first annular bracket 361 and the first rotating bracket 461 by a fastening member, so that the bearing 391 can be confined between the first annular bracket 361 and the first rotating bracket 461; similarly, the second positioning plate 369 is fixed to the second annular bracket 362 and the second rotating bracket 462 by a fastening member, so that the bearing 392 can be confined between the second annular bracket 362 and the second rotating bracket 462.

[0076] In addition, the first connecting bracket 363 may connect the first annular bracket 361 and the second annular bracket 362 to each other only at a portion of the circumference of the first annular bracket 361 and the second annular bracket 362, so that the first connecting bracket 363 has a long strip shape. The second connecting bracket 463 may connect the first rotating bracket 461 and the second rotating bracket 462 substantially over the entire circumference of the first rotating bracket 461 and the second rotating bracket 462 to form a cylindrical accommodation space, and the driving motor 371 and the first synchronous pulley 372 of the driving assembly 370 are both installed in the cylindrical accommodation space. In this case, the second connecting bracket 463 may be formed integrally with at least a portion of the first rotating bracket 461 and the second rotating bracket 462.

[0077] In addition, in order to install the drive motor 371 and the first synchronous pulley 372, the overall size of the rotating joint can be designed according to the size of the drive motor 371, so that at least a portion of the drive motor 371 and the first synchronous pulley 372 can be accommodated in the accommodating space of the second connecting bracket 463.

[0078] In addition, in order to avoid the structure of the rotating joint being too large and interfering with the kinematic branch chain, the size of the rotating joint does not need to be set to completely accommodate the above structure in the accommodation space of the second connecting bracket 463. For example, the accommodation space of the second connecting bracket 463 can be an open space, which can allow a part of the driving motor 371 to protrude outside the accommodation space. In addition, the second connecting bracket 463 is formed with an opening for the synchronous belt 374 to extend to the outside, so that the synchronous belt 374 can extend to the outside and connect with the second synchronous pulley 373 and the slider 350.

[0079] According to an embodiment of the present invention, the second support rod 302 is fixed to the outer peripheral surface of the second connecting bracket 463, so that the second support rod 302 and the driving motor 371 are fixed to each other. Figure 6 As shown, the end of the second support rod 302 can be mounted to the second connection bracket 463 by a fastening member (eg, a nut) through an L-shaped connection protrusion 303 .

[0080] In addition, the support shaft 368 is rotatably connected to the base platform 100, such as Figure 7 As shown, the bracket shaft 368 is fixed to the first connection bracket 363. The bracket shaft 368 includes a shaft body 3681 and a mounting portion 3682 extending outward from the outer periphery of the shaft body 3681, a portion of the shaft body 3681 is inserted into the first connection bracket 363 and the bracket shaft 368 is mounted on the first connection bracket 363 by the mounting portion 3682 through a fastening member.

[0081] According to an embodiment of the present invention, a rotary encoder 400 may be further provided on the rotary joint, and the rotary encoder 400 may directly obtain the rotation angle of the first support rod 301 around the Z axis, thereby improving the movement accuracy of the execution end and improving the real-time performance.

[0082] like Figure 5 As shown, the rotary encoder 400 includes a magnet 410 and a receiving end 420. The magnet 410 is mounted on the first rotating bracket 461. The receiving end 420 is mounted on the first annular bracket 361 through the C-shaped bracket 340. The magnet 410 rotates with the first rotating bracket 461. The receiving end 420 is fixedly mounted on the first annular bracket 361 to receive the rotation signal of the magnet 410 to determine the rotation angle of the first support rod 301 around the Z axis.

[0083] Further, the first rotating bracket 461 includes an end cap 461a disposed on one side of the first annular bracket 361 to close the end of the cylindrical accommodation space, the end cap 461a rotates synchronously with the rotation of the inner rings of the bearings 391 and 392, and the magnet 410 is mounted at the center of the end cap 461a. The C-shaped bracket is mounted on the first annular bracket 361 at one side of the magnet 410, and a mounting portion for mounting the receiving end 420 of the rotary encoder 400 is provided on the C-shaped bracket 340, and the mounting portion is disposed at a position corresponding to the magnet 410.

[0084] However, the present invention is not limited thereto, and the C-shaped bracket 340 may also be mounted on the second annular bracket 362, and the end cover 461a may also be correspondingly disposed on one side of the second rotating bracket 462. In this case, the driving motor 371 is mounted on one side of the first annular bracket 361, and other structures are adjusted accordingly.

[0085] According to an embodiment of the present invention, the rotational movement of the first branch chain 310 around the central axis of the support shaft 368 is achieved by a first synchronous belt driving structure.

[0086] Specifically, Figure 8 As shown, the first synchronous belt drive structure includes a synchronous belt motor 503, a first pulley 501, a second pulley 502, and a conveyor belt (not shown) meshed with the first pulley 501 and the second pulley 502. The first pulley 501 is installed at the output end of the synchronous belt motor 503. The bracket shaft 368 is installed on the base platform 100 through a bearing seat (not shown), and the second pulley 502 and the bracket shaft 368 are coaxially fixed to each other, thereby, the first synchronous belt drive structure drives the first branch chain 310 to rotate around the bracket shaft 368.

[0087] Teeth (not shown) are formed on the surfaces of the first pulley 501 and the second pulley 502, and teeth meshing with the teeth on the first pulley 501 and the second pulley 502 are formed on the conveyor belt. Since the conveyor belt is made of a flexible material with a small elongation deformation, the gap between the teeth on the conveyor belt and the teeth on the first pulley 501 and the second pulley 502 can be compensated by the expansion of the conveyor belt, thereby avoiding the problem of return gap in the mechanical structure, thereby avoiding transmission errors, and since the conveyor belt material is soft, it can also absorb the vibration of the components, so that the movement of the first branch chain 310 is smoother.

[0088] As shown in the figure, the synchronous belt motor 503 is arranged below the base platform 100. Since the space below the base platform 100 is large and will not interfere with the motion branch chain, the synchronous belt motor 503 is configured to have a greater driving force than the drive motor 371 of the motion branch chain 300. Therefore, the synchronous belt motor 503 can be used to offset the rotational inertia of the first branch chain 310 around the X-axis direction.

[0089] In addition, since the torque of the synchronous belt motor 503 around the X-axis direction can be transmitted to the second branch chain 320 and / or the third branch chain 330 through the motion platform 200, the first synchronous belt drive structure can also be used to offset the rotational inertia of the second branch chain 320 and / or the third branch chain 330 in the same direction or different directions.

[0090] According to an embodiment of the present invention, the main operating hand may further include a synchronous belt drive structure that is used to drive the second branch chain 320 and the third branch chain 330 to rotate around their respective support axes and is the same as the first synchronous belt drive structure. In this case, when the extension direction of the support axis of the second branch chain 320 and / or the extension direction of the support axis of the third branch chain 330 is different from the extension direction of the support axis of the first branch chain 310, the rotational inertia of the first branch chain 310 around the Z-axis direction can be offset by the synchronous belt drive structure of the second branch chain 320 and / or the synchronous belt drive structure of the third branch chain 330.

[0091] Specifically, return to reference Figure 2 , the first branch chain 310 is connected to the base platform 100 and the moving platform 200 at the first static hinge point S1 and the first moving hinge point M1, respectively, the second branch chain 320 is connected to the base platform 100 and the moving platform 200 at the second static hinge point S2 and the second moving hinge point M2, respectively, and the third branch chain 330 is connected to the base platform 100 and the moving platform 200 at the third static hinge point S3 and the third moving hinge point M3, respectively. Among them, the first static hinge point S1, the second static hinge point S2 and the third static hinge point S3 correspond to the intersection point (point O) of each moving branch chain.

[0092] According to an embodiment of the present invention, the center of the circumscribed circle of the first static hinge point S1, the second static hinge point S2 and the third static hinge point S3 is defined as the first center, and the center of the circumscribed circle of the first movable hinge point M1, the second movable hinge point M2 and the third movable hinge point M3 is defined as the second center.

[0093] According to a preferred embodiment of the present invention, the line connecting the first static hinge point S1 and the third static hinge point S3 passes through the first center, and the line connecting the second static hinge point S2 and the first center is perpendicular to the line connecting the first static hinge point S1 and the third static hinge point S3. That is, the support shaft 368 of the first branch chain 310 coincides with the rotation center line of the support shaft of the third branch chain 330, and the rotation center line of the support shaft of the second branch chain 320 is perpendicular to the rotation center line of the support shaft 368 of the first branch chain 310 and the support shaft of the third branch chain 330. Therefore, the rotation direction of the first pulley and the second pulley in the synchronous belt drive structure of the third branch chain 330 is the same as the rotation direction of the first branch chain 310 around the Z axis, and therefore, the rotational inertia of the first branch chain 310 rotating around the Z axis is offset by the synchronous belt drive structure of the second branch chain 320. Similarly, the rotational inertia of the third branch chain 330 rotating around its Z axis is offset by the synchronous belt drive structure of the second branch chain 320 , and the rotational inertia of the second branch chain 320 rotating around its Z axis can be offset by the synchronous belt drive structure of the first branch chain 310 and / or the third branch chain 330 .

[0094] However, the present invention is not limited thereto, and the first static hinge point S1, the second static hinge point S2, the third static hinge point S3 and the first center may also adopt a layout different from that of the above embodiment. In this case, the rotation direction of the first pulley and the second pulley in the synchronous belt drive structure of the second branch chain 320 and the third branch chain 330 may be different from the rotation direction of the first branch chain 310 around the Z axis, but the driving force of the synchronous belt drive structure of the second branch chain 320 and / or the third branch chain 330 may be decomposed into a driving force including the same rotation direction as the first branch chain 310 around the Z axis, so the synchronous belt drive structure of the second branch chain 320 and / or the third branch chain 330 may still be used to offset the rotational inertia of the first branch chain 310 rotating around the Z axis. Similarly, the rotational inertia of the second branch chain 320 and the third branch chain 330 rotating around their respective Z axes can be offset by the synchronous belt drive structure of the other two moving branches.

[0095] Therefore, the rotational inertia of the first branch chain 310, the second branch chain 320, and the third branch chain 330 rotating around their respective X-axes and around their respective Z-axes can be controlled by the synchronous belt motor 503 installed under the base platform 100, which will hardly affect the hand feel.

[0096] Normally, the handle is arranged at the center of the motion platform 200. When the slider 350 slides relative to the first support rod 301, the friction force between them generates a torque relative to the motion platform 200, which acts on the position of the handle. When the doctor holds the handle to operate, the torque will act on the human hand, making the doctor feel fatigue easily. Therefore, the smaller the size of the motion platform 200, the less likely the doctor will feel fatigue. However, the size of the motion platform 200 cannot be reduced indefinitely. If the size of the motion platform 200 is infinitely reduced, the handle will have nowhere to be placed, or even if the handle is barely installed on the motion platform 200, the slight movement of the handle may cause it to interfere with each motion branch. From another perspective, if the size of the motion platform 200 is very small, and the size of the base platform 100 is significantly larger than the motion platform 200, when the handle moves, the slight movement of the handle may cause a large stroke change (linear motion and / or rotational motion) of the corresponding motion branch. Therefore, according to an embodiment of the present invention, the diameter of the motion platform 200 can be preferably set to have a size greater than or equal to 100 mm. For example, the diameter of the motion platform 200 may preferably be set to 100 mm, 103 mm, 115 mm, 120 mm, 130 mm, etc.

[0097] It should be noted that in the present application, the "diameter of the base platform" refers to the diameter of the circumscribed circle formed by connecting the first static hinge point S1, the second static hinge point S2 and the third static hinge point S3, and the "diameter of the moving platform" refers to the diameter of the circumscribed circle formed by connecting the first moving hinge point M1, the second moving hinge point M2 and the third moving hinge point M3.

[0098] In addition, when the base platform 100 is set to be small enough, the range of motion of the handle will be greatly limited, and a slight movement of the handle will also cause interference between the motion branches. To this end, according to a preferred embodiment of the present invention, the motion platform 200 and the base platform 100 are set so that the ratio of the diameter of the circumscribed circle of the motion platform 200 (hereinafter referred to as "the diameter of the motion platform 200") to the diameter of the circumscribed circle of the base platform 100 (hereinafter referred to as "the diameter of the base platform 100") is preferably greater than or equal to 1 / 2 and less than or equal to 1. That is, in the case where the diameter of the motion platform 200 is set to have a size greater than or equal to 100 mm, the ratio of the diameter of the motion platform 200 to the diameter of the base platform 100 is greater than or equal to 1 / 2 and less than or equal to 1.

[0099] In addition, according to an embodiment of the present invention, when the structures of the motion platform 200 and the base platform 100 meet the above conditions, in the initial state where the main operating hand does not perform any action, the angle between each motion branch and the base platform 100 can be set to be in the range of 60° to 90°. For example, the angle between each motion branch and the base platform 100 can be preferably set to 65°, 75°, 82°, 93°, etc. Through such a setting, the external force felt by the hand can be minimized, and the interference between the handle and each motion branch can be prevented.

[0100] Return to reference Figure 2 and Figure 3 According to an embodiment of the present invention, the operating main hand also includes a rotation driving unit 20 arranged below the base platform 100, and the rotation driving unit 20 drives the base platform 100 to rotate around a rotation axis (not marked) passing through the center of a circumscribed circle of the base platform 100 and perpendicular to the base platform 100. When the posture of the motion platform 200 changes, the rotation driving unit 20 drives the base platform 100 to rotate around the rotation axis by an angle equal to the rotation component of the motion platform 200 rotating relative to the rotation axis or relative to an axis parallel to the rotation axis, so that the rotation component of the motion platform 200 rotating relative to the rotation axis or relative to an axis parallel to the rotation axis is offset.

[0101] If the base platform 100 is always in a fixed state (that is, if the rotation drive unit 20 is not provided), when the handle action causes the motion platform 200 to change its posture, for example, when a large twist occurs, the parallel operating arm 10 will constrain the motion range of the motion platform 200, resulting in the limited motion space of the handle, and even interference between the hand and the motion branch, or interference between the handle or the motion platform 200 and the motion branch. In addition, when the handle changes its posture, each motion branch may change in multiple directions. The motion changes of each motion branch in multiple directions result in a large amount of computation in the control system, which may cause computational errors in the control system due to the multiple solution problem, thereby causing motion errors in the active arm at the execution end. In addition, due to the large amount of computation, real-time performance may not be ensured, resulting in the robot's insensitive response.

[0102] like Figure 3 As shown in , the operating main hand 11 may also include a mounting bracket 30 disposed between the rotation driving unit 20 and the base platform 100 and a hollow platform 40 disposed below the mounting bracket 30 , and the base platform 100 is mounted on the output end of the rotation driving unit 20 through the mounting bracket 30 .

[0103] The rotation driving unit 20 includes a harmonic reduction motor 21 disposed behind the operating main hand 11 and a synchronous belt 22 connecting the output end of the harmonic reduction motor 21 to the hollow platform 40 , so as to drive the base platform 100 to rotate.

[0104] According to an embodiment of the present invention, by making the length direction of the driving motor the same as the rotation axis direction of the second bracket, the rotation inertia of the branch chain in the rotation direction around the rotation axis of the second bracket can be reduced to ensure that the branch chain can move smoothly.

[0105] According to an embodiment of the present invention, by using a synchronous belt drive assembly to drive the extension and contraction of the motion branch chain, an accurate transmission ratio can be ensured, making force feedback more direct, and by installing the drive motor at one end of the motion branch chain close to the base platform, the weight on the operating side can be prevented from increasing and affecting the operating feel.

[0106] According to the embodiment of the present invention, since a rotation driving unit is provided to drive the base platform to rotate relative to the motion platform, the computational load of the system can be reduced and the motion accuracy of the execution end can be ensured.

[0107] In the present invention, the terms "first", "second", etc. are used only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more.

[0108] The features, structures or characteristics described in the present invention may be combined in one or more embodiments in any suitable manner. In the above description, many specific details are provided to provide a full understanding of the embodiments of the present invention. However, those skilled in the art will appreciate that the technical solution of the present invention may be practiced without one or more of the specific details, or other methods, components, materials, etc. may be adopted. In other cases, known structures, materials or operations are not shown or described in detail to avoid blurring various aspects of the present invention.

Claims

1. A main operating hand, It is characterized in that The operating master hand comprises a parallel operating arm (10) and a driving assembly (370) connected to the parallel operating arm (10); the parallel operating arm (10) comprises a base platform (100), a motion platform (200), and at least two motion branches (300) respectively rotatably connected to the base platform (100) and the motion platform (200); The motion branch chain (300) is connected to the base platform (100) via a rotating joint, the rotating joint comprising a first bracket (360) and a second bracket (460) rotatably connected to the first bracket (360), the first bracket (360) being provided with a bracket shaft (368), the bracket shaft (368) being rotatably connected to the base platform (100) and being used to drive the motion branch chain (300) to rotate around an axis where the bracket shaft (368) is located. The driving assembly (370) comprises a driving motor (371) and a transmission assembly (375) connected to the driving motor (371); the transmission assembly (375) is installed on the motion branch chain (300) and is used to drive the motion branch chain (300) to extend and shorten; The motion branch chain (300) and the drive motor (371) are both arranged on the second bracket (460); the axis of rotation of the second bracket (460) relative to the first bracket (360) is the first rotation axis; the motion branch chain (300) rotates around the first rotation axis; and the length direction of the drive motor (371) is the same as the direction of the rotation axis of the second bracket (460).

2. The operating master according to claim 1, It is characterized in that The rotation axis of the drive motor (371) is colinear with the first rotation axis.

3. The operating master according to claim 1, It is characterized in that The length direction of the driving motor (371) is arranged perpendicularly to the axis of the support shaft (368), and / or the length direction of the driving motor (371) is arranged perpendicularly to the motion branch chain (300).

4. The operating master according to claim 2, It is characterized in that The rotation axis of the output end of the drive motor (371) coincides with the first rotation axis.

5. The operating master according to claim 1, It is characterized in that The axis of the support shaft (368) and the rotation axis of the drive motor (371) are perpendicular to and intersect each other.

6. The operating master according to claim 5, It is characterized in that Each of the at least two motion branches (300) comprises a first support rod (301), a second support rod (302) and a slider (350) fixed on the first support rod (301); the slider (350) is slidably connected to the second support rod (302); the transmission assembly is fixedly connected to the slider (350); an extension line of the first support rod (301) is perpendicular to the rotation axis of the drive motor (371) and passes through an intersection (O) where the axis of the support shaft (368) intersects with the drive motor (371).

7. The operating master according to claim 6, It is characterized in that The intersection point (O) is located on the central axis of the first bracket (360) and the second bracket (460).

8. The operating master according to claim 7, It is characterized in that The first bracket (360) includes a first annular bracket (361) and a second annular bracket (362) arranged in parallel with each other, and a first connecting bracket (363) connecting the first annular bracket (361) and the second annular bracket (362), the bracket shaft (368) is arranged on the first connecting bracket (363) and mounted to the base platform (100), The second bracket (460) includes a first rotating bracket (461) arranged inside the first annular bracket (361), a second rotating bracket (462) arranged inside the second annular bracket (362), and a second connecting bracket (463) connecting the first rotating bracket (461) and the second rotating bracket (462). Wherein, the first bearing (391) is installed between the first annular support (361) and the first rotating support (461), and the second bearing (392) is installed between the second annular support (362) and the second rotating support (462).

9. The operating master according to claim 8, It is characterized in that At least a portion of the driving motor (371) is located in a receiving space formed by the second connecting bracket (463), and the second support rod (302) is fixed to an outer surface of the second connecting bracket (463).

10. The operating master according to claim 7, It is characterized in that The center of gravity of the drive motor (371) is located on one side of the central axis where the intersection (O) is located, and the center of gravity of the transmission assembly (375) and the second support rod (302) as a whole is located on the other side of the central axis where the intersection (O) is located.

11. The operating master according to claim 8, It is characterized in that The operating master hand also includes an encoder (400), The encoder (400) includes a magnet (410) and a receiving end (420), wherein the magnet (410) is fixed to the first rotating bracket (461) or the second rotating bracket (462), and the receiving end (420) is fixedly mounted to the second annular bracket (362) or the first annular bracket (361).

12. The operating master according to claim 1, It is characterized in that The transmission assembly (375) is a synchronous belt transmission assembly, and The driving motor (371) is installed at one end of the motion branch chain (300) close to the base platform (100).

13. The operating master according to claim 12, It is characterized in that Each of the at least two motion branches (300) comprises a first support rod (301), a second support rod (302), and a slider (350) fixed on the first support rod (301), wherein the slider (350) is slidably connected to the second support rod (302). The transmission assembly (375) comprises a first synchronous pulley (372), a second synchronous pulley (373) and a synchronous belt (374) respectively meshed with the first synchronous pulley (372) and the second synchronous pulley (373), wherein the first synchronous pulley (372) and the second synchronous pulley (373) are both connected to the second support rod (302). The synchronous belt (374) is fixedly connected to the slider (350) to drive the first support rod (301) to move relative to the second support rod (302).

14. The operating master according to claim 13, It is characterized in that The number of the motion branch chains (300) is three, and the motion branch chains (300) are UPS branch chains.

15. The operating master according to claim 1 or 12, It is characterized in that The diameter ratio of the moving platform (200) to the base platform (100) is greater than or equal to 1 / 2 and less than or equal to 1, The at least two motion branches (300) include three or more motion branches, the diameter of the motion platform (200) is the diameter of the circumscribed circle of the hinge points of the three or more motion branches and the motion platform (200), and the diameter of the base platform (100) is the diameter of the circumscribed circle of the hinge points of the three or more motion branches (300) and the base platform (100).

16. The operating master hand according to claim 15, It is characterized in that The diameter of the motion platform (200) is greater than or equal to 100 mm.

17. The operating master hand according to claim 16, It is characterized in that In an initial state, the angle between each of the three or more motion branches (300) and the base platform (100) is in the range of 60 to 90 degrees.

18. A doctor's console, It is characterized in that The control console includes an operating master according to any one of claims 1-17.

19. A laparoscopic surgical robot, It is characterized in that The robot comprises a physician console according to claim 18.

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