Multi-degree-of-freedom decoupling force feedback main manipulator

Abstract

The invention provides a multi-degree-of-freedom decoupling force feedback main manipulator which is characterized in that a wrist rotating assembly comprises a wrist supporting seat and a rotating base, the wrist supporting seat is rotationally connected with the rotating base, a first magnetorheological damper is arranged at the joint of the wrist supporting seat and the rotating base, a wrist pitching assembly comprises a pitching connecting rod, and the pitching connecting rod is rotationally connected with the wrist supporting seat; the finger rotating assembly comprises a rotating sleeve, the rotating sleeve is rotationally connected with the pitching connecting rod, a third magnetorheological damper is arranged at the connecting position, the finger opening and closing assembly comprises a pair of finger control parts which are oppositely arranged, and the finger control parts are movably connected with the rotating sleeve. A fourth magneto-rheological damper is arranged in an associated mode, and meanwhile magnetic encoders are arranged. The force feedback effect of the minimally invasive surgery robot can be improved, and therefore the operation hand feeling and the operation accuracy of the minimally invasive surgery robot are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a multi-degree-of-freedom decoupling force feedback master manipulator. Background Art

[0002] Since interventional minimally invasive surgery has the advantages of precision, speed and less trauma, it has gradually become one of the main means of treating cardiovascular diseases. However, interventional minimally invasive surgery needs to be completed with the assistance of X-rays, and the surgeon must be exposed to X-rays for a long time. In order to alleviate the working environment of interventional surgeons, minimally invasive surgical robots are currently used to replace doctors to complete interventional minimally invasive surgery. Doctors control minimally invasive surgical robots in an X-ray-free environment through remote operation or remote control. Usually, there are two ways to control minimally invasive surgical robots, one of which is to control them by operating hands. Interventional minimally invasive surgery depends on the operator's control and feedback of the guidewire catheter. Therefore, the operator not only needs to issue operation commands to the minimally invasive surgical robot, such as the advance and retreat, rotation of the guidewire, etc., but also needs to feedback the resistance encountered during the advancement of the guidewire catheter to the operator's hand to help the doctor judge the current state of the guidewire / catheter in the blood vessel.

[0003] The lack of force feedback is the main pain point currently faced by minimally invasive surgical robots, especially for minimally invasive surgical robots that use electrical control. Force feedback can enable doctors to make accurate judgments about human tissue and operation processes when using minimally invasive surgical robots. However, the operator force feedback in the existing technology is still not accurate enough, the effect is still not good, and further improvement is needed. Summary of the invention

[0004] The purpose of the present invention is to provide a master manipulator that uses a damper to provide good force feedback in view of the deficiencies in the above-mentioned background technology.

[0005] In order to achieve the above object, the present invention provides a multi-degree-of-freedom decoupling force feedback master manipulator, including a wrist rotation component, a wrist pitch component, a finger rotation component and a finger opening and closing component;

[0006] The wrist rotation assembly comprises a wrist support seat and a rotating base, wherein the wrist support seat is rotatably connected to the rotating base, and a first magnetorheological damper is arranged at the connection, and the wrist support seat is used to support the human wrist;

[0007] The wrist pitch assembly includes a pitch link, the pitch link is rotatably connected to the wrist support seat, and a second magnetorheological damper is provided at the connection;

[0008] The finger rotation assembly includes a rotating sleeve, the rotating sleeve is rotationally connected to the pitch link, and a third magnetorheological damper is provided at the connection;

[0009] The finger opening and closing assembly comprises a pair of finger control parts arranged opposite to each other, the finger control parts are movably connected to the rotating sleeve, and are associated with a fourth magnetorheological damper, and the finger control parts are used for control by human fingers;

[0010] The first magnetorheological damper, the second magnetorheological damper, the third magnetorheological damper, and the fourth magnetorheological damper are all provided with a magnetic encoder.

[0011] Furthermore, the wrist support seat is configured as a semicircular ring, the pitch connecting rod is configured as a gantry shape, and two ends of the pitch connecting rod are rotatably connected to two ends of the wrist support seat.

[0012] Furthermore, the rotating sleeve is rotationally connected to the center position of the pitch link.

[0013] Furthermore, the finger control part comprises a finger connection ring and a control block which are connected to each other, the finger connection ring is used for inserting a human finger, and the control block is movably connected to the rotating sleeve.

[0014] Furthermore, the finger opening and closing assembly includes a gear shaft, the gear shaft is connected to the fourth magnetorheological damper, a gear is sleeved on the gear shaft, the control block is provided with a rack, and the rack is meshed with the gear.

[0015] Furthermore, the outer diameter of the gear is more than twice the outer diameter of the gear shaft.

[0016] Furthermore, a connecting groove is provided on the side wall of the rotating sleeve, the control block is movably inserted in the connecting groove, and the outer end size of the control block is larger than the notch size of the connecting groove.

[0017] Furthermore, the control block is also configured to be in a gantry shape, and the two control blocks are interlocked.

[0018] Furthermore, it also includes a small arm connecting rod and a large arm connecting rod; the rotating base is arranged at the first end of the small arm connecting rod, the second end of the small arm connecting rod is rotatably connected to the first end of the large arm connecting rod, and the second end of the large arm connecting rod is also provided with a rotational degree of freedom.

[0019] Furthermore, the boom connecting rod includes a boom main connecting rod and a boom auxiliary connecting rod. The first ends of the boom main connecting rod and the boom auxiliary connecting rod are respectively rotatably connected to different positions of the forearm connecting rod. The second ends of the boom main connecting rod and the boom auxiliary connecting rod are connected by a transfer connecting rod to form a parallelogram mechanism. The transfer connecting rod is extended with a balancing connecting rod. A balancing block is arranged on the balancing connecting rod. The balancing block can be installed at different positions of the balancing connecting rod.

[0020] The above scheme of the present invention has the following beneficial effects:

[0021] The multi-degree-of-freedom decoupled force feedback master manipulator provided by the present invention can enable each action of the doctor to be accurately mapped at the execution end when performing hand operations through the settings of various magnetorheological dampers and magnetic encoders. At the same time, the resistance received by the execution end generates a consistent damping force through the magnetorheological damper, thereby improving the force feedback effect of the minimally invasive surgical robot, thereby improving the operation feel and operation accuracy of the minimally invasive surgical robot.

[0022] The multi-degree-of-freedom decoupling force feedback main operator provided by the present invention can convert the translation of the clamping or shearing action into the rotation of the magnetorheological damper and provide damping through the setting of the control block and the gear shaft, gear, rack, etc. in the finger opening and closing assembly. The increase of the force arm can better simulate the force arm size of the shearing pliers and the like during actual operation, further improving the operation accuracy and operation feel.

[0023] Other beneficial effects of the present invention will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 Another schematic diagram of the overall structure of the present invention;

[0026] Figure 3 It is a schematic diagram of the internal structure of the rotating sleeve of the present invention;

[0027] Figure 4 It is a schematic diagram of the structure of the small arm connecting rod and the large arm connecting rod of the present invention.

[0028] [Description of Reference Numerals]

[0029] 1- wrist support seat; 2- rotating base; 3- first magnetorheological damper; 4- pitch link; 5- second magnetorheological damper; 6- rotating sleeve; 7- third magnetorheological damper; 8- finger connecting ring; 9- control block; 10- fourth magnetorheological damper; 11- gear shaft; 12- gear; 13- rack; 14- small arm connecting rod; 15- big arm main connecting rod; 16- big arm auxiliary connecting rod; 17- transfer connecting rod; 18- balance connecting rod; 19- balance block. DETAILED DESCRIPTION

[0030] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0031] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a locking 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 an indirect connection 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 the present invention can be understood according to specific circumstances.

[0033] like Figure 1 , Figure 2 As shown, an embodiment of the present invention provides a multi-degree-of-freedom decoupling force feedback master manipulator, including a wrist rotation component, a wrist pitch component, a finger rotation component and a finger opening and closing component. Among them, the wrist rotation component, the wrist pitch component, the finger rotation component and the finger opening and closing component respectively correspond to a degree of freedom of the master manipulator. The wrist rotation component is used to control the overall yaw angle of the execution end of the minimally invasive surgical robot (corresponding to the yaw angle of the wrist), the wrist pitch component is used to control the overall pitch angle of the execution end (corresponding to the pitch angle of the wrist), the finger rotation component is used to control the rotation angle of the clamping and shearing part of the execution end (relative to the central axis of the execution end itself), and the finger opening and closing component is used to control the opening and closing of the clamping and shearing part of the execution end. The setting of these four degrees of freedom conforms to the movement habits of the human hand, allowing doctors to have better hand operation space.

[0034] In this embodiment, the multi-degree-of-freedom decoupling force feedback master operator and the execution end are not controlled and force-fed back by steel wires. Instead, each degree of freedom is constructed with a precise tactile sensation through a magnetorheological damper, and a magnetic encoder is configured to read the displacement pulse value to obtain the accurate position of each degree of freedom. Specifically, the wrist rotation assembly includes a wrist support seat 1 and a rotating base 2, the wrist support seat 1 is rotatably connected to the rotating base 2, and a first magnetorheological damper 3 is arranged at the connection. Among them, the wrist support seat 1 is set in a semicircular ring shape to facilitate the human wrist to be placed on the wrist support seat 1 and maintain a comfortable posture. When the wrist rotates, it can drive the wrist support seat 1 to rotate relative to the rotating base 2. The first magnetorheological damper 3 adjusts the system to make the damping force of the wrist support seat 1 rotate consistent with the overall yaw resistance of the execution end, so as to achieve the effect of force feedback of the master operator, and the magnetic encoder can accurately obtain the rotation angle of the wrist support seat 1 relative to the rotating base 2, so that the feedback system controls the overall yaw angle of the execution end to be consistent. Therefore, the consistency of the yaw motion and resistance of the master operator and the execution end is guaranteed.

[0035] In the present embodiment, the wrist pitch assembly includes a pitch link 4, which is preferably arranged in a gantry shape, and the two ends of the pitch link 4 are rotatably connected to the two ends of the semicircular ring of the wrist support seat 1, and a second magnetorheological damper 5 is arranged at the connection, and the center position of the pitch link 4 is used to install the finger rotation assembly and the finger opening and closing assembly. When the wrist pitches, since the fingers are clamped on the finger opening and closing assembly, the pitch link 4 can be driven to rotate relative to the wrist support seat 1 (the line connecting the two ends of the semicircular ring of the wrist support seat 1 is the rotation axis). Similarly, the second magnetorheological damper 5 makes the damping force of the rotation of the pitch link 4 consistent with the resistance of the overall pitch of the execution end through system adjustment, and the magnetic encoder can accurately obtain the rotation angle of the pitch link 4 relative to the wrist support seat 1, so that the feedback system controls the overall yaw angle of the execution end to be consistent. Therefore, the consistency of the pitch movement and force feedback of the main operator and the execution end is guaranteed.

[0036] In this embodiment, the finger rotation assembly includes a rotating sleeve 6, which is rotatably connected to the center position of the pitch link 4, and a third magnetorheological damper 7 is provided at the connection, and the finger opening and closing assembly is connected to the rotating sleeve 6. Therefore, when the finger holding the finger opening and closing assembly rotates (i.e., the finger rotates relative to the central axis of the forearm), the rotating sleeve 6 can be driven to rotate relative to the pitch link 4. The third magnetorheological damper 7 adjusts the system to make the damping force of the rotating sleeve 6 consistent with the rotation resistance of the clamping shearing part of the execution end, and the magnetic encoder can accurately obtain the rotation angle of the rotating sleeve 6 relative to the pitch link 4, so that the feedback system controls the rotation angle of the clamping shearing part to be consistent, ensuring the consistency of the rotation angle and resistance of the clamping shearing part of the main operator and the execution end.

[0037] In this embodiment, the finger opening and closing assembly includes a pair of finger control parts arranged opposite to each other, and the finger control parts include an integrally formed finger connection ring 8 and a control block 9. Among them, the finger connection ring 8 is used for human finger insertion, and the control block 9 is movably connected to the rotating sleeve 6. At the same time, the rotating sleeve 6 is provided with a fourth magnetorheological damper 10, which can provide a damping force to the control block 9. Through system adjustment, the damping force of the finger control parts approaching each other is consistent with the clamping or shearing action resistance of the clamping and shearing part at the execution end.

[0038] It should be noted that when the human fingers perform a clamping or shearing action, the two finger control parts are driven to move toward each other in a translational manner, while the fourth magnetorheological damper 10 is consistent with other magnetorheological dampers and still adopts a rotational damping method. Figure 3 As shown, in this embodiment, the finger opening and closing assembly is also provided with a gear shaft 11, which is connected to the fourth magnetorheological damper 10, and a gear 12 is sleeved on the gear shaft 11. A rack 13 is provided on the side of the control block 9 opposite to the gear 12, and the rack 13 is meshed with the gear 12. Among them, the racks 13 of the two finger control parts are respectively located on the upper side and the lower side (or the left side and the right side) of the gear 12, so when the two finger control parts are close to or away from each other, the gear shaft 11 can be driven to rotate. On the one hand, the fourth magnetorheological damper 10 provides a damping force to the gear shaft 11, and on the other hand, the magnetic encoder can accurately obtain the rotation angle of the gear shaft 11 relative to the rotating sleeve 6, thereby mapping the position (spacing) of the two finger control parts, and the feedback system controls the clamping and shearing parts to act in a consistent manner, ensuring the consistency of the clamping or shearing action and resistance of the clamping and shearing parts of the main operator and the execution end.

[0039] It is also worth mentioning that, through the arrangement of the rack 13 and the gear 12, the relatively large translation of the clamping shearing part can be converted into a relatively small circumferential displacement on the gear shaft 11, which is adapted to the arrangement of the fourth magnetorheological damper 10. Among them, the outer diameter of the gear 12 is more than twice the outer diameter of the gear shaft 11. By increasing the force arm, the force arm size of the shearing pliers and the like during actual operation can be better simulated, further improving the operation accuracy and operation feel.

[0040] Among them, the first end of the rotating sleeve 6 is rotatably connected to the pitch link 4, the fourth magnetorheological damper 10 is arranged at the second end of the rotating sleeve 6, a connecting groove is provided on the side wall of the rotating sleeve 6, and the control block 9 of the two finger control parts is movably inserted in the connecting groove and can move horizontally relative to the connecting groove. At the same time, the outer end size of the control block 9 is larger than the notch size of the connecting groove to limit the control block 6 and prevent it from completely sliding out of the connecting groove.

[0041] As a preferred embodiment, the control block 9 in this embodiment is also configured in a gantry shape, and the two control blocks 9 are interlocked, that is, the first inner wall of the first control block 9 is slidably connected to the first outer wall of the second control block 9, and the second outer wall of the first control block 9 is slidably connected to the second inner wall of the second control block 9, and the rack 13 is disposed on the second inner wall of the first control block 9 and the first inner wall of the second control block 9. Therefore, the stability of the translation of the first control block 9 and the second control block 9 can be further improved, and the first control block 9 and the second control block 9, which are disposed in an offset manner, can form a limit between each other after being brought close to the limit position.

[0042] Therefore, the above-mentioned scheme provided in this embodiment, through the setting of the first magnetorheological damper 3, the second magnetorheological damper 5, the third magnetorheological damper 7 and the fourth magnetorheological damper 10 and the corresponding magnetic encoder, can enable the doctor's various actions when performing hand operations to be accurately mapped at the execution end. At the same time, the resistance experienced by the execution end generates a consistent damping force through the magnetorheological damper, thereby improving the force feedback effect of the minimally invasive surgical robot, thereby improving the operating feel and accuracy of the minimally invasive surgical robot.

[0043] It should be noted that minimally invasive surgical robots usually have force sensors installed on each joint of the execution end, and the resistance is detected by the force sensors, so that the feedback system can adjust the damping of the magnetorheological damper.

[0044] At the same time Figure 4 As shown, in this embodiment, the rotating base 2 of the wrist rotation assembly is arranged at the first end of the forearm link 14, the second end of the forearm link 14 is rotatably connected to the first end of the boom link, and the second end of the boom link is also provided with a rotational degree of freedom. The corresponding structure of the execution end is controlled by the setting of the forearm link 14 and the boom link and the feedback of the rotation angle to simulate the movement of the forearm and boom of the human body.

[0045] The boom connecting rod includes a boom main connecting rod 15 and a boom sub-connecting rod 16. The first ends of the boom main connecting rod 15 and the boom sub-connecting rod 16 are respectively connected to different positions of the second end of the arm connecting rod 14. The second ends of the boom main connecting rod 15 and the boom sub-connecting rod 16 are connected through a transfer connecting rod 17 to form a parallelogram mechanism. At the same time, in order to compensate for the gravity on the arm connecting rod 14 and the rotating base 2, in this embodiment, the transfer connecting rod 17 is extended to the other side of the boom main connecting rod 15 to be provided with a balancing connecting rod 18. The balancing connecting rod 18 is provided with a balancing block 19. The balancing block 19 can be installed at different positions of the balancing connecting rod 18, so that the entirety of the arm connecting rod and the rotating base 2 can be kept balanced when no external force is applied.

[0046] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0047] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A multi-degree-of-freedom decoupling force feedback master manipulator, characterized in that: It includes a wrist rotation component, a wrist pitch component, a finger rotation component and a finger opening and closing component; The wrist rotation assembly comprises a wrist support seat and a rotating base, wherein the wrist support seat is rotatably connected to the rotating base, and a first magnetorheological damper is arranged at the connection, and the wrist support seat is used to support the human wrist; The wrist pitch assembly includes a pitch link, the pitch link is rotatably connected to the wrist support seat, and a second magnetorheological damper is provided at the connection; The finger rotation assembly includes a rotating sleeve, the rotating sleeve is rotationally connected to the pitch link, and a third magnetorheological damper is provided at the connection; The finger opening and closing assembly comprises a pair of finger control parts arranged opposite to each other, the finger control parts are movably connected to the rotating sleeve, and are associated with a fourth magnetorheological damper, and the finger control parts are used for control by human fingers; The first magnetorheological damper, the second magnetorheological damper, the third magnetorheological damper, and the fourth magnetorheological damper are all provided with a magnetic encoder.

2. A multi-degree-of-freedom decoupling force feedback master manipulator according to claim 1, characterized in that: The wrist support seat is configured as a semicircular ring, the pitch connecting rod is configured as a gantry shape, and two ends of the pitch connecting rod are rotatably connected to two ends of the wrist support seat.

3. The multi-degree-of-freedom decoupling force feedback master manipulator according to claim 1, characterized in that: The rotating sleeve is rotatably connected to the center position of the pitch link.

4. The multi-degree-of-freedom decoupling force feedback master manipulator according to claim 1, characterized in that: The finger control part comprises a finger connection ring and a control block which are connected to each other. The finger connection ring is used for inserting a human finger, and the control block is movably connected to the rotating sleeve.

5. The multi-degree-of-freedom decoupling force feedback master manipulator according to claim 4, characterized in that: The finger opening and closing assembly includes a gear shaft, the gear shaft is connected to the fourth magnetorheological damper, a gear is sleeved on the gear shaft, the control block is provided with a rack, and the rack is meshed with the gear.

6. The multi-degree-of-freedom decoupling force feedback master manipulator according to claim 5, characterized in that: The outer diameter of the gear is more than twice the outer diameter of the gear shaft.

7. The multi-degree-of-freedom decoupling force feedback master manipulator according to claim 4, characterized in that: A connecting groove is provided on the side wall of the rotating sleeve, and the control block is movably inserted in the connecting groove. The outer end size of the control block is larger than the notch size of the connecting groove.

8. The multi-degree-of-freedom decoupling force feedback master manipulator according to claim 1, characterized in that: The control block is also configured in a gantry shape, and two control blocks are interlocked.

9. The multi-degree-of-freedom decoupling force feedback master manipulator according to claim 1, characterized in that: It also includes a small arm connecting rod and a large arm connecting rod; the rotating base is arranged at the first end of the small arm connecting rod, the second end of the small arm connecting rod is rotatably connected to the first end of the large arm connecting rod, and the second end of the large arm connecting rod is also provided with a rotational degree of freedom.

10. The multi-degree-of-freedom decoupling force feedback master manipulator according to claim 9, characterized in that: The boom connecting rod includes a boom main connecting rod and a boom sub-connecting rod. The first ends of the boom main connecting rod and the boom sub-connecting rod are respectively rotatably connected to different positions of the forearm connecting rod. The second ends of the boom main connecting rod and the boom sub-connecting rod are connected by a transfer connecting rod to form a parallelogram mechanism. A balancing connecting rod is extended from the transfer connecting rod. A balancing block is arranged on the balancing connecting rod. The balancing block can be installed at different positions of the balancing connecting rod.

Images