Multi-degree-of-freedom decoupled force feedback master manipulator

Abstract

The application provides a multi-degree-of-freedom decoupling force feedback master operating hand, a wrist rotating assembly comprises a wrist support seat and a rotating base, the wrist support seat is rotationally connected with the rotating base, and a first magneto-rheological damper is arranged at the connecting position, a wrist pitching assembly comprises a pitching connecting rod, the pitching connecting rod is rotationally connected with the wrist support seat, and a second magneto-rheological damper is arranged at the connecting position, a finger rotating assembly comprises a rotating sleeve, the rotating sleeve is rotationally connected with the pitching connecting rod, and a third magneto-rheological damper is arranged at the connecting position, a finger opening and closing assembly comprises a pair of finger control parts arranged oppositely, the finger control parts are movably connected with the rotating sleeve, and a fourth magneto-rheological damper is arranged in association, and the finger control parts are all provided with a magnetic encoder. The application can improve the force feedback effect of a minimally invasive surgical robot, so that the operation feeling and operation accuracy of the minimally invasive surgical 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 minimal 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. Generally, there are two ways to control minimally invasive surgical robots, one of which is to control them by the operator. Interventional minimally invasive surgery relies on the operator's control and feedback of the guidewire catheter. Therefore, the operator not only needs to issue operating 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 status 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 force feedback of the operator in the existing technology is still not accurate enough and the effect is still not good, which needs further improvement. 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 response to 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, comprising a wrist rotation component, a wrist pitch component, a finger rotation component, and a finger opening and closing component;

[0006] The wrist rotation assembly includes a wrist support seat and a rotating base, the wrist support seat is rotatably connected to the rotating base, and a first magnetorheological damper is provided 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 rotatably connected to the pitch link, and a third magnetorheological damper is provided at the connection;

[0009] The finger opening and closing assembly includes 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] A magnetic encoder is provided in each of the first magnetorheological damper, the second magnetorheological damper, the third magnetorheological damper, and the fourth magnetorheological damper.

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

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

[0013] Furthermore, the finger control part includes a finger connecting ring and a control block that are connected to each other, the finger connecting 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, which is connected to the fourth magnetorheological damper. A gear is sleeved on the gear shaft, and the control block is provided with a rack, which 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, and the control block is movably inserted into the connecting groove. 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 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 small arm 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. The transfer connecting rod is extended with a balancing connecting rod, and a balancing block is provided on the balancing connecting rod. The balancing block can be installed at different positions of the balancing connecting rod.

[0020] The above solution 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, through the configuration of various magnetorheological dampers and magnetic encoders, can enable each movement of the doctor during hand operation 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 enhancing the operating feel and accuracy of the minimally invasive surgical robot.

[0022] The multi-degree-of-freedom decoupling force feedback master operator provided by the present invention can convert the translational motion of the clamping or shearing action into rotation of the magnetorheological damper and provide damping through the arrangement of the control block, gear shaft, gear, rack, etc. in the finger opening and closing assembly. By increasing the lever arm, it can better simulate the lever arm size of the shearing pliers during actual operation, further improving the operating accuracy and operating 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 It is another schematic diagram of the overall structure of the present invention;

[0026] Figure 3 This 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-Forearm connecting rod; 15-Big arm main connecting rod; 16-Big arm secondary 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 embodiments described are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of 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," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0032] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to a locking connection, a detachable connection, or an integral connection; they may refer to a mechanical connection or an electrical connection; they may refer to a direct connection or an indirect connection through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the 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 minimally invasive surgical robot execution end (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 decoupled force feedback master manipulator and the actuator end device are not controlled or force-feedbacked by wires. Instead, each degree of freedom is precisely sensed by a magnetorheological damper, and a magnetic encoder is configured to read displacement pulse values ​​to obtain the exact position of each degree of freedom. Specifically, the wrist rotation assembly includes a wrist support 1 and a rotating base 2. The wrist support 1 is rotatably connected to the rotating base 2, and a first magnetorheological damper 3 is disposed at the connection. The wrist support 1 is configured in a semicircular ring shape to facilitate the placement of the human wrist on the wrist support 1 and maintain a comfortable posture. When the wrist rotates, it drives the wrist support 1 to rotate relative to the rotating base 2. The first magnetorheological damper 3 is adjusted by the system to ensure that the damping force of the wrist support 1 rotation is consistent with the overall yaw resistance of the actuator end device, thereby achieving the effect of force feedback for the master manipulator. The magnetic encoder accurately obtains the rotation angle of the wrist support 1 relative to the rotating base 2, thereby ensuring that the feedback system controls the overall yaw angle of the actuator end device. Therefore, the consistency of the yaw motion and resistance of the master manipulator and the actuator end device is ensured.

[0035] In this embodiment, the wrist pitch assembly includes a pitch link 4, which is preferably configured as a gantry. 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 provided at the connection. 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, because the fingers are clamped on the finger opening and closing assembly, they can drive the pitch link 4 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 is adjusted by the system to make the damping force of the pitch link 4 consistent with the resistance of the overall pitch of the actuator end. 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 actuator end to be consistent. Therefore, the consistency of the pitch movement and force feedback of the main operator and the actuator end is guaranteed.

[0036] In this embodiment, the finger rotation assembly includes a rotating sleeve 6, which is rotationally connected to the center position of the pitch link 4, and a third magnetorheological damper 7 is provided at the connection point. 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), it can drive the rotating sleeve 6 to rotate relative to the pitch link 4. The third magnetorheological damper 7 adjusts the system so that the damping force of the rotating sleeve 6 is consistent with the rotational resistance of the clamping and shearing part of the actuator end. 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 and shearing part to be consistent, ensuring the consistency of the rotation angle and resistance of the clamping and shearing part of the main operator and the actuator end.

[0037] In this embodiment, the finger opening and closing assembly includes a pair of opposed finger control units, each comprised of an integrally formed finger connection ring 8 and a control block 9. The finger connection ring 8 is intended for insertion of a human finger, while the control block 9 is movably connected to the rotating sleeve 6. The rotating sleeve 6 is also equipped with a fourth magnetorheological damper 10, which provides a damping force on the control block 9. Through system adjustment, the damping force of the finger control units' movement toward each other is aligned with the resistance to the clamping or shearing action of the clamping and shearing unit at the actuator 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 closer to each other, 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 further provided with a gear shaft 11, which is connected to the fourth magnetorheological damper 10. A gear 12 is sleeved on the gear shaft 11. A rack 13 is provided on the side of the control block 9 opposite the gear 12, and the rack 13 meshes with the gear 12. The racks 13 of the two finger control units are located on the upper and lower sides (or left and right sides) of the gear 12, respectively. Therefore, when the two finger control units move closer to or away from each other, they can drive the gear shaft 11 to rotate. On the one hand, the fourth magnetorheological damper 10 provides a damping force on the gear shaft 11. 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 units. The feedback system controls the consistent action of the clamping and shearing units, ensuring the consistency of the clamping or shearing action and resistance of the clamping and shearing units of the main operator and the actuator end.

[0039] It's also worth noting that the arrangement of rack 13 and gear 12 allows the relatively large translational motion of the clamping and shearing portion to be converted into a relatively small circumferential displacement on gear shaft 11, thus accommodating the configuration of fourth magnetorheological damper 10. The outer diameter of gear 12 is at least twice that of gear shaft 11. This increased lever arm better simulates the lever arm of shears and other similar devices during actual operation, further enhancing operational accuracy and feel.

[0040] The first end of the rotating sleeve 6 is rotatably connected to the pitch link 4, and the fourth magnetorheological damper 10 is disposed at the second end of the rotating sleeve 6. A connecting slot is defined on the sidewall of the rotating sleeve 6, into which the control block 9 of the two-finger control unit is movably inserted, allowing translation relative thereto. Furthermore, the outer end of the control block 9 is larger than the notch of the connecting slot, thereby limiting the control block 6 and preventing it from completely sliding out of the slot.

[0041] As a preferred embodiment, the control block 9 in this embodiment is also configured in a gantry shape, with the two control blocks 9 interlocking with each other, i.e., 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 and second control blocks 9 can be further improved, and the offset first and second control blocks 9 can form a limit between each other when they are brought close to the extreme 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 to accurately map each action at the execution end when performing hand operation. At the same time, the resistance encountered 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 operation 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 set 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 human forearm and boom.

[0045] The boom linkage comprises a main boom linkage 15 and a secondary boom linkage 16. The first ends of the main boom linkage 15 and the secondary boom linkage 16 are respectively connected to different positions on the second end of the arm linkage 14. The second ends of the main boom linkage 15 and the secondary boom linkage 16 are connected by a transfer link 17, thereby forming a parallelogram mechanism. Furthermore, to compensate for the gravity on the arm linkage 14 and the rotating base 2, in this embodiment, a balancing link 18 is provided extending from the transfer link 17 to the other side of the main boom linkage 15. The balancing link 18 is provided with a balancing weight 19, which can be installed at different positions on the balancing link 18, thereby maintaining the balance of the arm linkage and the rotating base 2 as a whole when not subjected to external forces.

[0046] The technical features of the above embodiments can 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 merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended 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 includes a wrist support seat and a rotating base, the wrist support seat is rotatably connected to the rotating base, and a first magnetorheological damper is provided 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 rotatably connected to the pitch link, and a third magnetorheological damper is provided at the connection; The finger opening and closing assembly includes 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; A magnetic encoder is provided in each of the first magnetorheological damper, the second magnetorheological damper, the third magnetorheological damper, and the fourth magnetorheological damper.

2. The 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 portal frame, and both ends of the pitch connecting rod are rotatably connected to both 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 includes a finger connecting ring and a control block that are connected to each other. The finger connecting 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, which is connected to the fourth magnetorheological damper. A gear is sleeved on the gear shaft, and the control block is provided with a rack, which 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 into 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 4, characterized in that: The control blocks are also configured in a gantry shape, and the two control blocks are interlocked with each other.

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 small arm 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. The transfer connecting rod is extended with a balancing connecting rod. A balancing block is provided on the balancing connecting rod. The balancing block can be installed at different positions of the balancing connecting rod.

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