Four-degree-of-freedom force feedback main manipulator

Abstract

According to the four-degree-of-freedom force feedback master manipulator, a yaw operation assembly is used for controlling the overall yaw angle of a slave actuator and corresponds to the yaw angle of a wrist during operation, and a pitching operation assembly is used for controlling the overall pitching angle of the slave actuator and corresponds to the pitching angle of the wrist during operation. The rotating operation assembly is used for controlling the overall rotating angle of the slave actuator and corresponds to the rotating angle of the wrist during operation, and the shearing operation assembly is used for controlling shearing opening and closing of the slave actuator and corresponds to the shearing action of the finger during operation. The yaw operation assembly, the pitching operation assembly, the rotation operation assembly and the shearing operation assembly are each provided with a force feedback damper used for applying damping torque. Reasonability and convenience of hand operation of a human body are guaranteed, the corresponding force feedback damper can accurately record angles and apply damping torque, force feedback of a doctor during operation of a main manipulator is achieved, and reliability and precision of force feedback of the main manipulator are guaranteed.

Description

Technical Field

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

[0002] Minimally invasive surgery is a type of surgery that doctors perform with the help of an endoscope and special surgical instruments without causing large incisions. In order to achieve the effect of less trauma and better postoperative recovery, minimally invasive surgery has gone through a development process from multi-hole and single-hole laparoscopic surgery to natural orifice surgery. Natural orifice laparoscopic surgery is a method of using a surgical robot to reach the diseased tissue through the human body's cavity to perform surgery, which can achieve the effect of leaving no scars on the body surface. At present, the design of endoscopic minimally invasive surgical robots and the research on related key technologies have become one of the research hotspots in the field of surgical robots. Existing endoscopic minimally invasive surgical robots generally adopt a master-slave operation mode. The master operator is a human-machine interaction device between the doctor and the slave actuator. The doctor controls the master operator to enable the slave actuator to perform lesion exploration and human tissue manipulation in the cavity.

[0003] In order to enable doctors to feel the interaction force between the human body tissue, the master manipulator should usually have a force feedback function. Traditional force feedback master manipulators are usually of general design, which have the disadvantages of lack of freedom, mismatch of workspace, limited output range of posture angle, insufficient wrist flexibility, etc. for surgical robot systems. In addition, there are defects such as insufficient force feedback accuracy. Summary of the invention

[0004] The purpose of the present invention is to provide a master manipulator with multiple degrees of freedom, convenient operation and high force feedback accuracy in view of the deficiencies in the above-mentioned background technology.

[0005] In order to achieve the above-mentioned purpose, the present invention provides a four-degree-of-freedom force feedback master manipulator, including a yaw operation component, a pitch operation component, a rotation operation component and a shear operation component, the yaw operation component is used to control the yaw angle of the slave actuator as a whole, corresponding to the yaw angle of the wrist during operation, the pitch operation component is used to control the pitch angle of the slave actuator as a whole, corresponding to the pitch angle of the wrist during operation, the rotation operation component is used to control the rotation angle of the slave actuator as a whole, corresponding to the rotation angle of the wrist during operation, the shear operation component is used to control the shear opening and closing of the slave actuator, corresponding to the shear action of the finger during operation; the yaw operation component, the pitch operation component, the rotation operation component and the shear operation component are all provided with a force feedback damper, and the force feedback damper is used to apply a damping torque.

[0006] Furthermore, the yaw operation assembly includes a yaw force feedback damper and a support seat, and the support seat is connected to the yaw force feedback damper.

[0007] Furthermore, the support seat is configured in a semicircular ring shape.

[0008] Furthermore, the pitch operation assembly includes a pitch force feedback damper and a connecting rod, the connecting rod is connected to the pitch force feedback damper, and the pitch force feedback damper is connected to the support seat.

[0009] Furthermore, the support seat is also provided with a gravity balancing motor, the gravity balancing motor is connected to the connecting rod, and the gravity balancing motor is used to generate a balancing torque opposite to the gravity torque of the connecting rod.

[0010] Furthermore, the rotational operation assembly includes a rotational force feedback damper, a mounting frame and a rotating seat, the mounting frame is connected to the connecting rod, the rotational force feedback damper is connected to the mounting frame, the first end of the rotating seat is rotatably connected to the mounting frame, and the first end of the rotating seat is connected to the rotational force feedback damper, and the second end of the rotating seat is connected to the shearing operation assembly.

[0011] Furthermore, the first end of the rotating seat is rotatably connected to the mounting frame via a bearing, and the first end of the rotating seat is connected to the rotational force feedback damper via a coupling.

[0012] Furthermore, the shear operation assembly includes a shear force feedback damper, a shear seat, a handle and a control trigger, the shear seat is connected to the second end of the rotating seat, the handle is connected to the shear seat, the shear force feedback damper is arranged on the shear seat, the control trigger is connected to the shear force feedback damper, and the control trigger is provided with a ring.

[0013] Furthermore, the rotation axis of the control trigger is arranged in parallel with the rotation axis of the pitch operating assembly, and the rotation axis of the control trigger is arranged orthogonally with the rotation axis of the rotation operating assembly.

[0014] Furthermore, the rotation axis of the control trigger is eccentrically arranged with respect to the rotation axis of the rotating seat, so that the rotation axis of the rotating seat passes through the center of the wrist during hand operation, and the rotation axis of the control trigger corresponds to the position of the wrist after the fingers are closed.

[0015] The above scheme of the present invention has the following beneficial effects:

[0016] The four-degree-of-freedom force feedback master manipulator provided by the present invention ensures the rationality and convenience of human hand operation through the arrangement of four-degree-of-freedom components, and the corresponding force feedback damper can accurately record angles and apply damping torque, thereby realizing force feedback of the doctor during the operation of the master manipulator, ensuring the reliability and accuracy of the force feedback of the master manipulator, and forming an accurate and reliable surgical operation process based on the continuous connection between the master manipulator and the slave actuator;

[0017] The four-degree-of-freedom force feedback main operator provided by the present invention and the setting mode of the control trigger rotation axis of the shearing operation component can make the hand smoother when performing pitch and shearing operations without causing discomfort, and can be adjusted so that hands of different sizes feel comfortable when operating;

[0018] Other beneficial effects of the present invention will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 Another schematic diagram of the overall structure of the present invention;

[0021] Figure 3 It is a detailed schematic diagram of the rotating operation component and the shearing operation component of the present invention;

[0022] Figure 4 It is a schematic diagram of the eccentric setting of the rotating axis of the control trigger of the present invention.

[0023] [Description of Reference Numerals]

[0024] 10-yaw operation assembly; 11-yaw force feedback damper; 12-support seat; 20-pitch operation assembly; 21-pitch force feedback damper; 22-connecting rod; 23-gravity balance motor; 30-rotation operation assembly; 31-rotation force feedback damper; 32-mounting frame; 33-rotating seat; 34-coupling; 35-bearing; 40-shear operation assembly; 41-shear force feedback damper; 42-shear seat; 43-grip; 44-control trigger. DETAILED DESCRIPTION

[0025] 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.

[0026] 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.

[0027] 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.

[0028] like Figure 1 , Figure 2 As shown, an embodiment of the present invention provides a four-degree-of-freedom force feedback master operator, including a yaw operation component 10, a pitch operation component 20, a rotation operation component 30 and a shear operation component 40. Among them, the yaw operation component 10, the pitch operation component 20, the rotation operation component 30 and the shear operation component respectively correspond to a degree of freedom of the master operator. Specifically, the yaw operation component 10 is used to control the yaw angle of the slave actuator as a whole, which corresponds to the yaw angle of the wrist during operation; the pitch operation component 20 is used to control the pitch angle of the slave actuator as a whole, which corresponds to the pitch angle of the wrist during operation; the rotation operation component 30 is used to control the rotation angle of the slave actuator as a whole, that is, the rotation angle relative to the central axis of the slave actuator itself, which corresponds to the rotation angle of the wrist relative to the central axis of the forearm during operation; the shear operation component 40 is used to control the shear opening and closing of the slave actuator, which corresponds to the shearing action of the fingers during operation. 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.

[0029] At the same time, the yaw operation assembly 10, the pitch operation assembly 20, the rotation operation assembly 30 and the shear operation assembly 40 are all provided with force feedback dampers, and the damping torque is applied by the force feedback dampers, so that the hand can feel the damping during the operation, thereby achieving the purpose of force feedback.

[0030] Specifically, the yaw operation assembly 10 includes a yaw force feedback damper 11 and a support seat 12, and the support seat 12 is connected to the yaw force feedback damper 11. As a preferred embodiment, the support seat 12 in this embodiment is set to a semicircular ring shape to facilitate the wrist to be placed on the support seat 12 and maintain a comfortable posture. When the wrist yaws, it can drive the support seat 12 to rotate relative to the yaw force feedback damper 11, and the yaw force feedback damper 11 records the yaw angle and transmits it to the system. The system controls the yaw actuator assembly of the slave actuator to make it yaw at the same angle. The damping torque applied by the yaw force feedback damper 11 can make the yaw movement of the support seat 12 and the wrist feel force feedback, and the damping torque is consistent with the actual damping torque detected by the slave actuator, thereby ensuring the consistency of the yaw movement and force feedback of the yaw operation assembly 10 with the slave actuator.

[0031] In this embodiment, the pitch operation assembly 20 includes a pitch force feedback damper 21 and a connecting rod 22. The connecting rod 22 is preferably configured as a gantry shape, the end of the connecting rod 22 is connected to the pitch force feedback damper 21, the pitch force feedback damper 21 is arranged at the semicircular end position of the support seat, and the center position of the connecting rod 22 is used to install the rotation operation assembly 30, the shear operation assembly 40, etc. When the wrist pitches, since the fingers are held on the shear operation assembly 40, the connecting rod 22 can be driven to rotate relative to the pitch force feedback damper 21. Similarly, the pitch force feedback damper 21 records the pitch angle and transmits it to the system, and the system controls the pitch actuator assembly of the slave actuator to make it pitch the same angle. The damping torque applied by the pitch force feedback damper 21 can make the pitch motion of the connecting rod 22 and the wrist feel force feedback, and the damping torque is consistent with the actual damping torque detected by the actuator, thereby ensuring the consistency of the pitch motion and force feedback of the pitch operating component 20 and the actuator.

[0032] As a preferred embodiment, in this embodiment, a gravity balancing motor 23 is provided at one of the two ends of the support seat 12, and the gravity balancing motor 23 is relied on to generate a balancing torque opposite to the gravity torque of the rotating operating component 30 and the shearing operating component 40 on the connecting rod 22, thereby ensuring that the pitch force feedback damper 21 at the other end is not affected by the gravity moment, and the pitch force feedback generated by it is real and effective, further improving the accuracy of the force feedback.

[0033] At the same time Figure 3As shown, in this embodiment, the rotation operation assembly 30 includes a rotation force feedback damper 31, a mounting frame 32, a rotating seat 33, a coupling 34 and a bearing 35. Among them, the mounting frame 32 is set at the center position of the connecting rod 22, the rotation force feedback damper 31 is fixedly connected to the mounting frame 32, the first end of the rotating seat 33 is rotationally connected to the mounting frame 32 through a bearing 35, and the first end of the rotating seat 33 is connected to the rotation force feedback damper 31 through a coupling 34, and the second end of the rotating seat 33 is connected to the shearing operation assembly 40. When the wrist rotates, the rotating seat 33 can be driven to rotate relative to the rotation force feedback damper 31 because the fingers are held on the shearing operation assembly 40. Similarly, the rotation force feedback damper 31 records the rotation angle and transmits it to the system, and the system controls the rotation of the actuator assembly of the slave actuator to rotate the same angle. The damping torque applied by the rotational force feedback damper 31 can make the rotational movement of the rotating seat 33 and the wrist feel force feedback, and the damping torque is consistent with the actual damping torque detected by the actuator, thereby ensuring the consistency of the rotational movement and force feedback of the rotational operation component 30 and the actuator.

[0034] In this embodiment, the shearing operation component 40 includes a shearing force feedback damper 41, a shearing seat 42, a handle 43 and a control trigger 44. The shearing seat 42 is fixedly connected to the second end of the rotating seat 33 (can be an integral structure), and the handle 43 is fixedly connected to the shearing seat 42 (can be an integral structure) for holding by the palm. The shearing force feedback damper 41 is arranged on the shearing seat 42, and the control trigger 44 is connected to the shearing force feedback damper 41. When operating (usually), the index finger is placed in the ring of the control trigger 44. When it is necessary to shear from the actuator, the index finger is tightened to rotate the control trigger 44 relative to the shearing force feedback damper 41 and the shearing seat 42. Similarly, the shearing force feedback damper 41 records the shearing angle and transmits it to the system, and the shearing actuator component of the slave actuator is controlled by the system to shear the same angle. The damping torque applied by the shear force feedback damper 41 can make the control trigger 44 and the shearing movement of the finger feel force feedback, and the damping torque is consistent with the actual damping torque detected from the actuator, thereby ensuring the consistency of the shearing operation component 40 with the shearing movement and force feedback from the actuator.

[0035] At the same time Figure 4As shown, as a preferred embodiment, the rotation axis of the control trigger 44 of the shearing operation assembly 40 in this embodiment is arranged parallel to the rotation axis of the pitching operation assembly 20, and is arranged orthogonally to the rotation axis of the rotating operation assembly 30. Among them, the rotation axis of the control trigger 44 is eccentric to the rotation axis of the rotating seat 33, and the eccentricity is set to L, L corresponds to the human hand, so that when the hand is operated, the rotation axis of the rotating seat 33 passes through the center of the wrist, and the rotation axis of the control trigger 44 corresponds to the position of the wrist after the index finger is closed, so that the pitching and shearing operations are smoother and no discomfort is generated. It can be understood that for hands of different sizes, the L that feels comfortable during operation is different values, so the rotating operation assembly 30 and the shearing operation assembly 40 of different specifications can be replaced (that is, the center of the shearing seat 42 and the rotating seat 33 has different eccentricities L) so that hands of different sizes feel comfortable during operation.

[0036] It should be noted that, considering that the direction of gravity is vertically downward, in this embodiment, except for the pitch operating component, other components do not need to be equipped with a gravity balancing motor 23 to generate a balancing torque (the gravity of the control trigger 44 itself is small and has little effect). Therefore, only a gravity balancing motor 23 is set at one end of the support seat 12 to ensure the overall gravity balance.

[0037] To sum up, the four-degree-of-freedom force feedback master operator provided in this embodiment ensures the rationality and convenience of human hand operation through the setting of four-degree-of-freedom components, and the corresponding force feedback damper can accurately record angles and apply damping torque, thereby realizing force feedback of the doctor during the operation of the master operator, ensuring the reliability and accuracy of the force feedback of the master operator, and forming an accurate and reliable surgical operation process based on the continuous connection between the master operator and the slave actuator.

[0038] 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.

[0039] 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 four-degree-of-freedom force feedback master manipulator, characterized in that: It includes a yaw operation component, a pitch operation component, a rotation operation component and a shear operation component. The yaw operation component is used to control the yaw angle of the entire slave actuator, which corresponds to the yaw angle of the wrist during operation. The pitch operation component is used to control the pitch angle of the entire slave actuator, which corresponds to the pitch angle of the wrist during operation. The rotation operation component is used to control the rotation angle of the entire slave actuator, which corresponds to the rotation angle of the wrist during operation. The shear operation component is used to control the shear opening and closing of the slave actuator, which corresponds to the shearing action of the finger during operation. The yaw operation component, the pitch operation component, the rotation operation component and the shear operation component are all provided with a force feedback damper, and the force feedback damper is used to apply a damping torque.

2. A four-degree-of-freedom force feedback master manipulator according to claim 1, characterized in that: The yaw operation assembly comprises a yaw force feedback damper and a support seat, wherein the support seat is connected to the yaw force feedback damper.

3. A four-degree-of-freedom force feedback master manipulator according to claim 2, characterized in that: The support seat is arranged in a semicircular ring shape.

4. A four-degree-of-freedom force feedback master manipulator according to claim 2, characterized in that: The pitch operation assembly comprises a pitch force feedback damper and a connecting rod, wherein the connecting rod is connected to the pitch force feedback damper, and the pitch force feedback damper is connected to the support seat.

5. The four-degree-of-freedom force feedback master manipulator according to claim 4, characterized in that: The support seat is also provided with a gravity balancing motor, which is connected to the connecting rod and is used to generate a balancing torque opposite to the gravity torque of the connecting rod.

6. A four-degree-of-freedom force feedback master manipulator according to claim 4, characterized in that: The rotation operation component includes a rotation force feedback damper, a mounting frame and a rotating seat, the mounting frame is connected to the connecting rod, the rotation force feedback damper is connected to the mounting frame, the first end of the rotating seat is rotatably connected to the mounting frame, and the first end of the rotating seat is connected to the rotation force feedback damper, and the second end of the rotating seat is connected to the shear operation component.

7. A four-degree-of-freedom force feedback master manipulator according to claim 6, characterized in that: The first end of the rotating seat is rotatably connected to the mounting frame via a bearing, and the first end of the rotating seat is connected to the rotational force feedback damper via a coupling.

8. The four-degree-of-freedom force feedback master manipulator according to claim 6, characterized in that: The shearing operation component includes a shearing force feedback damper, a shearing seat, a handle and a control trigger. The shearing seat is connected to the second end of the rotating seat, the handle is connected to the shearing seat, the shearing force feedback damper is arranged on the shearing seat, the control trigger is connected to the shearing force feedback damper, and the control trigger is provided with a buckle.

9. A four-degree-of-freedom force feedback master manipulator according to claim 8, characterized in that: The rotation axis of the control trigger is arranged in parallel with the rotation axis of the pitch operating assembly, and the rotation axis of the control trigger is arranged orthogonally with the rotation axis of the rotation operating assembly.

10. A four-degree-of-freedom force feedback master manipulator according to claim 9, characterized in that: The rotation axis of the control trigger is eccentrically arranged with respect to the rotation axis of the rotating seat, so that the rotation axis of the rotating seat passes through the center of the wrist during hand operation, and the rotation axis of the control trigger corresponds to the position of the wrist after the fingers are closed.

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