A six-degree-of-freedom parallel force feedback teleoperation hand

Abstract

This application discloses a six-degree-of-freedom parallel force feedback telemanipulator, including a base, a static platform, three branch structures, and a moving platform. The moving platform is equipped with an end effector for handheld operation by a doctor. Each branch structure includes a first motion mechanism, a first drive member, a second motion mechanism, a second drive member, and a connecting rod. The first motion mechanism and the first drive member are mounted on the static platform, and the first drive member drives the first motion mechanism to rotate around a first axis. The second motion mechanism and the second drive member are mounted on the first motion mechanism, and the second drive member drives the second motion mechanism to rotate around a second axis. The two ends of the connecting rod are respectively connected to the second motion mechanism and the moving platform. The three branch structures form a closed-loop parallel configuration and provide six degrees of freedom, offering high flexibility and a large workspace. Furthermore, the first and second drive members are positioned far from the moving platform, resulting in low inertia for the doctor's operation, making operation convenient and effortless, and reducing fatigue during prolonged use.

Description

Technical Field

[0001] This disclosure relates to the field of master-slave teleoperated robot technology, specifically to a six-degree-of-freedom parallel force feedback teleoperator. Background Technology

[0002] Robot-assisted minimally invasive surgery systems typically consist of a master surgical console and several slave surgical arms. Surgeons control the surgical instruments at the ends of the slave arms to perform delicate surgical procedures by manipulating the controllers on the master console. The force feedback master hand is a key component of the master-slave teleoperated robot system. It serves as both the input device for real-time motion control of the slave robotic arms and the force feedback output device reflecting the interaction between the slave robotic arms and the environment. Its structural characteristics and force control performance directly affect whether the entire teleoperation system can fulfill its intended mission requirements.

[0003] Force feedback manipulators are mainly classified into three structural types: series, parallel, and hybrid. Series manipulators offer advantages such as large workspace, flexible movement, and simple control, but suffer from lower stiffness, smaller feedback force, and poorer positioning accuracy. Each joint requires a drive motor, resulting in a heavier overall weight and increased workload for the operator. Parallel manipulators offer advantages such as low inertia, high stiffness, high load-bearing capacity, and good motion accuracy, but have a smaller workspace and lower flexibility. Hybrid series-parallel force feedback manipulators combine series and parallel structures. Their position adjustment mechanism is typically parallel, while the posture adjustment mechanism is series. They possess the advantages of series manipulators (large workspace, decoupling of position and posture, and flexible operation) and parallel manipulators (high stiffness and high output force), but their structure is more complex. The posture adjustment motors are often located near the end effector, close to the operator's hand, leading to a large end-effector inertia. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a six-degree-of-freedom parallel force feedback teleoperator.

[0005] This application provides a six-degree-of-freedom parallel force feedback teleoperator, comprising: Base; A static platform, which is fixedly mounted on the base; A moving platform, wherein an end effector is provided on the moving platform for handheld operation by a doctor; Three branch structures are evenly distributed circumferentially on the static platform, and the ends of the three branch structures away from the static platform are connected to the moving platform. Each of the aforementioned branch structures includes: A first motion mechanism is rotatably mounted on the stationary platform about a first axis, the first axis extending along a first direction and perpendicular to the stationary platform; A first driving component is disposed on the static platform and connected to the first motion mechanism through a first transmission mechanism, for driving the first motion mechanism to rotate around the first axis. A second motion mechanism is rotatably disposed at the end of the first motion mechanism away from the stationary platform, about a second axis, and the second axis is perpendicular to the first axis. The second driving member is disposed on the first motion mechanism and is connected to the second motion mechanism through the second transmission mechanism, and is used to drive the second motion mechanism to rotate around the second axis. A straight connecting rod, one end of which is rotatably mounted on the end of the second motion mechanism away from the first motion mechanism, and the other end is connected to the moving platform via a ball joint.

[0006] According to the technical solution provided in the embodiments of this application, the static platform is provided with three first connecting shafts, which are evenly distributed circumferentially, and the axis of the first connecting shaft is the first axis; the static platform is also provided with three first mounting parts for mounting the first driving component, which are evenly distributed circumferentially and correspond one-to-one with the three first connecting shafts.

[0007] According to the technical solution provided in the embodiments of this application, the first motion mechanism includes: The first link has an arc-shaped structure and is parallel to the stationary platform. The two ends of the first link are a first end and a second end, respectively. A first connecting rod extends from the first end toward the arc center of the first link. The end of the first connecting rod away from the first link has a first connecting part, which is rotatably sleeved on the first connecting shaft. The second connecting rod extends along the first direction and is fixedly disposed at the second end. The end of the second connecting rod near the first connecting rod is provided with a second mounting part for mounting the second driving component. The end of the second connecting rod away from the first connecting rod is provided with a second connecting shaft parallel to the first connecting rod, and the axis of the second connecting shaft is the second axis.

[0008] According to the technical solution provided in the embodiments of this application, the outer arc surface of the first connecting rod is provided with a first groove, and the first transmission mechanism includes: The first wire rope has one end fixedly connected to one end of the first wire groove, and the other end is wound around the drive shaft of the first drive component and then connected to the other end of the first wire groove through the first tensioning component.

[0009] According to the technical solution provided in the embodiments of this application, the second motion mechanism includes: The second link has a fan-shaped structure and is perpendicular to the first link. The second link has a second connecting part at its center, and the second connecting part is rotatably sleeved on the second connecting shaft. The third connecting rod is disposed on the second connecting rod and is located on one side of the fan-shaped opening and away from the center. The end of the third connecting rod away from the second connecting rod is provided with a third connecting shaft perpendicular to the second connecting rod.

[0010] According to the technical solution provided in the embodiments of this application, the outer arc surface of the second connecting rod is provided with a second groove, and the second transmission mechanism includes: The second wire rope has one end fixedly connected to one end of the second wire groove, and the other end is wound around the drive shaft of the second drive component and then connected to the other end of the second wire groove through the second tensioning assembly.

[0011] According to the technical solution provided in the embodiments of this application, one end of the straight connecting rod has a third connecting part, the third connecting part is rotatably sleeved on the third connecting shaft, and the other end of the straight connecting rod is provided with the ball joint; the moving platform has a triangular structure, and each of its triangular parts has a fourth connecting part, the fourth connecting part and the ball joint are rotatably connected.

[0012] According to the technical solution provided in the embodiments of this application, both the first tensioning assembly and the second tensioning assembly include an adjusting member and an elastic member connected to each other. The ends of the adjusting member and the elastic member in the first tensioning assembly that are far apart are respectively connected to the first wire groove and the first wire rope. The ends of the adjusting member and the elastic member in the second tensioning assembly that are far apart are respectively connected to the second wire groove and the second wire rope.

[0013] According to the technical solution provided in the embodiments of this application, a sensor is connected to the end of the drive shaft of the first drive member away from the first wire rope and the end of the drive shaft of the second drive member away from the second wire rope. The first drive member, the second drive member, and the sensor are all electrically connected to an external controller.

[0014] In summary, this technical solution specifically discloses a six-degree-of-freedom parallel force feedback telemanipulator, including a base, a static platform mounted on the base, and three circumferentially distributed branch structures on the static platform. The end of each branch structure away from the static platform is connected to a moving platform, which is equipped with an end effector for handheld operation by the doctor. Each branch structure includes a first motion mechanism, a first drive member, a second motion mechanism, a second drive member, and a connecting rod. The first motion mechanism and the first drive member are mounted on the static platform and can be driven by the first drive member to rotate around a first axis. The second motion mechanism and the second drive member are mounted on the first motion mechanism and are perpendicular to the first motion mechanism. The second motion mechanism can be driven by the second drive member to rotate around a second axis, which is perpendicular to the first axis. The end of the second motion mechanism away from the first motion mechanism is connected to the moving platform via a connecting rod. Thus, the three branch structures form a closed-loop parallel configuration, providing six degrees of freedom, high flexibility, and a large workspace. Furthermore, since the first and second drive members are both located away from the moving platform, the doctor's inertia is small, making operation convenient and effortless, and reducing fatigue during prolonged use. Attached Figure Description

[0015] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of a six-degree-of-freedom parallel force feedback teleoperator.

[0016] Figure 2 for Figure 1 Top view.

[0017] Figure 3 for Figure 1 Side view.

[0018] Figure 4 This is a top view of a static platform.

[0019] Figure 5 for Figure 4 AA section diagram.

[0020] Figure 6 This is a schematic diagram of a branched structure.

[0021] Figure 7 This is an exploded view of the branched structure.

[0022] Figure 8 This is a schematic diagram of the first tensioning component of the first motion mechanism.

[0023] Figure 9 This is a schematic diagram of the first motion mechanism.

[0024] Figure 10 This is a schematic diagram of the second motion mechanism.

[0025] Labels in the diagram: 1. Base; 2. Static platform; 3. Moving platform; 4. First driving component; 5. Second driving component; 6. Straight connecting rod; 7. Ball joint; 8. First connecting shaft; 9. First connecting rod; 10. Second connecting rod; 11. Second connecting shaft; 12. First wire rope; 13. Second connecting rod; 14. Third connecting rod; 15. Third connecting shaft; 16. Second wire rope; 17. Third connecting part; 18. Fourth connecting part; 19. Adjusting component; 20. Elastic component; 21. End effector; 22. Deep groove ball bearing. Detailed Implementation

[0026] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0027] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0028] like Figures 1 to 3 , Figure 6 As shown, a six-degree-of-freedom parallel force feedback teleoperator includes: Base 1; Static platform 2 is fixedly mounted on base 1; The moving platform 3 is equipped with an end effector 21 for handheld operation by the doctor. Three branch structures are evenly distributed circumferentially on the static platform 2, and the ends of the three branch structures that are away from the static platform 2 are connected to the moving platform 3. Each branch structure includes: The first motion mechanism is rotatably mounted on the stationary platform 2 about a first axis, which extends along a first direction and is perpendicular to the stationary platform 2. The first driving component 4 is disposed on the static platform 2 and connected to the first motion mechanism through the first transmission mechanism, and is used to drive the first motion mechanism to rotate around the first axis. The second motion mechanism is rotatably disposed at the end of the first motion mechanism away from the static platform 2, about a second axis, and the second axis is perpendicular to the first axis; The second driving component 5 is disposed on the first motion mechanism and is connected to the second motion mechanism through the second transmission mechanism, and is used to drive the second motion mechanism to rotate around the second axis. The direct connecting rod 6 has one end rotatably mounted on the end of the second motion mechanism away from the first motion mechanism, and the other end is connected to the moving platform 3 via a ball joint 7.

[0029] Specifically, the base 1 is fixedly installed on the workbench or equipment housing, and a static platform 2 is fixedly installed on the base 1. The static platform 2 can be connected by screws. The static platform 2 can be set perpendicular to the base 1, and the static platform 2 can be a circular structure.

[0030] The static platform 2 has three branch structures evenly distributed in the circumferential direction. The ends of the three branch structures away from the static platform 2 are connected to the moving platform 3. The moving platform 3 is equipped with an end effector 21 for doctors to operate by hand.

[0031] The branch structure includes: a first motion mechanism, a first drive member 4, a second motion mechanism, a second drive member 5, and a straight connecting rod 6; wherein, the first drive member 4 is disposed on the stationary platform 2 and can drive the first motion mechanism to rotate around a first axis, the first axis extending along a first direction and perpendicular to the stationary platform 2, thereby providing three degrees of freedom for the three circumferentially evenly distributed first motion mechanisms; the second drive member 5 and the second motion mechanism are both disposed on the first motion mechanism, the second drive member 5 can drive the second motion mechanism to rotate around a second axis, the second axis being perpendicular to the first axis, thereby providing three degrees of freedom for the three second motion mechanisms. Thus, the three branch structures provide six degrees of freedom for the moving platform 3, making it flexible in operation and overcoming the shortcomings of poor flexibility and small working space of the parallel teleoperator in the prior art. The end of the second motion mechanism away from the first motion mechanism is connected to the moving platform 3 through the straight link 6. Therefore, when the doctor operates the end effector 21, there are no driving elements near the hand. The first drive component 4 and the second drive component 5 that can drive the first motion mechanism and the second motion mechanism are both set close to the stationary platform 2, so that the doctor's inertia is small and no obvious weight is felt. The operation is convenient and labor-saving, and it is not easy to get tired after long-term use.

[0032] Meanwhile, the three branch structures are evenly distributed circumferentially on the static platform 2 and are connected to the moving platform 3 through the straight connecting rod 6 to form a closed-loop parallel configuration, which eliminates the cumulative error of the series open chain. Furthermore, the three branch structures share the load and work together to support the moving platform 3, thereby improving the rigidity of the teleoperator.

[0033] The first direction is Figure 3 In the vertical direction, the first direction is perpendicular to the static platform 2.

[0034] Furthermore, such as Figure 4 and Figure 5As shown, the static platform 2 is provided with three first connecting shafts 8, which are evenly distributed around the circumference, and the axis of the first connecting shaft 8 is the first axis; the static platform 2 is also provided with three first mounting parts for mounting the first driving component 4, which are evenly distributed around the circumference and correspond one-to-one with the three first connecting shafts 8.

[0035] Specifically, three first connecting shafts 8 are evenly distributed circumferentially on the stationary platform 2. The axis of the first connecting shaft 8 is the first axis, which extends along the first direction to provide a mounting base for the first motion mechanism. The stationary platform 2 also has three first mounting portions for mounting the first driving component 4. These three mounting portions are evenly distributed circumferentially and correspond one-to-one with the three first connecting shafts 8. Each first mounting portion can be a through hole extending through the stationary platform 2, with its axis parallel to the first direction. The first driving component 4 has a drive shaft that extends from the side of the stationary platform 2 away from the first driving mechanism through the through hole to the side closer to the first motion mechanism. The first driving component 4 can be mounted on the side wall of the stationary platform 2 away from the first motion mechanism by screws. The first driving component 4 can be a motor.

[0036] Furthermore, such as Figure 6 , Figure 7 , Figure 8 , Figure 9 The first motion mechanism shown includes: The first link 9 has an arc-shaped structure and is parallel to the static platform 2. The two ends of the first link 9 are the first end and the second end, respectively. The first end extends towards the arc center of the first link 9 with a first connecting rod. The end of the first connecting rod away from the first link 9 has a first connecting part, which is rotatably sleeved on the first connecting shaft 8. The second connecting rod 10 extends along the first direction and is fixedly disposed at the second end. The end of the second connecting rod 10 near the first connecting rod 9 is provided with a second mounting part for mounting the second driving component 5. The end of the second connecting rod 10 away from the first connecting rod 9 is provided with a second connecting shaft 11 parallel to the first connecting rod 9. The axis of the second connecting shaft 11 is the second axis.

[0037] Specifically, the first motion mechanism includes a first connecting rod 9, which is an arc-shaped structure and is arranged parallel to the stationary platform 2. The arc length of the first connecting rod 9 can be half the circumference of a circle. The two ends of the first connecting rod 9 are a first end and a second end, respectively. The first end extends towards the arc center of the first connecting rod 9 with a first connecting rod. The first connecting rod is parallel to the stationary platform 2. The end of the first connecting rod away from the first connecting rod 9 has a first connecting part. The first connecting part can be a first connecting hole. A deep groove ball bearing 22 is provided in the first connecting hole. The inner wall of the first connecting hole is fixedly connected to the outer wall of the outer ring of the deep groove ball bearing 22. The inner ring of the deep groove ball bearing 22 is sleeved on the first connecting shaft 8, and the inner wall of the inner ring of the deep groove ball bearing 22 is fixedly connected to the first connecting shaft 8. Thus, the first driving member 4 can drive the first connecting rod 9 to rotate around the first axis through the first transmission mechanism.

[0038] A second connecting rod 10 is fixedly installed on the side wall away from the static platform 2 at the second end of the first connecting rod 9. The second connecting rod 10 extends along the first direction. A second mounting part is provided at the end of the second connecting rod 10 near the first connecting rod 9, and a second connecting shaft 11 is provided at the end away from the first connecting rod 9. The second mounting part can be a second through hole, which is opened through the end of the second connecting rod 10 near the first connecting rod 9, and the axis of the second through hole is parallel to the first connecting rod 9. The second through hole is used to install a second driving member 5. The second driving member 5 has a driving shaft. The second driving member 5 is fixedly installed on one side of the second connecting rod 10 by screws, and its driving shaft extends through the second through hole to the other side of the second connecting rod 10. The axis of the second connecting shaft 11 is a second axis, which is parallel to the first connecting rod 9.

[0039] Furthermore, the outer arc surface of the first connecting rod 9 is provided with a first groove, and the first transmission mechanism includes: The first wire rope 12 has one end fixedly connected to one end of the first wire groove, and the other end is wound around the drive shaft of the first drive component 4 and then connected to the other end of the first wire groove through the first tensioning component.

[0040] Specifically, the outer arc surface of the first connecting rod 9 is provided with a first groove. The first transmission mechanism includes a first steel wire rope 12. One end of the first steel wire rope 12 is fixedly connected to one end of the first groove. The other end is wound around the drive shaft of the first driving member 4 and then connected to the other end of the first groove through a first tensioning assembly. Optionally, the first steel wire rope 12 is wound around the drive shaft of the first driving member 4 2 to 3.5 times. The circumferential sidewall of the drive shaft of the first driving member 4 can be knurled or fitted with a friction sleeve to increase the friction between it and the first steel wire rope 12. Anchor points can be set on the drive shaft of the first driving member 4. The first steel wire rope 12 is wound around the drive shaft of the first driving member 4 after being connected to the anchor points. The anchor points can prevent relative sliding between the drive shaft and the first steel wire rope 12. The anchor points can be selected as holes opened on the drive shaft. The first tensioning assembly is used to straighten the first steel wire rope 12. Both the first tensioning assembly and the anchor points are used to ensure torque transmission.

[0041] Furthermore, such as Figure 6 , Figure 7 , Figure 10 As shown, the second motion mechanism includes: The second link 13 has a fan-shaped structure and is perpendicular to the first link 9. The second link 13 has a second connecting part at its center, and the second connecting part is rotatably sleeved on the second connecting shaft 11. The third connecting rod 14 is disposed on the second connecting rod 13 and is located on one side of the fan-shaped opening and away from the center. The end of the third connecting rod 14 away from the second connecting rod 13 is provided with a third connecting shaft 15 perpendicular to the second connecting rod 13.

[0042] Specifically, the second motion mechanism includes a second connecting rod 13, which has a fan-shaped structure and can be optionally a 3 / 4 circle. The second connecting rod 13 is arranged perpendicular to the first connecting rod 9. The circular part of the second connecting rod 13 has a second connecting part, which can be optionally a second connecting hole that passes through the center of the second connecting rod 13. A deep groove ball bearing 22 is provided in the second connecting hole. The outer wall of the outer ring of the deep groove ball bearing 22 is fixedly connected to the inner wall of the second connecting hole. The inner ring of the deep groove ball bearing 22 is fixedly sleeved on the second connecting shaft 11. Thus, the drive shaft of the second driving member 5 can drive the second connecting rod 13 to rotate around the second axis through the second transmission structure.

[0043] A third connecting rod 14 is fixedly installed on one side of the fan-shaped opening on the second connecting rod 13, away from the center of the second connecting rod 13. The third connecting rod 14 is parallel to the second connecting rod 13, and a third connecting shaft 15 is provided at the end away from the second connecting rod 13 for connecting the straight connecting rod 6.

[0044] Furthermore, a second groove is formed on the outer arc surface of the second connecting rod 13, and the second transmission mechanism includes: The second wire rope 16 has one end fixedly connected to one end of the second wire groove, and the other end is wound around the drive shaft of the second drive component 5 and then connected to the other end of the second wire groove through the second tensioning assembly.

[0045] Specifically, the outer arc surface of the second connecting rod 13 is provided with a second groove. The second transmission mechanism includes a second steel wire rope 16. One end of the second steel wire rope 16 is fixedly connected to one end of the second groove, and the other end is wound around the drive shaft of the second driving member 5 and then connected to the other end of the second groove through a second tensioning assembly. Optionally, the second steel wire rope 16 is wound around the drive shaft of the second driving member 5 2 to 3.5 turns. The circumferential sidewall of the drive shaft of the second driving member 5 can be knurled or fitted with a friction sleeve to increase the friction between the second steel wire rope 16. Anchor points can be provided on the drive shaft of the second driving member 5. The second steel wire rope 16 is wound around the drive shaft of the second driving member 5 after being connected to the anchor points. The anchor points can prevent relative sliding between the drive shaft and the second steel wire rope 16. The anchor points can be selected as holes opened on the drive shaft. The second tensioning assembly is used to straighten the second steel wire rope 16, and both it and the anchor points are used to ensure torque transmission.

[0046] Furthermore, such as Figure 7 As shown, one end of the straight connecting rod 6 has a third connecting part 17, which is rotatably sleeved on the third connecting shaft 15, and the other end of the straight connecting rod 6 is provided with a ball joint 7; the moving platform 3 has a triangular structure, and each of its triangular parts has a fourth connecting part 18, which is rotatably connected to the ball joint 7.

[0047] Specifically, one end of the straight connecting rod 6 has a third connecting part 17, and the other end is fixedly provided with a ball joint 7. The third connecting part 17 can be a third connecting hole that is opened through the straight connecting rod 6 near the end of the second connecting rod 13. A deep groove ball bearing 22 is provided in the third connecting hole. The outer wall of the outer ring of the deep groove ball bearing 22 is fixedly connected to the inner wall of the third connecting hole. The inner ring of the deep groove ball bearing 22 is fixedly sleeved on the third connecting shaft 15.

[0048] The moving platform 3 has a triangular structure, with a fourth connecting part 18 at each corner. The fourth connecting part 18 can be a ball joint seat that is fixedly connected to the moving platform 3. The ball joint 7 and the ball joint seat are rotatably connected, which can realize spherical motion without gaps or friction.

[0049] Furthermore, such as Figure 8 , Figure 10 As shown, both the first tensioning assembly and the second tensioning assembly include an adjusting member 19 and an elastic member 20 connected to each other. The ends of the adjusting member 19 and the elastic member 20 in the first tensioning assembly that are far apart are connected to the first wire groove and the first wire rope 12, respectively. The ends of the adjusting member 19 and the elastic member 20 in the second tensioning assembly that are far apart are connected to the second wire groove and the second wire rope 16, respectively.

[0050] Specifically, the first tensioning assembly and the second tensioning assembly have the same structure, both including an adjusting member 19 and an elastic member 20, wherein the adjusting member 19 can be an adjusting screw and the elastic member 20 can be a spring; One end of the elastic element 20 of the first tensioning component is connected to the adjusting element 19, and the other end is connected to the first steel wire rope 12. One end of the first groove is provided with an adjusting hole. The end of the adjusting element 19 away from the elastic element 20 extends into the adjusting hole. By rotating the adjusting element 19, the length of the adjusting element 19 extending into the adjusting hole is adjusted to tighten or prevent the elastic element 20 from loosening. The elastic force provided by the elastic element 20 is used to tighten the first steel wire rope 12, ensuring that the first steel wire rope 12 is always in a taut state, which helps to transmit force.

[0051] The structure and principle of the second tensioning component are the same as those of the first tensioning component, and will not be described in detail here.

[0052] Furthermore, sensors are connected to the end of the drive shaft of the first drive component 4 away from the first wire rope 12 and the end of the drive shaft of the second drive component 5 away from the second wire rope 16. The first drive component 4, the second drive component 5, and the sensors are all electrically connected to an external controller.

[0053] Specifically, sensors (not shown in the figure) are connected to the end of the drive shaft of the first drive member 4 away from the first wire rope 12 and the end of the drive shaft of the second drive member 5 away from the second wire rope 16. The sensors can detect the rotation speed and position of the first drive member 4 and the second drive member 5. The sensors can be photoelectric encoders. The first drive member 4, the second drive member 5 and the sensors are all electrically connected to an external controller.

[0054] It should be noted that when the doctor holds the end effector 21 to perform the operation, the sensor will instantly detect the direction of the external force applied by the doctor. The external controller will actively power the first drive component 4 and the second drive component 5, so that the first drive component 4 and the second drive component 5 output a small torque that is exactly the same as the direction of the force applied by the doctor. The magnitude of this torque is just enough to counteract the gravity of the operator's own branch structure and the friction of the joint, so that the first drive component 4 and the second drive component 5 comply with the doctor's movement, rather than resist it.

[0055] Working principle: The doctor's hand-held end effector 21 moves, driving the platform 3 to move. This, in turn, drives the second link 13 via three straight links 6, which in turn drives the first link 9. The movements of the second link 13 and the first link 9, respectively, drive the drive shafts of the second drive component 5 and the first drive component 4 to rotate via the second wire rope 16 and the first wire rope 12. Sensors read the angle and speed of the drive shafts in real time and generate angle and speed signals, which are then transmitted to an external controller. The external controller receives the angle and speed signals, performs corresponding calculations, converts them into end-effector postures, and generates posture signals to send to the slave robotic arm. Thus, the slave robotic arm can replicate the doctor's movements and perform the corresponding surgical operations.

[0056] The slave robotic arm is equipped with multi-dimensional force sensors that can simultaneously measure forces and torques in multiple directions. The multi-dimensional force sensors are electrically connected to an external controller. When the slave robotic arm touches an object, the multi-dimensional force sensors transmit the force data back to the external controller. The external controller calculates the required feedback torque and outputs torque signals to the first drive unit 4 and the second drive unit 5, causing the first drive unit 4 and the second drive unit 5 to output torques opposite to the direction of the doctor's hand movement, so that the doctor can feel the resistance.

[0057] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A six-degree-of-freedom parallel kinematics force-reflecting teleoperation hand, characterized by, include: Base (1); A static platform (2) is fixedly mounted on the base (1); The moving platform (3) is equipped with an end effector (21) for doctors to operate by hand; Three branch structures are evenly distributed circumferentially on the static platform (2), and the ends of the three branch structures away from the static platform (2) are connected to the moving platform (3). Each of the aforementioned branch structures includes: A first motion mechanism is rotatably disposed on the stationary platform (2) about a first axis, the first axis extending along a first direction and perpendicular to the stationary platform (2). The first driving member (4) is disposed on the static platform (2) and connected to the first motion mechanism through the first transmission mechanism, and is used to drive the first motion mechanism to rotate around the first axis; The second motion mechanism is rotatably disposed at the end of the first motion mechanism away from the static platform (2) about a second axis, and the second axis is perpendicular to the first axis; The second driving member (5) is disposed on the first motion mechanism and is connected to the second motion mechanism through the second transmission mechanism, and is used to drive the second motion mechanism to rotate around the second axis; A straight connecting rod (6) is rotatably disposed at one end of the second motion mechanism away from the first motion mechanism, and the other end is connected to the moving platform (3) through a ball joint (7).

2. The six-degree-of-freedom parallel kinematics force-reflecting teleoperation hand of claim 1, wherein, The static platform (2) is provided with three first connecting shafts (8), which are evenly distributed in the circumferential direction, and the axis of the first connecting shaft (8) is the first axis; the static platform (2) is also provided with three first mounting parts for mounting the first driving component (4), which are evenly distributed in the circumferential direction and correspond one-to-one with the three first connecting shafts (8).

3. A six-degree-of-freedom parallel force feedback teleoperator according to claim 2, characterized in that, The first motion mechanism includes: The first connecting rod (9) has an arc-shaped structure and is parallel to the static platform (2). The two ends of the first connecting rod (9) are a first end and a second end, respectively. The first end extends towards the arc center of the first connecting rod (9) with a first connecting rod. The end of the first connecting rod away from the first connecting rod (9) has a first connecting part. The first connecting part is rotatably sleeved on the first connecting shaft (8). The second connecting rod (10) extends along the first direction and is fixedly disposed at the second end. The second connecting rod (10) has a second mounting part at one end near the first connecting rod (9) for mounting the second driving member (5). The second connecting rod (10) has a second connecting shaft (11) parallel to the first connecting rod (9) at one end away from the first connecting rod (9). The axis of the second connecting shaft (11) is the second axis.

4. A six-degree-of-freedom parallel force feedback teleoperator according to claim 3, characterized in that, The outer arc surface of the first connecting rod (9) is provided with a first groove, and the first transmission mechanism includes: The first wire rope (12) has one end fixedly connected to one end of the first wire groove, and the other end is wound around the drive shaft of the first drive member (4) and then connected to the other end of the first wire groove through the first tensioning assembly.

5. A six-degree-of-freedom parallel force feedback teleoperator according to claim 4, characterized in that, The second motion mechanism includes: The second link (13) has a fan-shaped structure and is perpendicular to the first link (9). The second link (13) has a second connecting part at its center and is rotatably sleeved on the second connecting shaft (11). The third connecting rod (14) is disposed on the second connecting rod (13) and located on one side of the fan-shaped opening away from the center. The end of the third connecting rod (14) away from the second connecting rod (13) is provided with a third connecting shaft (15) perpendicular to the second connecting rod (13).

6. A six-degree-of-freedom parallel force feedback teleoperator according to claim 5, characterized in that, The second connecting rod (13) has a second groove on its outer arc surface, and the second transmission mechanism includes: The second wire rope (16) has one end fixedly connected to one end of the second wire groove, and the other end is wound around the drive shaft of the second drive member (5) and then connected to the other end of the second wire groove through the second tensioning assembly.

7. A six-degree-of-freedom parallel force feedback teleoperator according to claim 5, characterized in that, One end of the straight connecting rod (6) has a third connecting part (17), which is rotatably sleeved on the third connecting shaft (15). The other end of the straight connecting rod (6) is provided with the ball joint (7). The moving platform (3) has a triangular structure, and each of its triangular parts has a fourth connecting part (18). The fourth connecting part (18) and the ball joint (7) are rotatably connected.

8. A six-degree-of-freedom parallel force feedback teleoperator according to claim 6, characterized in that, Both the first tensioning assembly and the second tensioning assembly include an adjusting member (19) and an elastic member (20) connected to each other. The ends of the adjusting member (19) and the elastic member (20) in the first tensioning assembly that are far apart are respectively connected to the first wire groove and the first wire rope (12). The ends of the adjusting member (19) and the elastic member (20) in the second tensioning assembly that are far apart are respectively connected to the second wire groove and the second wire rope (16).

9. A six-degree-of-freedom parallel force feedback teleoperator according to claim 6, characterized in that, Sensors are connected to the end of the drive shaft of the first drive member (4) away from the first wire rope (12) and the end of the drive shaft of the second drive member (5) away from the second wire rope (16). The first drive member (4), the second drive member (5) and the sensors are all electrically connected to an external controller.

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