Translation operation handle at main end of surgical robot

Abstract

The utility model relates to the technical field of medical instruments, and provides a translation operation handle of a surgical robot main end, which comprises a base, a first supporting seat, a second supporting seat, a motor, a first encoder, a handle part and a transmission component, the first supporting seat and the second supporting seat are arranged on the base at an interval; the motor is connected with the first supporting seat; the first encoder is connected with a shaft body of the motor and is used for sending line movement information of the handle part to the control panel; the motor adjusts rotation torque according to current information fed back by the control panel; the handle part is connected with the motor through the transmission assembly and reciprocates between the first supporting base and the second supporting base. The linear displacement resistance of the handle part is in positive correlation with the rotation torque of the motor. The rotating torque of the motor is changed by changing the magnitude of current conveyed to the motor, so that different resistance feedbacks can be obtained according to different rotating torques of the motor when the handle part moves, and the resistance change in an operation is truly fed back.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, in particular to a translation operation handle of a main end of a surgical robot. Background Art

[0002] With the application and development of mechatronics technology in medical equipment, master-slave teleoperation has become one of the methods to solve the radiation problem of doctors in interventional radiology. Master-slave teleoperation has been used in cutting surgery for a long time and has developed rapidly. Master-slave teleoperation requires more accurate force feedback, because the tactile feedback of force can make doctors feel the real feedback force in the operating room. If necessary, the tiny force can be amplified according to the set ratio to ensure that doctors can get a better perception of the actual situation, thereby ensuring the safety of the operation; however, the existing hydraulic force feedback equipment is not easy to meet the cleanliness requirements of the medical system, and the elastic force feedback equipment has low feedback accuracy. Utility Model Content

[0003] The utility model provides a translation operation handle of a main end of a surgical robot, which is used to solve the defects in the prior art that a hydraulic force feedback device is difficult to meet the cleanliness requirement of a medical system and an elastic force feedback device has low feedback accuracy.

[0004] According to the utility model, a translation operation handle of a surgical robot main end includes: a base, a first support base, a second support base, a motor, a first encoder, a handle part and a transmission assembly; the first support base and the second support base are spaced apart on the base; the motor is connected to the first support base; the first encoder is connected to the shaft of the motor, and is used to send linear movement information of the handle part to the control board; the motor adjusts the rotational torque according to the current information fed back by the control board; the handle part is connected to the motor through the transmission assembly, and reciprocates between the first support base and the second support base; wherein the linear displacement resistance of the handle part is positively correlated with the rotational torque of the motor.

[0005] According to one embodiment of the utility model, the transmission assembly further includes: a bracket, a guide rail and a slider; the bracket is connected to the base; the guide rail is connected to the bracket; the slider is slidably matched with the guide rail; wherein the slider is detachably connected to the handle portion.

[0006] Specifically, this embodiment provides an implementation of a bracket, a guide rail and a slider.

[0007] According to an embodiment of the utility model, the transmission assembly further includes: a roller, the roller is connected to the slider, and the slider is slidably matched with the guide rail through the roller.

[0008] Specifically, this embodiment provides an implementation of a roller.

[0009] According to an embodiment of the utility model, at least two of the rollers are respectively connected to the slider on both sides of the guide rail and are in rolling cooperation with the side portion of the guide rail.

[0010] Specifically, this embodiment provides an implementation method of connecting a roller and a slider.

[0011] According to one embodiment of the utility model, the transmission assembly includes: a first pulley, a second pulley and a conveyor belt; the first pulley is connected to the shaft head of the motor; the second pulley is rotatably arranged on the second support seat; the conveyor belt is respectively wound around the outside of the first pulley and the second pulley, and is detachably connected to the slider.

[0012] Specifically, this embodiment provides an implementation of a first pulley, a second pulley and a conveyor belt.

[0013] According to an embodiment of the utility model, the transmission assembly further includes: a tooth plate, which is arranged on the slider and meshes with the transmission teeth of the conveyor belt.

[0014] Specifically, this embodiment provides an implementation of a tooth plate.

[0015] According to an implementation manner of the utility model, the transmission assembly further includes: a transmission shaft and a bearing; the bearing is disposed in the second support seat; and the transmission shaft passes through the second pulley and the bearing respectively.

[0016] Specifically, this embodiment provides an implementation of a transmission shaft and a bearing.

[0017] According to an embodiment of the utility model, the handle portion includes: a handle body and an adapter seat; the handle body is detachably connected to the adapter seat; and the adapter seat is detachably connected to the slider.

[0018] Specifically, this embodiment provides an implementation of a handle body and an adapter.

[0019] According to an embodiment of the utility model, the handle body further includes: a first shell, a second shell and a socket; the first shell and the second shell are snapped together to form a accommodating space; the socket is arranged in the second shell and is plugged into and matched with the adapter.

[0020] Specifically, this embodiment provides an implementation of a first shell, a second shell and a socket.

[0021] According to one embodiment of the utility model, the handle body also includes: an adjusting handwheel and a second encoder; the adjusting handwheel and the second encoder are respectively arranged in the accommodating space, and the adjusting handwheel at least partially protrudes from the first shell and / or the second shell; the second encoder is connected to the adjusting handwheel, and sends the angular displacement information of the adjusting handwheel to the control panel.

[0022] Specifically, this embodiment provides an implementation method of an adjustment hand wheel and a second encoder.

[0023] The above one or more technical solutions in the present invention have at least one of the following technical effects: the utility model provides a translational operating handle at the main end of a surgical robot, which changes the rotational torque of the motor by changing the current delivered to the motor, so that when the handle moves, different resistance feedback can be obtained according to the different rotational torque sizes of the motor, so as to truly feedback the resistance changes during the operation, improve the safety of the operation, and ensure the smooth progress of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 This is one of the schematic diagrams of the assembly relationship of the translation operation handle of the main end of the surgical robot provided by the utility model;

[0026] Figure 2 This is the second schematic diagram of the assembly relationship of the translation operation handle of the main end of the surgical robot provided by the utility model;

[0027] Figure 3 This is the third schematic diagram of the assembly relationship of the translation operation handle of the main end of the surgical robot provided by the utility model;

[0028] Figure 4 This is the fourth schematic diagram of the assembly relationship of the translation operation handle of the main end of the surgical robot provided by the utility model;

[0029] Figure 5 yes Figure 4 AA section view in the figure;

[0030] Figure 6 yes Figure 4 BB section view in the figure;

[0031] Figure 7 yes Figure 4 CC section view in.

[0032] Reference numerals:

[0033] 10. Base;

[0034] 20. A first support seat;

[0035] 30. Second support seat;

[0036] 40. Motor;

[0037] 50. A first encoder;

[0038] 60. handle portion; 61. handle body; 62. adapter seat; 63. first housing; 64. second housing; 65. connector seat; 66. adjustment hand wheel; 67. second encoder;

[0039] 70. Transmission components;

[0040] 71. Bracket; 72. Guide rail; 73. Slider; 731. Tooth plate; 74. Roller; 75. First pulley; 76. Second pulley; 77. Conveyor belt; 78. Drive shaft; 79. Bearing. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0042] In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present utility model 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 embodiments of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0043] The present invention will be described in detail below in conjunction with specific implementation methods.

[0044] In some specific embodiments of the present invention, Figures 1 to 7 As shown, the present solution provides a translational operating handle of the main end of a surgical robot, comprising: a base 10, a first support seat 20, a second support seat 30, a motor 40, a first encoder 50, a handle part 60 and a transmission assembly 70; the first support seat 20 and the second support seat 30 are arranged at intervals on the base 10; the motor 40 is connected to the first support seat 20; the first encoder 50 is connected to the shaft of the motor 40, and is used to send linear movement information of the handle part 60 to the control board; the motor 40 adjusts the rotational torque according to the current information fed back by the control board; the handle part 60 is connected to the motor 40 through the transmission assembly 70, and reciprocates between the first support seat 20 and the second support seat 30; wherein the linear displacement resistance of the handle part 60 is positively correlated with the rotational torque of the motor 40.

[0045] It should be noted that when the utility model controls the movement of certain components of the medical device through the handle part 60, the resistance detection element detects the resistance encountered by the terminal device, and the resistance detection element converts the resistance value into an electrical signal and sends it to the control board. The control board controls the amount of current delivered to the motor 40 according to the resistance electrical signal. According to the linear relationship between the current and the rotational torque of the motor 40, the resistance encountered by the terminal device is converted into a rotational torque according to a certain ratio. When the handle part 60 is moving, the rotational torque is converted into the moving resistance of the handle part 60 through the transmission assembly 70, so that the handle part 60 can accurately reflect the actual resistance changes during the operation, thereby improving the surgical effect.

[0046] Furthermore, the first encoder 50 is electrically connected to the control board. The first encoder 50 converts the shaft rotation angle information of the motor 40 into an electrical signal and sends it to the control board. The control board converts the angle electrical signal into moving distance information, and then sends the moving distance information to the terminal device to control the movement of the terminal device and ensure smooth operation.

[0047] In some possible embodiments of the present invention, the transmission assembly 70 further includes: a bracket 71, a guide rail 72 and a slider 73; the bracket 71 is connected to the base 10; the guide rail 72 is connected to the bracket 71; the slider 73 is slidably matched with the guide rail 72; wherein the slider 73 is detachably connected to the handle portion 60.

[0048] Specifically, this embodiment provides an implementation of a bracket 71, a guide rail 72 and a slider 73. The setting of the bracket 71 forms a height difference between the guide rail 72 and the base 10, which facilitates the installation of the guide rail 72 and the slider 73, and further enables the handle portion 60 to be connected to the slider 73 and move back and forth along the guide line of the guide rail 72.

[0049] In some possible implementations of the present invention, the transmission assembly 70 further includes: a roller 74 , the roller 74 is connected to the slider 73 , and the slider 73 is slidably matched with the guide rail 72 via the roller 74 .

[0050] Specifically, this embodiment provides an implementation of a roller 74 . The provision of the roller 74 reduces the friction resistance between the guide rail 72 and the slider 73 , changing the sliding friction into rolling friction, thereby facilitating the movement of the handle portion 60 .

[0051] In some possible implementations of the present invention, at least two rollers 74 are respectively connected to the slider 73 on both sides of the guide rail 72 and are in rolling cooperation with the side of the guide rail 72 .

[0052] Specifically, this embodiment provides an implementation method for connecting a roller 74 and a slider 73. By arranging the roller 74 on both sides of the guide rail 72, on the one hand, the overall height of the translation operating handle is reduced, making the overall structure more compact. On the other hand, the surface contact between the guide rail 72 and the slider 73 improves the overall stability. At the same time, the rolling friction between the roller 74 and the guide rail 72 can be taken into account to reduce the friction.

[0053] In some possible embodiments of the present invention, the transmission assembly 70 includes: a first pulley 75, a second pulley 76 and a conveyor belt 77; the first pulley 75 is connected to the shaft head of the motor 40; the second pulley 76 is rotatably arranged on the second support seat 30; the conveyor belt is respectively wound around the outside of the first pulley 75 and the second pulley 76, and is detachably connected to the slider 73.

[0054] Specifically, this embodiment provides an implementation method of a first pulley 75, a second pulley 76 and a conveyor belt 77. Through the arrangement of the first pulley 75, the second pulley 76 and the conveyor belt 77, power transmission is achieved. The motor 40 transmits the torque to the handle part 60 through the first pulley 75, the second pulley 76 and the conveyor belt 77, so that the doctor or operator can obtain timely feedback of the resistance when operating the handle part 60.

[0055] In some possible implementations of the present invention, the transmission assembly 70 further includes: a tooth plate 731 , which is disposed on the slider 73 and meshes with the transmission teeth of the conveyor belt 77 .

[0056] Specifically, this embodiment provides an implementation of a tooth plate 731, which is detachably connected to the slider 73 and engages with the transmission teeth of the conveyor belt 77, so that the feedback of the resistance between the motor 40, the conveyor belt 77 and the handle part 60 is more accurate, and it is also easy to install and disassemble.

[0057] In some possible implementations of the present invention, the transmission assembly 70 further includes: a transmission shaft 78 and a bearing 79; the bearing 79 is disposed in the second support seat 30; and the transmission shaft 78 passes through the second pulley 76 and the bearing 79 respectively.

[0058] Specifically, this embodiment provides an implementation of a transmission shaft 78 and a bearing 79 , and by providing the transmission shaft 78 and the bearing 79 , a rotational connection is achieved between the second pulley 76 and the second support seat 30 .

[0059] In some possible implementations of the present invention, the handle portion 60 includes: a handle body 61 and an adapter seat 62 ; the handle body 61 and the adapter seat 62 are detachably connected; and the adapter seat 62 and the slider 73 are detachably connected.

[0060] Specifically, this embodiment provides an implementation of a handle body 61 and an adapter seat 62. The setting of the handle body 61 and the adapter seat 62 facilitates the connection between the handle body 61 and the slider 73. The setting of the adapter seat 62 provides a transfer function for the connection between the handle body 61 and the slider 73, thereby avoiding problems such as narrow installation position and inability to install when the handle body 61 and the slider 73 are connected.

[0061] In some possible embodiments of the present invention, the handle body 61 also includes: a first shell 63, a second shell 64 and a socket 65; the first shell 63 and the second shell 64 are snapped together to form a accommodating space; the socket 65 is arranged in the second shell 64 and is plugged into and matched with the adapter 62.

[0062] Specifically, this embodiment provides an implementation of a first shell 63, a second shell 64 and a socket 65. The setting of the first shell 63 and the second shell 64 makes the handle body 61 a detachable structure, which is convenient for setting the structure inside the handle body 61 and connecting the handle body 61 to the adapter 62.

[0063] Furthermore, the provision of the plug socket 65 facilitates the rapid establishment of positioning between the handle body 61 and the adapter socket 62 , so as to facilitate connection between the handle body 61 and the adapter socket 62 by means of screws or the like.

[0064] It should be noted that when installing the handle body 61, the first shell 63 and the second shell 64 can be installed separately, or the first shell 63 and the second shell 64 can be assembled first according to needs, and then the handle body 61 can be installed. The choice of specific installation form is related to the fixing method of the adapter 62 and the plug socket 65. For example, connecting parts such as screws are inserted into the adapter 62 and the plug socket 65 from the outside of the handle body 61, or pass through the plug socket 65 and the adapter 62 in sequence from the accommodating space.

[0065] In some possible embodiments of the utility model, the handle body 61 also includes: an adjusting handwheel 66 and a second encoder 67; the adjusting handwheel 66 and the second encoder 67 are respectively arranged in the accommodating space, and the adjusting handwheel 66 at least partially protrudes from the first shell 63 and / or the second shell 64; the second encoder 67 is connected to the adjusting handwheel 66, and sends the angular displacement information of the adjusting handwheel 66 to the control panel.

[0066] Specifically, this embodiment provides an implementation method of an adjusting handwheel 66 and a second encoder 67. By setting the adjusting handwheel 66 and the second encoder 67, the adjusting handwheel 66 is used to rotate the rotating shaft of the second encoder 67, and the second encoder 67 converts the rotation angle information into an electrical signal and sends it to the control board. The control board converts the electrical signal of the angle into a rotation command and sends it to the vascular interventional surgery robot, so that the interventional instrument of the vascular interventional surgery robot rotates, thereby realizing precise control of the vascular interventional surgery robot.

[0067] Furthermore, the adjusting hand wheel 66 protrudes from the second shell 64 of the handle body 61 , making it easier for the doctor to apply force to the adjusting hand wheel 66 .

[0068] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0069] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0070] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "mode", "specific mode", or "some modes" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or mode are included in at least one embodiment or mode of the utility model embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or mode. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or modes in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or modes described in this specification and the features of the different embodiments or modes, without contradiction.

[0071] Finally, it should be noted that the above implementation modes are only used to illustrate the present invention, rather than to limit the present invention. Although the present invention is described in detail with reference to the embodiments, a person skilled in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present invention do not deviate from the spirit and scope of the technical solutions of the present invention, and should be included in the scope of the claims of the present invention.

Claims

1. A translation operation handle of a surgical robot main end, characterized in that: include: A base (10), a first support base (20), a second support base (30), a motor (40), a first encoder (50), a handle (60) and a transmission assembly (70); The first support seat (20) and the second support seat (30) are arranged on the base (10) at intervals; The motor (40) is connected to the first support seat (20); The first encoder (50) is connected to the shaft of the motor (40) and is used to send linear movement information of the handle (60) to the control panel; The motor (40) adjusts the rotation torque according to the current information fed back by the control board; The handle portion (60) is connected to the motor (40) via the transmission assembly (70), and reciprocates between the first support seat (20) and the second support seat (30); Wherein, the linear displacement resistance of the handle portion (60) is positively correlated with the rotation torque of the motor (40).

2. The translation operation handle of the surgical robot master end according to claim 1, characterized in that: The transmission assembly (70) further comprises: a bracket (71), a guide rail (72) and a sliding block (73); The bracket (71) is connected to the base (10); The guide rail (72) is connected to the bracket (71); The slider (73) is slidably matched with the guide rail (72); Wherein, the sliding block (73) is detachably connected to the handle portion (60).

3. The translation operation handle of the surgical robot master end according to claim 2, characterized in that: The transmission assembly (70) further comprises: a roller (74), wherein the roller (74) is connected to the slider (73), and the slider (73) is slidably matched with the guide rail (72) via the roller (74).

4. The translation operation handle of the surgical robot master end according to claim 3, characterized in that: At least two of the rollers (74) are respectively connected to the slider (73) on both sides of the guide rail (72) and are in rolling cooperation with the side of the guide rail (72).

5. The translation operation handle of the surgical robot master end according to claim 2, characterized in that: The transmission assembly (70) further comprises: a first pulley (75), a second pulley (76) and a conveyor belt (77); The first pulley (75) is connected to the shaft head of the motor (40); The second pulley (76) is rotatably disposed on the second support seat (30); The conveyor belt is respectively wound around the outside of the first belt pulley (75) and the second belt pulley (76), and is detachably connected to the slider (73).

6. The translation operation handle of the surgical robot master end according to claim 5, characterized in that: The transmission assembly (70) further comprises: a tooth plate (731), wherein the tooth plate (731) is arranged on the slider (73) and meshes with the transmission teeth of the conveyor belt (77).

7. The translation operation handle of the surgical robot master end according to claim 5, characterized in that: The transmission assembly (70) further includes: a transmission shaft (78) and a bearing (79); The bearing (79) is disposed in the second support seat (30); The transmission shaft (78) passes through the second pulley (76) and the bearing (79) respectively.

8. The translation operation handle of the surgical robot master end according to any one of claims 2 to 7, characterized in that: The handle portion (60) comprises: a handle body (61) and an adapter seat (62); The handle body (61) is detachably connected to the adapter seat (62); The adapter seat (62) and the slider (73) are detachably connected.

9. The translation operation handle of the surgical robot master end according to claim 8, characterized in that: The handle body (61) further comprises: a first shell (63), a second shell (64) and a socket (65); The first shell (63) and the second shell (64) are buckled together to form a receiving space; The plug socket (65) is arranged in the second shell (64) and is plugged into and matched with the adapter socket (62).

10. The translation operation handle of the surgical robot master end according to claim 9, characterized in that: The handle body (61) further comprises: an adjusting hand wheel (66) and a second encoder (67); The adjusting hand wheel (66) and the second encoder (67) are respectively arranged in the accommodating space, and the adjusting hand wheel (66) at least partially protrudes from the first shell (63) and / or the second shell (64); The second encoder (67) is connected to the adjusting hand wheel (66) and sends the angular displacement information of the adjusting hand wheel (66) to the control panel.

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