Adjustable force control handle for medical robot
By designing an adjustable force-controlled handle including bearings, connecting rings, limit discs and photoinductors, the problem that the force-controlled handle cannot be adjusted in multiple angles and positions in the prior art is solved, achieving higher operating accuracy and flexibility, and reducing costs.
Patent Information
- Application Number
- CN202420827149.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-19
- Publication Date
- 2025-04-01
- Estimated Expiration
- 2034-04-19
AI Technical Summary
The existing force-controlled handles cannot achieve adjustability in multiple angles and positions, resulting in poor operational sense, reducing operational accuracy and flexibility, and at the same time, the use of multiple film pressure sensors increases costs.
An adjustable force-controlled handle including a first connecting rod, a second connecting rod, a limiting disk and a photoinductor is designed. Through the cooperation of the bearing and the connecting ring, the force-controlled handle can be adjusted in multiple angles and upward, downward, and left and right positions within the range of 360°. The photoinductor is used to sense the hand, and combined with the handle back-up mechanism, the accuracy and flexibility of operation are improved.
The multi-angle and multi-position adjustment of the force-controlled handle is realized, adapting to operators of different heights and sitting positions, improving operation accuracy and flexibility, reducing costs, and ensuring the controllability and safety of medical robots.
Smart Images
Figure CN222693527U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of medical equipment, and in particular relates to an adjustable force control handle for a medical robot. Background Art
[0002] With the development of force control technology, the accuracy of force control technology can reach micron level. Force control robots have been used in the medical field. However, the safety of medical equipment has not been taken seriously. How to better improve the accuracy, safety and flexibility of surgical operations is a problem that needs to be solved today. Based on the above-mentioned actual technical needs, force control handles for medical robots have appeared. However, the existing force control handles are fixed in position and cannot be used by operators of different heights, sitting or standing positions. Long-term unsuitable operation will lead to poor operating feel, thereby reducing the accuracy and flexibility of the operation. In addition, the existing force control handles mostly use multiple thin film pressure sensors to collect the position of the hand. Due to the intervals between the multiple thin film pressure sensors, the collected signals are sometimes invalid. If more thin film pressure sensors are installed, the investment cost will increase. Utility Model Content
[0003] The technical problem to be solved by the utility model is to provide an adjustable force control handle for a medical robot in view of the deficiencies in the above-mentioned prior art.
[0004] In order to solve the above technical problems, the technical solution adopted by the utility model is: an adjustable force control handle for a medical robot, characterized in that: it includes a bearing arranged in an operating table and connected to the bottom of a first connecting rod, a first connecting ring is arranged on the top of the first connecting rod, one end of the second connecting rod is connected to the first connecting ring through the second connecting ring, and the force control handle is installed on the other end of the second connecting rod, a limit plate is fixedly sleeved on the outer side of the first connecting rod, a plurality of limit holes are opened on the limit plate, a limit groove is arranged on the operating table, and the plug-in end of the pin passes through a limit hole and extends into the limit groove;
[0005] The force control handle includes a base, a six-dimensional force sensor installed on the base, a handle body arranged on the six-dimensional force sensor, a photoelectric sensor arranged at the end of the handle body away from the base, and a handle return mechanism arranged in the handle body. The handle body is connected to the annular force measuring platform of the six-dimensional force sensor, and the base is fixed at the other end of the second connecting rod. The handle body is a hollow structure. The handle return mechanism includes an elastic nylon rod and a reaction force support rod arranged in the handle body. The elastic nylon rod and the reaction force support rod are provided with a columnar mounting cap and a mounting seat for clamping the columnar mounting cap at the end away from the base; a spring is sleeved on the end of the reaction force support rod close to the base, and a step structure for installing the spring is provided on the reaction force support rod. The bottom of the elastic nylon rod and the spring are both abutted against the base through the middle through hole of the annular force measuring platform.
[0006] The above-mentioned adjustable force control handle for a medical robot is characterized in that: the first connecting ring and the second connecting ring are connected by screws, and a butterfly nut is provided at one end of the screw passing through the first connecting ring and the second connecting ring.
[0007] The above-mentioned adjustable force control handle for a medical robot is characterized in that an external thread is provided on the outer side surface where the screw and the butterfly nut cooperate.
[0008] The above-mentioned adjustable force control handle for a medical robot is characterized in that: the plurality of limit holes are evenly arranged along the circumference of the limit plate.
[0009] The above-mentioned adjustable force control handle for a medical robot is characterized in that the number of the limiting holes is 10 to 18.
[0010] The above-mentioned adjustable force control handle for a medical robot is characterized in that the sensing distance of the photoelectric sensor is 8mm to 15mm.
[0011] Compared with the prior art, the utility model has the following advantages:
[0012] 1. The utility model sets a bearing connected to the bottom of the first connecting rod in the operating table, and the first connecting rod cooperates with the bearing to realize that the force control handle can be adjusted at multiple angles within a range of 360 degrees at the same height, so that the force control handle can adapt to the direction of the operator. When the direction of the force control handle is adjusted, the plug-in end of the pin passes through a limiting hole and extends into the limiting groove to fix the direction of the force control handle. The operation is simple and convenient for popularization and use.
[0013] 2. The utility model sets a first connecting ring on the top of the first connecting rod, one end of the second connecting rod is connected to the first connecting ring through the second connecting ring, and the other end of the second connecting rod is equipped with a force control handle. Through the cooperation of the first connecting ring and the second connecting ring, the force control handle can be adjusted in the up, down, left and right positions. It is flexible to use and is suitable for operators of different heights and different sitting or standing postures.
[0014] 3. The utility model has a novel and reasonable design. It adopts a photoelectric sensor to sense the hand. As long as the palm covers the photoelectric sensor, the fingers can pinch the handle at any position to control the medical robot and ensure the controllability and safety of the robot. Combined with the handle return mechanism, the operation of the handle can be more accurate and flexible, which is convenient for promotion and use.
[0015] To sum up, the design of the utility model is novel and reasonable. Through the cooperation of the first connecting rod and the bearing, the force control handle can be adjusted at multiple angles within a range of 360° at the same height, so that the force control handle can adapt to the operator's orientation. Through the cooperation of the first connecting ring and the second connecting ring, the force control handle can be adjusted in the up, down, left and right positions, and is flexible to use. In addition, a photoelectric sensor is used to sense the hand. As long as the palm covers the photoelectric sensor, the fingers can pinch the handle at any position, thereby controlling the medical robot to enable and ensuring the controllability and safety of the robot. Combined with the handle return mechanism, the operation of the handle can be made more precise and flexible, which is convenient for popularization and use.
[0016] The technical solution of the utility model is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 It is a schematic structural diagram of the first connecting rod and the second connecting rod of the utility model at an angle.
[0018] Figure 2 for Figure 1 Left view of .
[0019] Figure 3 It is a schematic structural diagram of the first connecting rod and the second connecting rod of the utility model at another angle.
[0020] Figure 4 It is a top view of the limiting plate of the utility model.
[0021] Figure 5 This is a schematic diagram of the structure of the force control handle of the utility model after the handle body and the photoelectric sensor are removed.
[0022] Description of reference numerals:
[0023] 1—base; 2—six-dimensional force sensor; 3—handle body;
[0024] 4—Photoelectric sensor; 5—Elastic nylon rod; 6—Reaction support rod;
[0025] 7—column-shaped mounting cap; 8—mounting seat; 9—spring;
[0026] 10—operating platform; 11—bearing; 12—first connecting rod;
[0027] 13—second connecting rod; 14—first connecting ring; 15—second connecting ring;
[0028] 16—screw; 17—butterfly nut; 18—limiting plate;
[0029] 19—limiting hole; 20—pin; 21—limiting groove. DETAILED DESCRIPTION
[0030] like Figures 1 to 5 As shown, the utility model includes a bearing 11 arranged in the operating table 10 and connected to the bottom of the first connecting rod 12, a first connecting ring 14 is arranged on the top of the first connecting rod 12, one end of the second connecting rod 13 is connected to the first connecting ring 14 through a second connecting ring 15, and a force control handle is installed on the other end of the second connecting rod 13. A limit plate 18 is fixedly sleeved on the outer side of the first connecting rod 12, and a plurality of limit holes 19 are opened on the limit plate 18. A limit groove 21 is arranged on the operating table 10, and the plug-in end of the pin 20 passes through a limit hole 19 and extends into the limit groove 21;
[0031] The force control handle includes a base 1, a six-dimensional force sensor 2 installed on the base 1, a handle body 3 arranged on the six-dimensional force sensor 2, a photoelectric sensor 4 arranged at the end of the handle body 3 away from the base 1, and a handle return mechanism arranged in the handle body 3. The handle body 3 is connected to the annular force measuring platform of the six-dimensional force sensor 2, and the base 1 is fixed at the other end of the second connecting rod 13. The handle body 3 is a hollow structure. The handle return mechanism includes an elastic nylon rod 5 and a reaction force support rod 6 arranged in the handle body 3. The ends of the elastic nylon rod 5 and the reaction force support rod 6 away from the base 1 are provided with a columnar mounting cap 7 and a mounting seat 8 for clamping the columnar mounting cap 7; the end of the reaction force support rod 6 close to the base 1 is sleeved with a spring 9, and the reaction force support rod 6 is provided with a step structure for installing the spring 9, and the bottoms of the elastic nylon rod 5 and the spring 9 are both abutted against the base 1 through the middle through hole of the annular force measuring platform.
[0032] It should be noted that, by arranging a bearing connected to the bottom of the first connecting rod in the operating table, and by the cooperation between the first connecting rod and the bearing, the force control handle can be adjusted at multiple angles within a range of 360° at the same height, so that the force control handle can adapt to the direction of the operator. When the direction of the force control handle is adjusted, the plug-in end of the pin passes through a limit hole and extends into the limit groove to fix the direction of the force control handle, which is simple to operate; by arranging a first connecting ring at the top of the first connecting rod, one end of the second connecting rod is connected to the first connecting ring through the second connecting ring, and the other end of the second connecting rod is equipped with the force control handle, and through the cooperation of the first connecting ring and the second connecting ring, the force control handle can be adjusted in the upper, lower, left and right positions, which is flexible to use and suitable for operators of different heights and different sitting or standing postures; a photoelectric sensor is used to sense the hand. As long as the palm covers the photoelectric sensor, the fingers can pinch the handle at any position, thereby controlling the medical robot to enable, ensuring the controllability and safety of the robot, and combined with the handle return mechanism, the operation of the handle can be made more precise and flexible.
[0033] In this embodiment, the first connecting ring 14 and the second connecting ring 15 are connected by screws 16 , and the screws 16 pass through one end of the first connecting ring 14 and the second connecting ring 15 and are provided with butterfly nuts 17 .
[0034] In this embodiment, external threads are provided on the outer side surfaces of the screw 16 and the butterfly nut 17 that cooperate with each other.
[0035] In this embodiment, the plurality of limiting holes 19 are evenly distributed along the circumference of the limiting plate 18 .
[0036] In this embodiment, the number of the limiting holes 19 is 10 to 18.
[0037] In this embodiment, the sensing distance of the photoelectric sensor 4 is 8 mm to 15 mm.
[0038] It should be noted that the medical robot does not move along with the handle body 3 during the process of the handle body 3 returning to its original position.
[0039] It should be noted that the top of the spring 9 abuts against the step surface of the step structure of the reaction force support rod 6, which is convenient for disassembly and replacement.
[0040] It should be noted that the mounting seat 8 is fixed on the inner wall of the handle body 3 , and a groove for clamping the mounting cap is provided on the mounting seat 8 , so that the reaction force support rod 6 can be stably supported between the inner wall of the handle body 3 and the base 1 .
[0041] It should be noted that when the operating handle body 3 is tilted, the annular force measuring platform, the elastic nylon rod 5 and the reaction support rod 6 are also tilted. After releasing the handle, the handle body 3 rebounds to its original position with the assistance of the elastic force of the spring 9 and the elastic nylon rod 5, which facilitates the next operation of the handle body 3 in the direction thereof, with higher flexibility and accuracy.
[0042] In this embodiment, the axis of the reaction support rod 6 coincides with the axis of the handle body 3 to ensure the stability of the rebound. The elastic nylon rod 5 serves as an auxiliary return structure and can also prevent the handle body 3 from tilting too much and affecting the life of the spring 9.
[0043] In this embodiment, the six-dimensional force sensor 2 is a M3552C six-dimensional force sensor.
[0044] It should be noted that the sensing distance of the photoelectric sensor 4 is 8mm to 15mm. Under the condition of excluding long-distance interference, it is ensured that when the operator holds the handle for operation, the photoelectric sensor can work and control the enabling of the medical robot, thereby ensuring the controllability and safety of the robot. When the hand is released and slightly away from the handle, the enabling of the photoelectric sensor 4 will immediately fail and the six-dimensional movement will stop immediately. The size and shape of the handle are ergonomically designed to adapt to people's holding methods. This force control handle can adjust the spatial posture of the force control handle up, down, left and right according to the operator's position relative to the robot, and can be adjusted to the most suitable position. Coupled with the ergonomic design of the force control handle itself, it is possible to avoid hand stiffness under long-term operation when the force control handle is used to control the six-dimensional movement of the medical robot.
[0045] The above is only a preferred embodiment of the present invention and does not constitute any limitation to the present invention. Any simple modification, change and equivalent structural change made to the above embodiments according to the technical essence of the present invention shall still fall within the protection scope of the technical solution of the present invention.
Claims
1. An adjustable force control handle for a medical robot, characterized in that: The invention comprises a bearing (11) which is arranged in an operating table (10) and connected to the bottom of a first connecting rod (12); a first connecting ring (14) is arranged on the top of the first connecting rod (12); one end of a second connecting rod (13) is connected to the first connecting ring (14) through a second connecting ring (15); a force control handle is installed on the other end of the second connecting rod (13); a limit plate (18) is fixedly sleeved on the outer side of the first connecting rod (12); a plurality of limit holes (19) are opened on the limit plate (18); a limit groove (21) is arranged on the operating table (10); and a plug-in end of a pin (20) passes through a limit hole (19) and extends into the limit groove (21); The force control handle comprises a base (1), a six-dimensional force sensor (2) installed on the base (1), a handle body (3) arranged on the six-dimensional force sensor (2), a photoelectric sensor (4) arranged at one end of the handle body (3) away from the base (1), and a handle return mechanism arranged in the handle body (3); the handle body (3) is connected to the annular force measuring platform of the six-dimensional force sensor (2); the base (1) is fixed to the other end of the second connecting rod (13); the handle body (3) is a hollow structure; the handle return mechanism comprises a photoelectric sensor (4) arranged at the handle body (3) and a photoelectric sensor (4) arranged at the end of the handle body (3) away from the base (1); The hand body (3) includes an elastic nylon rod (5) and a reaction force support rod (6), and the ends of the elastic nylon rod (5) and the reaction force support rod (6) away from the base (1) are provided with a columnar mounting cap (7) and a mounting seat (8) for clamping the columnar mounting cap (7); the end of the reaction force support rod (6) close to the base (1) is sleeved with a spring (9), and the reaction force support rod (6) is provided with a step structure for mounting the spring (9), and the bottoms of the elastic nylon rod (5) and the spring (9) are both abutted against the base (1) through the middle through hole of the annular force measuring platform.
2. An adjustable force control handle for a medical robot according to claim 1, characterized in that: The first connecting ring (14) and the second connecting ring (15) are connected by means of a screw (16); one end of the screw (16) passing through the first connecting ring (14) and the second connecting ring (15) is provided with a butterfly nut (17).
3. An adjustable force control handle for a medical robot according to claim 2, characterized in that: The outer side surfaces of the screw (16) and the butterfly nut (17) that cooperate with each other are provided with external threads.
4. The adjustable force control handle for a medical robot according to claim 1, characterized in that: The plurality of limiting holes (19) are evenly arranged along the circumference of the limiting plate (18).
5. The adjustable force control handle for a medical robot according to claim 4, characterized in that: The number of the limiting holes (19) is 10 to 18.
6. The adjustable force control handle for a medical robot according to claim 1, characterized in that: The sensing distance of the photoelectric sensor (4) is 8 mm to 15 mm.