Wrist mechanism of minimally invasive surgery robot doctor operation end
By introducing infrared sensors and touch sensors into the wrist mechanism of the doctor's operating end of the minimally invasive surgical robot, the connection state between the master and slave hands is automatically controlled, which solves the problem of doctors' mistaken touching the wrist mechanism and inconvenient operation, and improves the safety and operation comfort of the operation.
Patent Information
- Application Number
- CN202421623031.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-10
- Publication Date
- 2025-05-13
- Estimated Expiration
- 2034-07-10
AI Technical Summary
During the operation of a minimally invasive surgical robot, the doctor may accidentally touch the wrist mechanism of the doctor's operating end, resulting in the failure of the main hand to the patient's slave hand to the surgical end, which may cause harm to the patient. In addition, the doctor may not be able to handle it when he reaches a certain position.
A wrist mechanism of a minimally invasive surgical robot doctor's operating end is designed, including multiple rotating joints and an open and close joint. The infrared sensor is used to detect whether the doctor's hand holds the open and close joint, and the connection state between the master hand and the slave hand is controlled through the control unit. When the doctor's hand leaves or touches a specific sensor, the connection is automatically disconnected or re-established.
It effectively avoids the doctor's mistaken touching the wrist mechanism, ensures the safety of the operation, and allows the doctor to adjust the position of the wrist mechanism for easy operation, thereby improving the comfort and efficiency of the operation.
Smart Images
Figure CN222853980U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of minimally invasive surgical robots, in particular to a wrist mechanism of a doctor's operating end of a minimally invasive surgical robot. Background Art
[0002] Minimally invasive surgical robots usually include a doctor's operating end and a patient's operating end, such as Figures 1-2 As shown, the doctor controls the slave hand B at the patient's surgical end by manipulating the master hand A at the doctor's operating end to perform minimally invasive surgery on the patient, wherein the master hand A at the doctor's operating end usually includes two left and right operating arms A01, and the operating arms A01 include a cross arm mechanism 200 and a wrist mechanism 100 connected to the cross arm mechanism 200; the slave hand B at the patient's surgical end usually includes two left and right holding arms B01 and an image arm B02 located between the two holding arms B01.
[0003] However, during the actual operation, the doctor may accidentally touch the wrist mechanism of the doctor's operating end. Since the main hand of the doctor's operating end and the slave hand of the patient's surgical end are not disconnected at this time, it is very likely to cause physical harm to the patient. In addition, since the main hand of the doctor's operating end has a limited range of motion, the doctor may not be able to operate smoothly when operating to a certain position. Utility Model Content
[0004] In order to solve the problems existing in the prior art, the present application proposes a wrist mechanism for the doctor's operating end of a minimally invasive surgical robot.
[0005] In order to achieve the above-mentioned objectives, the present application proposes a wrist mechanism of the doctor's operating end of a minimally invasive surgical robot, comprising multiple rotating joints and an opening and closing joint, a rotatable connection between two adjacent rotating joints, the first rotating joint being used to connect to the cross-arm mechanism of the doctor's operating end, the last rotating joint being connected to the opening and closing joint, an infrared sensor being provided at the end of the opening and closing joint axis in the opening and closing joint for connecting to the last rotating joint, the infrared sensor being connected to a control unit, the infrared sensor being used to detect whether the doctor's hand is holding the opening and closing joint of the doctor's operating end, and the control unit being used to control whether the main hand of the doctor's operating end is disconnected from the slave hand of the patient's surgical end.
[0006] In some embodiments, a touch sensor is also provided on the opening and closing joint axis, and the touch sensor is connected to the control unit. Whether the touch sensor sends a signal to the control unit to disconnect the master hand and the slave hand is controlled by the doctor. When the doctor touches the touch sensor, the touch sensor sends a signal to the control unit to disconnect the master hand at the doctor's operating end from the slave hand at the patient's surgical end; when the doctor does not touch the touch sensor, the master hand at the doctor's operating end and the slave hand at the patient's surgical end re-establish the connection relationship.
[0007] In some embodiments, the rotatable connection between two adjacent rotational joints is achieved through the following structure: each rotational joint includes a joint rod, the joint rod of one of the rotational joints is recorded as the first joint rod, and the joint rod of the other rotational joint is recorded as the second joint rod, a motor is provided in the first joint rod, the motor has an encoder, the output shaft of the motor drives the first bevel gear to rotate, the first bevel gear is meshed with the second bevel gear arranged on the joint shaft, the joint shaft is rotationally connected to the first joint rod via a bearing, and the joint shaft is fixedly connected to the second joint rod, when the motor is driven to move, the joint shaft rotates through the transmission of the first bevel gear and the second bevel gear, thereby driving the second joint rod to rotate, and even rotating the corresponding rotational joint.
[0008] In some embodiments, a limiting pin is provided on the second joint rod, and a limiting groove is provided on the first joint rod. When the second joint rod rotates, the limiting pin moves in the limiting groove to limit the rotation range of the second joint rod.
[0009] In some embodiments, the joint shaft is configured as a hollow structure for passing control cables of the infrared sensor and the touch sensor.
[0010] In some embodiments, the structure of the opening and closing joint is as follows: it includes the opening and closing joint axis, on which the first opening and closing handle and the second opening and closing handle are respectively hinged, the main body of the displacement sensor connected to the control unit is fixedly connected to the inner cavity of the opening and closing joint axis, the movable end of the displacement sensor is fixedly connected to a rigid connecting piece, and the connecting piece is respectively hinged to the first connecting rod and the second connecting rod, the other end of the first connecting rod passes through a first opening provided on the opening and closing joint axis and is hinged to the first opening and closing handle, and the other end of the second connecting rod passes through a second opening provided on the opening and closing joint axis and is hinged to the second opening and closing handle, when the doctor's two fingers are respectively extended into the first opening and closing handle and the second opening and closing handle, and the first opening and closing handle and the second opening and closing handle are manipulated to perform opening and closing movements, the connecting piece performs linear motion in the inner cavity of the opening and closing joint axis, and the displacement is detected by the displacement sensor.
[0011] The beneficial effect of the scheme of the present application lies in the wrist mechanism of the doctor's operating end of the above-mentioned minimally invasive surgical robot, which uses an infrared sensor to detect whether the doctor's hand is holding the opening and closing joint of the doctor's operating end. When the doctor's hand leaves the opening and closing joint, a signal is sent to the control unit to disconnect the main hand of the doctor's operating end from the slave hand of the patient's surgical end, so as to avoid the doctor accidentally touching the wrist mechanism of the doctor's operating end; by setting a touch sensor, when the doctor manipulates the wrist mechanism to the extreme position, if the slave hand still wants to continue to operate in the same direction, or the doctor operates to an inconvenient position, the doctor can touch the touch sensor with his index finger, and the touch sensor will send a signal to the control unit to disconnect the main hand of the doctor's operating end from the slave hand of the patient's surgical end. At this time, the doctor can drive the wrist mechanism to move to a comfortable position, and then leave the index finger away from the touch sensor. The main hand of the doctor's operating end and the slave hand of the patient's surgical end re-establish the connection relationship, and the doctor can continue the operation. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] Figure 1 The figure shows a schematic diagram of the structure of the doctor's operating terminal in the prior art.
[0013] Figure 2 The schematic diagram of the structure of the patient's surgical end in the prior art is shown.
[0014] Figure 3 A schematic diagram of the structure of the wrist mechanism of the doctor's operating end of the minimally invasive surgical robot in the embodiment is shown.
[0015] Figure 4 A schematic diagram of the driving principle of two adjacent rotating joints in the wrist mechanism in the embodiment is shown.
[0016] Figure 5 Shows Figure 4 Schematic diagram from another angle.
[0017] Figure 6 Shows Figure 4 Schematic diagram of the local cross-sectional structure.
[0018] Figure 7 A schematic structural diagram of the opening and closing joints in the wrist mechanism in the embodiment is shown.
[0019] Figure 8 A schematic diagram showing the doctor's hand manipulating the opening and closing joints in the embodiment is shown.
[0020] Reference numerals: A-master hand, A01-operating arm, B-slave hand, B01-arm, B02-image arm, 100-wrist mechanism, 200-cross arm mechanism, 11-first rotary joint, 12-second rotary joint, 13-third rotary joint, 14-opening and closing joint, 1201-motor, 1202-encoder, 1203-first bevel gear, 1204-second bevel gear, 1205-joint shaft, 1206-first joint rod, 1 207-first bearing, 1208-second bearing, 1209-second joint rod, 1210-limiting pin, 1211-limiting groove, 1212-hollow structure, 1401-first opening and closing handle, 1402-second opening and closing handle, 1403-opening and closing joint axis, 1404-first connecting rod, 1405-second connecting rod, 1406-connecting piece, 1407-displacement sensor, 1408-infrared sensor, 1409-touch sensor. DETAILED DESCRIPTION
[0021] The specific implementation of the present application is further described below in conjunction with the accompanying drawings.
[0022] In the description of the present application, it should be understood that the terms "first", "second", etc. are used to distinguish similar objects, rather than to describe or indicate a specific order or sequence. The terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.
[0023] like Figures 3 to 8 As shown, the wrist mechanism of the doctor's operating end of the minimally invasive surgical robot involved in the present application includes multiple rotating joints and an opening and closing joint 14. The two adjacent rotating joints are rotatably connected. The first rotating joint is used to connect the cross arm mechanism of the doctor's operating end, and the last rotating joint is connected to the opening and closing joint 14. The above structure is similar to the structure of the doctor's operating end wrist mechanism in the prior art. In this embodiment, the wrist mechanism includes three rotating joints, which are respectively recorded as the first rotating joint 11, the second rotating joint 12 and the third rotating joint 13. The three rotating joints and the opening and closing joint 14 respectively correspond to the control of the patient's surgical end from the rotation of the instrument rod in the hand B, the swing of the clamp head, the rotation of the clamp head, and the opening and closing of the clamp head.
[0024] Specifically, the rotatable connection between two adjacent rotating joints is realized by the following structure: each rotating joint includes a joint rod, the joint rod of one rotating joint is recorded as a first joint rod 1206, and the joint rod of the other rotating joint is recorded as a second joint rod 1209. A motor 1201 is provided in the first joint rod 1206, and gravity compensation is performed by the motor 1201. The motor 1201 is provided with an encoder 1202 for detecting the rotation angle. The output shaft of the motor 1201 drives the first bevel gear 1203 to rotate. The first bevel gear 1203 is connected to the joint shaft 1205. The second bevel gear 1204 is meshed, the joint shaft 1205 is rotationally connected to the first joint rod 1206 via a bearing, and the joint shaft 1205 is fixedly connected to the second joint rod 1209. In this embodiment, the joint shaft 1205 is connected to the first joint rod 1206 via a first bearing 1207 and a second bearing 1208. When the motor 1201 is driven to operate, the joint shaft 1205 rotates through the transmission of the first bevel gear 1203 and the second bevel gear 1204, thereby driving the second joint rod 1209 to rotate, that is, the corresponding rotary joint rotates. In order to limit the rotation range of the rotary joint, a limit pin 1210 is provided on the second joint rod 1209, and a limit groove 1211 is provided on the first joint rod 1206. When the second joint rod 1209 rotates, the limit pin 1210 moves in the limit groove 1211 to limit the rotation range of the second joint rod 1209. In addition, the joint shaft 1205 is configured as a hollow structure 1212 for passing control cables of the infrared sensor and the touch sensor.
[0025] The structure of the opening and closing joint 14 is as follows: it includes an opening and closing joint shaft 1403 for connecting with the last rotating joint, and a first opening and closing handle 1401 and a second opening and closing handle 1402 are respectively hinged on the opening and closing joint shaft 1403, and the main body of the displacement sensor 1407 connected to the control unit is fixedly connected in the inner cavity of the opening and closing joint shaft 1403, and the movable end of the displacement sensor 1407 is fixedly connected with a rigid connecting piece 1406, and the connecting piece 1406 is respectively hinged with the first connecting rod 1404 and the second connecting rod 1405, and the other end of the first connecting rod 1404 passes through the The first opening on the opening and closing joint shaft 1403 is hinged to the first opening and closing handle 1401, and the other end of the second connecting rod 1405 passes through the second opening set on the opening and closing joint shaft 1403 and is hinged to the second opening and closing handle 1402. When the doctor's middle finger and thumb are respectively inserted into the first opening and closing handle 1401 and the second opening and closing handle 1402, and the first opening and closing handle 1401 and the second opening and closing handle 1402 are controlled to perform opening and closing movements, the connecting piece 1406 performs linear motion in the inner cavity of the opening and closing joint shaft 1403, and the displacement is detected by the displacement sensor 1407.
[0026] An infrared sensor 1408 is provided at the end of the opening and closing joint shaft 1403 (i.e., the end of the opening and closing joint shaft 1403 away from the last rotating joint), and the infrared sensor 1408 is connected to a control unit. The infrared sensor 1408 is used to detect whether the doctor's hand is holding the opening and closing joint 14 of the doctor's operating end. The control unit is used to control whether the master hand of the doctor's operating end and the slave hand of the patient's surgical end are disconnected. The control unit can adopt the control unit in the doctor's operating end in the prior art to enable it to realize related functions; when the doctor operates, the doctor's middle finger and thumb are respectively extended into the first opening and closing grip 1401 and the second opening and closing grip 1402, and the palm of the hand will cover the infrared sensor 1408. At this time, the master hand of the doctor's operating end is connected to the slave hand of the patient's surgical end, and the doctor can operate the master hand to control the slave hand to perform surgery; when the doctor's hand leaves the opening and closing joint 14, the infrared sensor 1408 sends a signal to the control unit to disconnect the master hand of the doctor's operating end from the slave hand of the patient's surgical end, so as to avoid the doctor from accidentally touching the wrist mechanism of the doctor's operating end.
[0027] A touch sensor 1409 is also provided on the opening and closing joint shaft 1403. Specifically, the touch sensor 1409 is arranged on the outer peripheral surface of the opening and closing joint shaft 1403. The touch sensor 1409 is connected to the control unit. Whether the touch sensor 1409 sends a signal to the control unit to disconnect the master hand from the slave hand is controlled by the doctor. The doctor manipulates the wrist mechanism to make the corresponding instrument rod rotate, the forceps head swing, the forceps head rotate, and the forceps head open and close. However, when the doctor manipulates the wrist mechanism to the extreme position, if the slave hand still wants to continue to operate in the same direction, or the doctor operates to an inconvenient position, the doctor can touch the touch sensor 1409 with his index finger. The touch sensor 1409 will send a signal to the control unit to disconnect the master hand at the doctor's operating end from the slave hand at the patient's surgical end. At this time, the doctor can drive the wrist mechanism to move to a comfortable position, and then remove the index finger from the touch sensor 1409. The master hand at the doctor's operating end and the slave hand at the patient's surgical end re-establish the connection relationship, and the doctor can continue the operation.
[0028] The wrist mechanism of the doctor's operating end of the minimally invasive surgical robot involved in the present application can disconnect the main hand of the doctor's operating end from the slave hand of the patient's operating end through the setting of infrared sensors and touch sensors, thereby preventing the doctor from accidentally touching the wrist mechanism of the doctor's operating end. It can also enable the doctor to adjust the position of the wrist mechanism, making it convenient for the doctor to perform surgery in a comfortable state.
[0029] The above is only a preferred specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can make equivalent substitutions or changes according to the technical solution and concept of the present application within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.
Claims
1. A wrist mechanism of a doctor's operating end of a minimally invasive surgical robot, comprising a plurality of rotating joints and an opening and closing joint, wherein two adjacent rotating joints are rotatably connected, wherein the first rotating joint is used to connect to the cross arm mechanism of the doctor's operating end, and the last rotating joint is connected to the opening and closing joint, characterized in that: An infrared sensor is provided at the end of the opening and closing joint axis in the opening and closing joint for connecting with the last rotating joint. The infrared sensor is connected to the control unit. The infrared sensor is used to detect whether the doctor's hand is holding the opening and closing joint of the doctor's operating end. The control unit is used to control whether the main hand of the doctor's operating end and the slave hand of the patient's surgical end are disconnected.
2. The wrist mechanism of the doctor's operating end of the minimally invasive surgical robot according to claim 1 is characterized by: A touch sensor is also provided on the opening and closing joint axis, and the touch sensor is connected to the control unit. Whether the touch sensor sends a signal to the control unit to disconnect the master hand from the slave hand is controlled by the doctor. When the doctor touches the touch sensor, the touch sensor sends a signal to the control unit to disconnect the master hand at the doctor's operating end from the slave hand at the patient's surgical end. When the doctor does not touch the touch sensor, the master hand of the doctor's operating end and the slave hand of the patient's operating end re-establish a connection relationship.
3. The wrist mechanism of the doctor's operating end of the minimally invasive surgical robot according to claim 2 is characterized in that: The rotatable connection between two adjacent rotating joints is achieved by the following structure: each rotating joint includes a joint rod, the joint rod of one of the rotating joints is recorded as the first joint rod, and the joint rod of the other rotating joint is recorded as the second joint rod, a motor is provided in the first joint rod, the motor has an encoder, the output shaft of the motor drives the first bevel gear to rotate, the first bevel gear is meshed with the second bevel gear arranged on the joint shaft, the joint shaft is rotationally connected to the first joint rod via a bearing, and the joint shaft is fixedly connected to the second joint rod, when the motor is driven to operate, the joint shaft rotates through the transmission of the first bevel gear and the second bevel gear, thereby driving the second joint rod to rotate, and even rotating the corresponding rotating joint.
4. The wrist mechanism of the doctor's operating end of the minimally invasive surgical robot according to claim 3 is characterized by: A limiting pin is provided on the second joint rod, and a limiting groove is provided on the first joint rod. When the second joint rod rotates, the limiting pin moves in the limiting groove to limit the rotation range of the second joint rod.
5. The wrist mechanism of the doctor's operating end of the minimally invasive surgical robot according to claim 3 is characterized by: The joint shaft is configured as a hollow structure for passing control cables of the infrared sensor and the touch sensor.
6. The wrist mechanism of the doctor's operating end of the minimally invasive surgical robot according to claim 2, characterized in that: The structure of the opening and closing joint is as follows: it includes the opening and closing joint shaft, on which the first opening and closing handle and the second opening and closing handle are respectively hinged, the main body of the displacement sensor connected to the control unit is fixedly connected in the inner cavity of the opening and closing joint shaft, the movable end of the displacement sensor is fixedly connected to a rigid connecting piece, and the connecting piece is respectively hinged to the first connecting rod and the second connecting rod, the other end of the first connecting rod passes through a first opening provided on the opening and closing joint shaft and is hinged to the first opening and closing handle, and the other end of the second connecting rod passes through a second opening provided on the opening and closing joint shaft and is hinged to the second opening and closing handle, when the doctor's two fingers are respectively extended into the first opening and closing handle and the second opening and closing handle, and the first opening and closing handle and the second opening and closing handle are manipulated to perform opening and closing movements, the connecting piece performs linear motion in the inner cavity of the opening and closing joint shaft, and the displacement is detected by the displacement sensor.