Robotic operating master and robot

Abstract

The utility model provides a kind of robot operating end master hand and robot.The robot operating end master hand includes motor, coupling, electrically conductive slip ring, torque sensor and first transmission assembly and second transmission assembly;Motor is connected with the one end of the torque sensor by first transmission assembly, and the other end of the torque sensor is equipped with second transmission assembly;The end of second transmission assembly is connected with the one end of electrically conductive slip ring axle, and the other end of electrically conductive slip ring axle is connected with control lever through coupling;Motor is connected with outside execution end mechanical arm signal.The utility model is connected by the first transmission assembly of motor and belt pulley that are connected with outside execution end mechanical arm signal, then first transmission assembly, torque sensor, second transmission assembly, electrically conductive slip ring and control lever are sequentially connected to form force feedback transmission mechanism, realize force feedback function.

Description

Technical Field

[0001] This utility model relates to the field of surgical robots, specifically to a master hand for operating a robot and a robot, and more particularly to a master hand for force feedback control in a vascular interventional surgery robot and a robot. Background Technology

[0002] Interventional surgery involves making a puncture point a few millimeters in size on the skin. Under the guidance of medical imaging equipment, medical catheters, guide wires, and other interventional instruments are introduced into the blood vessel from the puncture point and then further along the blood vessel to reach the lesion for treatment.

[0003] Most current interventional surgical robots, while capable of delivering consumables such as guidewires and catheters, lack the ability to provide force feedback in actual guidewire and catheter twisting scenarios.

[0004] Patent document CN 220158378 U discloses a master-end control device for an interventional surgical robot, used to cooperate with a slave-end robot, including a frame, a moving mechanism, and a master-end operating mechanism. The moving mechanism is mounted on the frame and includes a guide and a sliding member. The guide is mounted on the frame, and the sliding member is slidably mounted on the guide. The master-end operating mechanism is mounted on the sliding member and includes an operating handle. The operating handle can rotate around its own axis and drives the master-end operating mechanism to move along the guide through the sliding member. However, this solution still cannot provide force feedback in scenarios involving twisting guidewires and catheters. Utility Model Content

[0005] In view of the deficiencies in the existing technology, the purpose of this utility model is to provide a robot operating end master hand and a robot.

[0006] The robot operating end master hand provided by this utility model includes a motor, a coupling, a conductive slip ring, a torque sensor, a first transmission component, and a second transmission component;

[0007] The motor is connected to one end of the torque sensor via a first transmission assembly, and a second transmission assembly is installed at the other end of the torque sensor.

[0008] The end of the second transmission component is connected to one end of the conductive slip ring shaft, and the other end of the conductive slip ring shaft is connected to the control lever via a coupling.

[0009] The motor is connected to the external actuator of the robotic arm via signal transmission.

[0010] Preferably, the first transmission assembly includes a first synchronous pulley, a first synchronous belt, and a second synchronous pulley;

[0011] A first synchronous pulley is mounted on the motor shaft, and a first synchronous belt is installed between the first synchronous pulley and the second synchronous pulley; a second synchronous pulley is mounted on one end of the torque sensor.

[0012] Preferably, the second transmission assembly includes a third synchronous pulley, a fourth synchronous pulley, and a second synchronous belt;

[0013] The other end of the torque sensor is equipped with a fourth synchronous pulley; a second synchronous belt is installed between the third and fourth synchronous pulleys; and a third synchronous pulley is installed at one end of the central shaft of the conductive slip ring.

[0014] Preferably, it also includes a main fixing member, the

[0015] The motor is fixedly mounted on the main fixing component via a motor mounting plate;

[0016] The torque sensor is mounted on the main fixing component;

[0017] The conductive slip ring is mounted on the main fixing component.

[0018] Preferably, it also includes a pressure sensor and a data conversion board;

[0019] The pressure sensor is mounted on the control lever, and the conductive slip ring is electrically connected to the pressure sensor; the data conversion board is mounted on the main fixing component, and the data conversion board is signal connected to the conductive slip ring;

[0020] The data conversion board is connected to the external actuator robotic arm for signal transmission.

[0021] Preferably, it also includes a photoelectric sensor switch.

[0022] The number of the inductive photoelectric switches is three;

[0023] One photoelectric sensor is directly mounted on the main fixing component; the other two photoelectric sensors are respectively mounted on the main fixing component via the first photoelectric fixing component and the second photoelectric fixing component.

[0024] The robot operating end main hand also includes a button light board, which is mounted on the main fixing component via a button light board holder;

[0025] The button panel is equipped with status lights and a clutch button.

[0026] Preferably, it also includes a housing, which is a circular or elliptical structure with a hollow center for accommodating a hand, and the end of the control lever is located in the hollow center.

[0027] Preferably, it also includes an encoder, which is mounted on the encoder fixing member and locked to the main fixing member by a connector, and the shaft of the encoder extends into the third synchronous pulley;

[0028] The robot operating end main hand also includes a drive board, which is mounted on the main fixing member;

[0029] The pressure sensor, photoelectric switch, encoder, data conversion board, motor, and external actuator robotic arm are all connected to the drive board via signal.

[0030] Preferably, the pressure sensor is a pressure-sensitive thin film;

[0031] The pressure-sensing film is attached to the outer surface of the control lever.

[0032] According to the present invention, a robot is provided that employs the aforementioned robot operating end master hand.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] This invention connects a first transmission assembly consisting of a motor and a belt pulley that are connected to the external actuator of the robotic arm. Then, the first transmission assembly, a torque sensor, a second transmission assembly, a conductive slip ring, and a control lever are connected in sequence to form a force feedback transmission mechanism, thereby realizing the force feedback function. Attached Figure Description

[0035] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0036] Figure 1 This is a schematic diagram of the structure of this utility model;

[0037] Figure 2 This is a schematic diagram of the structure of this utility model after the shell is hidden;

[0038] Figure 3 for Figure 2 Another structural diagram;

[0039] The diagram shows:

[0040] Detailed Implementation

[0041] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0042] This invention provides a robot operating end master hand, including a joystick 3, a motor 7, a coupling 17, a conductive slip ring 19, a torque sensor 28, a first transmission assembly, and a second transmission assembly. The motor 7 is connected to one end of the torque sensor 28 via the first transmission assembly. The other end of the torque sensor 28 is equipped with the second transmission assembly. Specifically, the first transmission assembly is connected to one end of the shaft of the torque sensor 28, and the other end of the shaft of the torque sensor 28 is equipped with the second transmission assembly. The end of the second transmission assembly is connected to one end of the central shaft of the conductive slip ring 19. The other end of the central shaft of the conductive slip ring 19 is connected to the joystick 3 via the coupling 17. Specifically, the joystick 3 is integrated with the central shaft of the conductive slip ring 19 via the coupling 17. The motor 7 is connected to the external actuator, the robotic arm, and acts as a force feedback power source, feeding back the force received at the actuator to the operator (e.g., a doctor). The joystick 3 is located at the core of the operating hand and is the main component for the doctor's rotational operations. Simulating a doctor's handling of consumables such as guidewires and catheters, its surface undergoes special treatment to ensure good feel and anti-slip performance. The torque sensor 28 can detect the torque of the second synchronous pulley 11 in real time, enabling the recording and monitoring of the torque of the control lever 3.

[0043] The first transmission assembly includes a first synchronous pulley 9, a first synchronous belt 10, and a second synchronous pulley 11; the first synchronous pulley 9 is mounted on the shaft of the motor 7, and the first synchronous belt 10 is installed between the first synchronous pulley 9 and the second synchronous pulley 11; the second synchronous pulley 11 is mounted on one end of the torque sensor 28;

[0044] The second transmission assembly includes a third synchronous pulley 20, a fourth synchronous pulley 27, and a second synchronous belt 26; the other end of the torque sensor 28 is equipped with the fourth synchronous pulley 27; the second synchronous belt 26 is installed between the third synchronous pulley 20 and the fourth synchronous pulley 27; one end of the central shaft of the conductive slip ring 19 is equipped with the third synchronous pulley 20.

[0045] The robot's main hand also includes a main fixing component 13, which serves as the main component and is responsible for fixing the main components of the main hand. The motor 7 is fixedly mounted on the main fixing component 13 via a motor fixing plate 8; the torque sensor 28 is mounted on the main fixing component 13; and the conductive slip ring 19 is mounted on the main fixing component 13.

[0046] The robot's main operating end also includes a pressure sensor and a data conversion board 25. The pressure sensor is mounted on the control lever 3 and electrically connected to a conductive slip ring 19. The data conversion board 25 is signal-connected to the conductive slip ring 19 and to the external actuator, the robotic arm. In a preferred embodiment, the pressure sensor is a pressure-sensing film 4. Specifically, the pressure-sensing film 4 is attached to the outer surface of the control lever 3. When a finger applies pressure to the surface of the control lever 3, the gripper's clamping state can be controlled.

[0047] The robot's main operating hand also includes three photoelectric switches 12; one photoelectric switch 12 is directly mounted on the main fixing component 13; the other two photoelectric switches 12 are respectively mounted on the main fixing component 13 via a first photoelectric fixing component 16 and a second photoelectric fixing component 18. The photoelectric switches 12 are used to detect whether the human hand is within the operating area. Only when a human hand is detected can the various operating functions of the main hand be activated to avoid misoperation. The robot's main operating hand also includes a button light panel 15, which is mounted on the main fixing component 13 via a button light panel holder 14. The button light panel 15 is equipped with status lights and a clutch button 5. The status lights can display the status of the operating hand and whether it is working normally through different colored lights, providing intuitive visual feedback to the operator. The clutch button 5 is located on the front surface of the front shell 6 and can control the connection status between the doctor's operating end and the execution end.

[0048] The robot's main operating hand also includes an encoder 21, which is mounted on an encoder fixing member 22 and locked to the main fixing member 13 by a connector. The shaft of the encoder 21 extends into the third synchronous pulley 20. In a preferred embodiment, the connector is a copper stud 23. The robot's main operating hand also includes a drive plate 24, which is mounted on the main fixing member 13. The pressure sensing diaphragm 4, the photoelectric sensor 12, the encoder 21, the data conversion board 25, the motor 7, and the external actuator robotic arm are all electrically connected to the drive plate 24. The drive plate 24 is responsible for processing signals from the pressure sensing diaphragm 4, the clutch button 5, the photoelectric sensor 12, the encoder 21, the data conversion board 25, and other components, and is also responsible for driving the motor 7. The encoder 21 is used to detect the number of rotations of the third synchronous pulley 20, so as to record and monitor the number of rotations of the control lever 3, providing the doctor with precise rotation control.

[0049] The robot's main operating end also includes a housing 29, which is a circular or elliptical structure with a hollow center to accommodate the human hand. The end of the control lever 3 is located in the hollow center. The housing 29 includes a rear shell 1, a cover plate 2, and a front shell 6. The housing 29 is made of high-strength, corrosion-resistant materials, providing robust protection for the internal components while conforming to ergonomics to ensure the usability of the operating hand, overall aesthetics, and durability. After the other components are installed, the main fixing component 13 is first installed on the rear shell 1, then the front shell 6, which contains the clutch button 5, is installed, and finally the cover plate 2 is closed.

[0050] The working principle of this utility model is as follows:

[0051] After this invention is installed at the end of the robotic arm, when a human hand is placed in the elliptical operating area, the three photoelectric sensors 12 detect the human hand and feed the information back to the drive board 24, connecting the operating end and the execution end. If no human hand is detected, the system locks. When the human hand pinches the control lever 3, the fingers apply a pinching force to the pressure sensing film 4. The information is transmitted through the conductive slip ring 19 to the data conversion board 25 and then to the drive board 24. The pinching force state is then synchronized to the execution end gripper, and the system will control the gripping action. When the human hand releases the gripper, the execution end gripper releases. When the control lever 3 is pinched for delivery, the external execution end robotic arm will move accordingly and synchronize its state to the execution end robotic arm. The delivery force feedback is then achieved through the delivery action of the robotic arm. When the control lever 3 is twisted, the third synchronous pulley 20 rotates synchronously. The encoder 21 then acquires the number of rotations. The encoder information is transmitted to the control system of the robotic arm through the drive board 24, thereby controlling the twisting action of the fingers at the execution end. When the actuator obtains the twisting torque information of consumables such as guide wires and catheters, it will feed it back to the operating end through the control system. Then, the speed of motor 7 will be adjusted and transmitted to the second synchronous pulley 11 through the first synchronous pulley 9 and the first synchronous belt 10. After that, the torque sensor 28 and the fourth synchronous pulley 27 will output the torque to the third synchronous pulley 20 through the second synchronous belt 26. Finally, the torque sensor 28 will feed back to the control lever 3, so that the human hand can feel the resistance. At the same time, the torque sensor 28 will also detect the torque signal transmitted on the control lever. The encoder information will be transmitted to the control system through the drive board 24, which will then control the fingers of the actuator to slow down the twisting action, realizing bidirectional force feedback. When the human hand is in the elliptical operating area and needs to move the robotic arm of the operating end, the clutch button 5 can be pressed at the lower finger recess of the elliptical operating area to move.

[0052] The overall shell of this utility model is circular, and the elliptical part in the circular area is the hand operation area. The function of the operation area is twofold: firstly, to protect the hand from touching objects around the device during operation; and secondly, to limit the hand's operating space and prevent the hand from leaving the photoelectric sensor trigger range during operation, thus affecting the control experience and efficiency.

[0053] The main hand designed in this invention can be placed at the end of the robotic arm. While the surgeon is operating the main hand, the robotic arm at the operating end moves in coordination, and the position information is synchronized to the robotic arm at the execution end, so as to achieve full-space movement control of the robotic arm at the execution end, so as to realize more flexible surgical operations.

[0054] This invention adds force feedback when doctors twist and turn consumables such as guidewires and catheters during surgical procedures, and also provides force feedback when delivering consumables such as guidewires and catheters with the robotic arm at the operating end. The combined use of these two forms of force feedback can truly allow the surgeon to experience a more realistic clinical surgical environment, thereby reducing the risks brought about by clinical procedures.

[0055] This invention utilizes a pressure-sensitive film attached to the periphery of the control lever to acquire the pressure exerted by the doctor's fingers during pinching, delivery, and twisting of guidewires and catheter consumables, thereby controlling the clamping force of the actuator. Furthermore, the clamping force of the fingers applied to the pressure-sensitive film is continuously acquired while the control lever is rotated.

[0056] This utility model's operating lever simulates a guide wire or conduit wire structure. The lever has a fingertip pressure sensing film and integrates a twisting force feedback mechanism. The elliptical operating area has a human hand detection photoelectric sensor, and the elliptical part has a grip position that conforms to the shape of human fingers for easy range of movement. The front of the outer shell has a clutch button and status indicator light that can be accessed without the user's hand leaving the operating lever area. This ergonomic design structure facilitates one-handed operation.

[0057] In interventional surgery, a common procedure involves holding a Y-valve in each hand. The left hand is responsible for opening and closing the Y-valve and delivering and withdrawing consumables such as catheters, while the right hand is responsible for opening and closing the Y-valve and delivering and withdrawing guidewires or other consumables. During this process, it's necessary to sense changes in the resistance and twisting torque during the delivery of guidewires, catheters, and other consumables. This invention, by incorporating its own twisting force feedback, recreates the force scenario experienced by the fingertips, overcoming the shortcomings of similar main hands that only provide delivery force feedback. Simultaneously, it utilizes a thin-film pressure sensor to provide control over the opening and closing of the grippers at the execution end, preserving the surgeon's need for high-frequency, real-time release and tightening of guidewires, catheters, and other consumables.

[0058] On the other hand, this utility model integrates the operator's operation within the hand area by utilizing photoelectric detection technology, pressure sensing technology, force feedback mechanism, and state feedback mechanism. It successfully solves the problems of delivery and twisting force feedback of interventional surgical robots, while also determining the position of the human hand, rotating consumables such as guide wires and catheters, clamping the execution hand, judging the state of the operating hand, and the individual and coordinated movements of the master and slave arms, providing doctors with a more comfortable and accurate operating experience.

[0059] According to the present invention, a robot is provided, which adopts the aforementioned robot operating end master hand.

[0060] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0061] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the substantive content of this utility model. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A robot operating end master hand, characterized in that, It includes a motor (7), a coupling (17), a conductive slip ring (19), a torque sensor (28), a first transmission assembly, and a second transmission assembly; The motor (7) is connected to one end of the torque sensor (28) via a first transmission assembly, and a second transmission assembly is installed at the other end of the torque sensor (28); The end of the second transmission component is connected to one end of the central shaft of the conductive slip ring (19), and the other end of the central shaft of the conductive slip ring (19) is connected to the control lever (3) via the coupling (17). The motor (7) is connected to the external actuator of the robotic arm.

2. The robot operating end master hand according to claim 1, characterized in that, The first transmission assembly includes a first synchronous pulley (9), a first synchronous belt (10), and a second synchronous pulley (11); The motor (7) shaft is equipped with a first synchronous pulley (9), and a first synchronous belt (10) is installed between the first synchronous pulley (9) and the second synchronous pulley (11); the torque sensor (28) is equipped with a second synchronous pulley (11) at one end.

3. The robot operating end master hand according to claim 1, characterized in that, The second transmission assembly includes a third synchronous pulley (20), a fourth synchronous pulley (27), and a second synchronous belt (26); The other end of the torque sensor (28) is equipped with a fourth synchronous pulley (27); a second synchronous belt (26) is installed between the third synchronous pulley (20) and the fourth synchronous pulley (27); a third synchronous pulley (20) is installed at one end of the central shaft of the conductive slip ring (19).

4. The robot operating end master hand according to claim 1, characterized in that, It also includes a main fixing component (13), and the motor (7) is fixedly installed on the main fixing component (13) by a motor fixing plate (8); The torque sensor (28) is mounted on the main fixing member (13); The conductive slip ring (19) is mounted on the main fixing member (13).

5. The robot operating end master hand according to claim 4, characterized in that, It also includes a pressure sensor and a data conversion board (25); The pressure sensor is mounted on the control lever (3), and the conductive slip ring (19) is electrically connected to the pressure sensor; the data conversion board (25) is mounted on the main fixing member (13), and the data conversion board (25) is signal connected to the conductive slip ring (19); The data conversion board (25) is connected to the external actuator robotic arm signal.

6. The robot operating end master hand according to claim 1, characterized in that, It also includes a photoelectric sensor switch (12), The number of the inductive photoelectric switches (12) is three; One photoelectric sensor switch (12) is directly mounted on the main fixing member (13); the other two photoelectric sensor switches (12) are respectively mounted on the main fixing member (13) through the first photoelectric fixing member (16) and the second photoelectric fixing member (18); The robot operating terminal main hand also includes a button light board (15), which is mounted on the main fixing member (13) via a button light board base (14); The button light panel (15) is provided with status lights and clutch buttons (5).

7. The robot operating end master hand according to claim 1, characterized in that, It also includes a housing (29), which is a circular or elliptical structure with a hollow in the middle. The hollow is used to accommodate a human hand, and the end of the control lever (3) is located in the hollow.

8. The robot operating end master hand according to claim 5, characterized in that, It also includes an encoder (21), which is mounted on an encoder fixture (22) and locked to a main fixture (13) by a connector, and the shaft of the encoder (21) extends into a third synchronous pulley (20); The robot operating end master hand also includes a drive plate (24), which is mounted on the main fixing member (13); The pressure sensor, photoelectric switch (12), encoder (21), data conversion board (25), motor (7) and external actuator robotic arm are all connected to the drive board (24) via signal.

9. The robot operating end master hand according to claim 8, characterized in that, The pressure sensor is a pressure-sensitive thin film (4); The pressure-sensing film (4) is attached to the outer surface of the control lever (3).

10. A robot, characterized in that, The robot operating end master hand as described in any one of claims 1 to 9 is adopted.

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