Force feedback master hand and robot

Abstract

This invention provides a force feedback master hand and robot. The force feedback master hand includes a joystick, a first transmission structure, a second transmission structure, a torque sensor, and a motor. The joystick is connected to the torque sensor via the first transmission structure, and the torque sensor is connected to the motor via the second transmission structure. Both the motor and the torque sensor are connected to the external execution end robotic arm for signal transmission. This invention uses the joystick, the first transmission structure, the torque sensor, the second transmission structure, and the motor connected in sequence to form a force feedback transmission mechanism, and connects the motor to the external execution end robotic arm for signal transmission, thus realizing the force feedback function. In other words, this invention can realistically reproduce surgical movements, solving the problem of motion distortion caused by the lack of twisting force feedback in existing technologies, making the operation more precise and more suitable for the scenario.

Description

Technical Field

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

[0002] Teleoperation master-slave robots have become a research hotspot, but the tactile information of many teleoperation systems cannot be fed back to the operator. For example, most current interventional surgical robots, although capable of delivering consumables such as guidewires and catheters, lack feedback on the force in actual twisting scenarios of guidewires and catheters.

[0003] Patent document CN115500956A discloses a force feedback master hand, belonging to the field of robot telecontrol technology. This force feedback master hand includes an end effector, a transmission device, and a power output device. The power output device includes a base and at least one drive mechanism mounted on the base. The end effector is connected to the at least one drive mechanism via the transmission device. The at least one drive mechanism is used to drive the end effector to move. However, this solution still lacks force feedback functionality for practical scenarios involving twisting guide wires and guiding tubes. Utility Model Content

[0004] In view of the deficiencies in the existing technology, the purpose of this utility model is to provide a force feedback master hand and robot.

[0005] According to the present invention, a force feedback master hand includes a joystick, a first transmission structure, a second transmission structure, a torque sensor, and a motor.

[0006] The joystick is connected to the torque sensor via a first transmission structure, and the torque sensor is connected to the motor via a second transmission structure.

[0007] Both the motor and the torque sensor are connected to the external actuator robotic arm for signal transmission.

[0008] Preferably, the first transmission structure includes a fourth synchronous pulley, a third synchronous pulley, a second synchronous belt, a transmission shaft, and a coupling;

[0009] One end of the control lever is fixedly connected to the fourth synchronous pulley; the third synchronous pulley and the fourth synchronous pulley are connected by a second synchronous belt; one end of the drive shaft is fixedly connected to the third synchronous pulley, and the other end of the drive shaft is connected to one end of the torque sensor through a coupling.

[0010] Preferably, it also includes an encoder; the encoder has a shaft that is fixedly connected to the fourth synchronous pulley.

[0011] Preferably, the second transmission structure includes a first synchronous pulley, a second synchronous pulley, and a first synchronous belt;

[0012] The other end of the torque sensor is connected to the first synchronous pulley, and the first synchronous pulley and the second synchronous pulley are connected by the first synchronous belt; the shaft of the motor is fixedly connected to the second synchronous pulley.

[0013] Preferably, it also includes a tensioning pulley for pressing the first timing belt.

[0014] Preferably, it also includes a main fastener;

[0015] The joystick is fixed to the main fixing component via bearings and joystick fixing parts; the encoder is mounted on the main fixing component, and the torque sensor and motor are fixedly mounted on the main fixing component.

[0016] Preferably, it also includes status lights, clutch buttons, gripping control buttons, and photoelectric switches;

[0017] The status light is welded to the light plate, and the light plate is fixed to the main fixing component;

[0018] The clutch button is mounted on the clutch button plate;

[0019] The clamping control button is mounted on the button body, the button body is mounted on the button fixing seat, and the button fixing seat is fixed on the main fixing member;

[0020] Both the first and second photoelectric fixing components are used to fix the inductive photoelectric switch to the main fixing component.

[0021] Preferably, it also includes a driver board;

[0022] The drive board is mounted on the main fixing component; the torque sensor, motor, encoder, status light, clutch button, photoelectric switch and external actuator robotic arm are all electrically connected to the drive board;

[0023] The force feedback main hand also includes a heat dissipation sheet metal, which is fixed to the main fixing component.

[0024] Preferably, it also includes a housing, the main fixing member is installed inside the housing, the housing is provided with a handle portion, and the end of the control lever protrudes from the handle portion;

[0025] The outer casing is also provided with a connecting part, which is perpendicular to the handle part. The clutch button protrudes from the connecting part, and the distance of the clutch button meets the following requirements: when the operator holds the handle part, the operator's fingers can press the clutch button.

[0026] The status light extends to the outside of the casing;

[0027] The sensing element of the photoelectric switch extends to the outside of the housing.

[0028] According to the present invention, a robot is provided that employs the aforementioned force feedback master hand.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] This invention utilizes a force feedback transmission mechanism composed of a control lever, a first transmission structure, a torque sensor, a second transmission structure, and a motor connected in sequence. The motor is then connected to an external robotic arm to achieve force feedback. This invention enables realistic simulation of surgical movements, overcoming the distortion caused by the lack of twisting force feedback in existing technologies, resulting in more precise and scenario-appropriate operation. Attached Figure Description

[0031] 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:

[0032] Figure 1 This is a schematic diagram of the structure of this utility model without showing the shell;

[0033] Figure 2 This is a schematic diagram of the three-view structure of this utility model;

[0034] Figure 3 This is a structural schematic diagram of the main fixing component of this utility model;

[0035] Figure 4 A schematic diagram of the left-hand posture when using this utility model;

[0036] Figure 5 A schematic diagram of the first posture of the right hand when using this utility model;

[0037] Figure 6 A schematic diagram of the second posture of the right hand when using this utility model;

[0038] The diagram shows:

[0039] Detailed Implementation

[0040] 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.

[0041] This invention provides a force feedback master arm, including a joystick 1, a first transmission structure, a second transmission structure, a torque sensor 14, and a motor 31. The joystick 1 is connected to the torque sensor 14 via the first transmission structure, and the torque sensor 14 is connected to the motor 31 via the second transmission structure. Both the motor 31 and the torque sensor 14 are connected to an external actuator arm for signal transmission. The motor 31 serves as the force feedback power source, providing feedback on the torque at the actuator end.

[0042] The control lever 1 is located at the core of the operator's hand and is the main component for rotational operations by the operator (such as a doctor). It simulates the doctor's operation of consumables such as guidewires and catheters, and its surface is specially treated to ensure good feel and anti-slip performance.

[0043] The first transmission structure includes a fourth synchronous pulley 24, a third synchronous pulley 18, a second synchronous belt 19, a transmission shaft 17, a bearing housing 16, and a coupling 15. One end of the control lever 1 is fixedly connected to the fourth synchronous pulley 24; specifically, one end of the control lever 1 extends into the fourth synchronous pulley 24. The third synchronous pulley 18 and the fourth synchronous pulley 24 are connected via the second synchronous belt 19. One end of the transmission shaft 17 is fixedly connected to the third synchronous pulley 18, and the other end of the transmission shaft 17 is connected to one end of the torque sensor 14 via the coupling 15; specifically, the other end of the transmission shaft 17 is connected to one end of the shaft of the torque sensor 14 via the coupling 15. A bearing housing 16 is provided between the coupling 15 and the third synchronous pulley 18. The bearing housing 16 supports the transmission shaft 17 to ensure its smooth and accurate rotation.

[0044] The drive shaft 17 is responsible for the torque transmission between the third synchronous pulley 18 and the torque sensor 14. The coupling 15 is a key component between the drive shaft 17 and the torque sensor 14, ensuring accurate torque transmission.

[0045] The force feedback master hand also includes an encoder 23; the encoder 23 is located on the side of the fourth synchronous pulley 24, and the shaft of the encoder 23 is fixedly connected to the fourth synchronous pulley 24; specifically, the shaft of the encoder 23 extends into the fourth synchronous pulley 24. The encoder 23 can be used to detect the number of rotations of the rotation control shaft, providing precise rotation control for the operator (such as a doctor).

[0046] The second transmission structure includes a first synchronous pulley 8, a second synchronous pulley 11, and a first synchronous belt 9. The other end of the torque sensor 14 is connected to the first synchronous pulley 8; specifically, the other end of the shaft of the torque sensor 14 is connected to the first synchronous pulley 8. The first synchronous pulley 8 and the second synchronous pulley 11 are connected via the first synchronous belt 9. The shaft of the motor 31 is fixedly connected to the second synchronous pulley 11. The force feedback main hand also includes a tensioning wheel 10, which is used to press the first synchronous belt 9.

[0047] The force feedback main hand also includes a main fixing member 22, which is used to fix various components. The control lever 1 is fixed to the main fixing member 22 by bearing 21 and control lever fixing member 27; the control lever fixing member 27 is used for fixing and position correction of the control lever 1. Encoder 23 is mounted on the main fixing member 22, and torque sensor 14 and motor 31 are fixedly mounted on the main fixing member 22.

[0048] The force feedback main hand also includes a status light 4, a gripping control button 5, a clutch button 2, and a photoelectric sensor switch 3; the status light 4 is welded to the light plate 13, and the light plate 13 is fixed to the main fixing member 22; the clutch button 2 is installed on the clutch button plate 20, specifically, the clutch button body is welded on the clutch button plate 20.

[0049] The gripping control button 5 is glued to the button body 26, which is glued to the button fixing seat 25. The button fixing seat 25 is fixed to the main fixing member 22. Specifically, the gripping control button 5 is located on the side of the handle part 6 and can control the gripping state of the gripper. The first photoelectric fixing member 28 and the second photoelectric fixing member 30 respectively fix different photoelectric switches 3 to the main fixing member 22. Specifically, the first photoelectric fixing member 28 and the second photoelectric fixing member 30 are responsible for fixing the photoelectric switches 3. The clutch button 2 can control the connection state between the robotic arm operating end (i.e., the force feedback master hand) and the execution end. The photoelectric switches 3 are used to detect whether the human hand is in the operating area. Only when the human hand is detected can the various operating functions of the master hand be activated to avoid misoperation. The light panel 13 is used to control the display state of the status light 4, providing real-time operation feedback to the operator. The status light 4 can display the status of the operator and whether it is working normally through different colored lights, providing intuitive visual feedback to the operator.

[0050] The force feedback main hand also includes a drive board 12; the drive board 12 is mounted on the main fixing member 22; the torque sensor 14, motor 31, encoder 23, status light 4, clutch button 2, photoelectric switch, and external actuator robotic arm are all electrically connected to the drive board 12. The drive board 12 is responsible for receiving signals from components such as the gripping control button 5, clutch button 2, photoelectric switch 3, and encoder 23, and is also responsible for driving the motor 31. The force feedback main hand also includes a heat dissipation sheet metal 29, which is fixed to the main fixing member 22 and is used to conduct heat out of the drive board 12, i.e., the heat dissipation sheet metal 29 is used for heat dissipation of the drive board 12. The torque sensor 14 is used to detect the magnitude of the output torque transmitted from the control lever 1 in real time.

[0051] The force feedback main hand also includes a housing 7, which is made of high-strength, corrosion-resistant material to provide robust protection for the internal components. It is also ergonomically designed to ensure the usability, aesthetics, and durability of the operating hand. The main fixing component 22 is installed inside the housing 7, which has a handle 6 designed for easy hand operation. Specifically, the handle 6 is designed analogously to the operating habits of doctors when holding the Y-valve during interventional procedures, with an equivalent Y-valve handle position. The end of the control lever 1 protrudes from the handle 6.

[0052] The outer casing 7 is also provided with a connecting part 32, which is perpendicular to the grip part 6. The clutch button 2 passes through the connecting part 32, and the distance of the clutch button 2 meets the following requirements: when the operator holds the grip part 6 with his left or right hand, the operator's left little finger or right index finger can press the clutch button 2; the light of the status light 4 extends to the outside of the outer casing 7; the sensing part of the photoelectric switch 3 extends to the outside of the outer casing 7.

[0053] The working principle of this utility model is as follows:

[0054] After the main hand of this utility model is installed on the robotic arm, when a human hand grasps the handle 6, the two photoelectric sensors 3 detect the human hand and feed the information back to the drive board 12. The operating end (i.e., this utility model) and the external execution end robotic arm are connected online. If no human hand is detected, the system locks. When the human hand presses the gripper control button 5, the execution end gripper clamps, and the system performs clamping control. After the gripper control button 5 is released, the execution end gripper releases. When the control lever 1 is grasped for delivery, the robotic arm moves accordingly and synchronizes with the delivery force feedback of the execution end robotic arm. At this time, the delivery action is realized through the execution end robotic arm. When the control lever 1 is twisted, the fourth synchronous pulley 24 rotates synchronously. The encoder 23 obtains the number of rotations at this time. The encoder information is transmitted to the control system through the drive board 12, thereby controlling the twisting action of the execution end fingers. When the actuator acquires the twisting torque information of consumables such as guide wires and catheters, it feeds it back to the operating end through the control system. Then, the speed of motor 31 is adjusted, and the torque is transmitted to torque sensor 14 through the first synchronous pulley 8, the first synchronous belt 9, and the second synchronous pulley 11. From torque sensor 14, the torque is transmitted through coupling 15 and drive shaft 17 to the end of the third synchronous pulley 18. Then, from the end of the third synchronous pulley 18, the torque is transmitted through the second synchronous belt 19 to the end of the fourth synchronous pulley 24, and then fed back to the control lever 1. Thus, the human hand feels the resistance. At the same time, torque sensor 14 also detects the torque signal transmitted on the control lever. The encoder information is transmitted to the control system through drive board 12, which then controls the finger of the actuator to slow down the twisting action, realizing bidirectional force feedback. When the human hand needs to move the robotic arm of the operating end, the clutch button 2 can be pressed to move it.

[0055] This invention is a main hand design based on the force feedback operation of consumables such as guidewires or catheters during interventional surgery. It aims to reproduce the force feedback under hand gestures during the procedure, avoid changes to the procedure due to the implementation of force feedback, and thus better reflect the effect of force feedback.

[0056] Structurally, the handle 6 repositions the Y-valve in the procedure, and the control lever repositions consumables such as guidewires or catheters. Actually, squeezing the guidewire or catheter and pressing the grip control button 5 repositions it.

[0057] In terms of operation, the independent control of the adaptive robotic arm is achieved by pressing the 2-clutch button. Releasing the clutch button 2 connects the robotic arm at the control end and the robotic arm at the execution end, thereby synchronizing the action of the hand hand delivering consumables such as guide wires or catheters to the gripper of the robotic arm at the execution end, and realizing delivery force feedback. Rotating the control lever 1 can synchronize the action signal to the gripper of the robotic arm at the execution end. This invention can realize the rotation of consumables such as guide wires or catheters and the feedback of twisting force.

[0058] In summary, this invention can achieve realistic reproduction of surgical actions in surgical scenarios, solving the distortion of actions caused by force feedback, and making the operation more precise and more in line with the scenario.

[0059] This utility model features an ergonomic design that resembles the normal operating method of a surgeon. With the left palm facing down, the thumb, index finger, or middle finger together controls the delivery and manipulation of consumables such as guidewires and catheters. With the right palm facing up, the thumb, index finger, or middle finger together also controls the delivery and manipulation of consumables such as guidewires and catheters. The right hand can also be operated with the palm facing up or down, providing more flexible operating methods and reducing the learning curve for surgeons. Specific hand gestures are provided in the reference section. Figures 4-6 ;

[0060] This utility model features an integrated design, allowing for one-handed operation. It conforms to ergonomic design and facilitates one-handed operation. It integrates torque control and force feedback control, pressure sensing design, clutch button function design, and hand sensing design.

[0061] This invention features a continuous operation design. When the user operates the control lever with their thumb and forefinger to twist the guidewire or catheter consumables, the middle finger can simultaneously control the opening and closing of the gripper. The thumb and forefinger do not need to leave the control lever or move their position on the control lever, thereby improving the operator's clinical experience and the high efficiency brought by continuous operation, and reducing the operator's learning curve.

[0062] This utility model features a design that allows for spatial movement in conjunction with a robotic arm at the operating end. The main hand can be placed at the end of the robotic arm, and while the surgeon is manipulating the main hand, the robotic arm at the operating end can be moved in coordination to control the movement of the execution hand throughout the entire space, thereby achieving more flexible surgical operations.

[0063] In summary, this utility model achieves force feedback function by sequentially connecting the control lever 1, the first transmission structure, the torque sensor 14, the second transmission structure, and the motor 31 to form a force feedback transmission mechanism.

[0064] This invention addresses the force feedback problem in current interventional surgical robots when performing twisting operations on consumables such as guidewires and catheters. The invention aims to increase force feedback during twisting operations on guidewires and catheters, as well as during delivery of these consumables using a robotic arm at the operating end. The combined use of these two forms of force feedback allows the surgeon to experience a more realistic clinical surgical environment, thereby reducing the risks associated with clinical procedures.

[0065] This invention also provides a robot that uses the aforementioned force feedback master hand.

[0066] 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.

[0067] 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 force feedback master hand, characterized in that, It includes a joystick (1), a first transmission structure, a second transmission structure, a torque sensor (14), and a motor (31); The control lever (1) is connected to the torque sensor (14) through a first transmission structure, and the torque sensor (14) is connected to the motor (31) through a second transmission structure; Both the motor (31) and the torque sensor (14) are connected to the external actuator robotic arm signal.

2. The force feedback master hand according to claim 1, characterized in that, The first transmission structure includes a fourth synchronous pulley (24), a third synchronous pulley (18), a second synchronous belt (19), a transmission shaft (17), and a coupling (15); One end of the control lever (1) is fixedly connected to the fourth synchronous pulley (24); the third synchronous pulley (18) and the fourth synchronous pulley (24) are connected by the second synchronous belt (19); one end of the drive shaft (17) is fixedly connected to the third synchronous pulley (18), and the other end of the drive shaft (17) is connected to one end of the torque sensor (14) through the coupling (15).

3. The force feedback main hand according to claim 2, characterized in that, It also includes an encoder (23); the shaft of the encoder (23) is fixedly connected to the fourth synchronous pulley (24).

4. The force feedback master hand according to claim 1, characterized in that, The second transmission structure includes a first synchronous pulley (8), a second synchronous pulley (11), and a first synchronous belt (9); The other end of the torque sensor (14) is connected to the first synchronous pulley (8), and the first synchronous pulley (8) and the second synchronous pulley (11) are connected by the first synchronous belt (9); the shaft of the motor (31) is fixedly connected to the second synchronous pulley (11).

5. The force feedback master hand according to claim 1, characterized in that, It also includes a tensioning pulley (10) for pressing the first timing belt (9).

6. The force feedback master hand according to claim 1, characterized in that, It also includes the main fastener (22); The joystick (1) is fixed to the main fixing part (22) by bearing (21) and joystick fixing part (27); the encoder (23) is installed on the main fixing part (22), and the torque sensor (14) and the motor (31) are fixedly installed on the main fixing part (22).

7. The force feedback master hand according to claim 1, characterized in that, It also includes a status light (4), a clutch button (2), a gripper control button (5), and a photoelectric sensor switch (3); The status light (4) is welded to the light plate (13), which is fixed to the main fixing member (22); The clutch button (2) is installed on the clutch button plate (20); The gripping control button (5) is mounted on the button body (26), the button body (26) is mounted on the button fixing seat (25), and the button fixing seat (25) is fixed on the main fixing member (22); The first photoelectric fixing component (28) and the second photoelectric fixing component (30) are both used to fix the inductive photoelectric switch (3) on the main fixing component (22).

8. The force feedback master hand according to claim 6, characterized in that, It also includes a driver board (12); The drive board (12) is mounted on the main fixing component (22); the torque sensor (14), motor (31), encoder (23), status light (4), clutch button (2), photoelectric switch (3) and external actuator are all electrically connected to the drive board (12); The force feedback main hand also includes a heat dissipation sheet metal (29), which is fixed to the main fixing part (22).

9. The force feedback master hand according to claim 8, characterized in that, It also includes a housing (7), the main fixing member (22) is installed inside the housing (7), the housing (7) is provided with a handle (6), and the end of the control lever (1) protrudes from the handle (6); The outer casing (7) is also provided with a connecting part (32), which is perpendicular to the handle part (6). The clutch button (2) protrudes from the connecting part (32), and the distance of the clutch button (2) meets the following requirements: when the operator holds the handle part (6), the operator's fingers can press the clutch button (2). The light from the status light (4) extends to the outside of the housing (7); The sensing part of the photoelectric switch (3) extends to the outside of the housing (7).

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

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