CN109171986A - Surgical robot and its control device based on ball and socket joint and tactile feedback - Google Patents
Surgical robot and its control device based on ball and socket joint and tactile feedback Download PDFInfo
- Publication number
- CN109171986A CN109171986A CN201811152893.6A CN201811152893A CN109171986A CN 109171986 A CN109171986 A CN 109171986A CN 201811152893 A CN201811152893 A CN 201811152893A CN 109171986 A CN109171986 A CN 109171986A
- Authority
- CN
- China
- Prior art keywords
- ball
- socket joint
- channel tube
- surgical robot
- joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Leader-follower robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/73—Manipulators for magnetic surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention provides a surgical robot based on a ball-and-socket joint and tactile feedback, which is provided with the ball-and-socket joint consisting of a spherical piece and a joint seat, wherein the joint seat is internally provided with a first roller and a second roller for driving the spherical piece to rotate in three dimensions, and is also provided with a sensor for acquiring the three-dimensional rotation of the spherical piece relative to the spherical piece. The center of the spherical piece is sequentially provided with a rotating channel tube, a forward and backward channel tube and a surgical instrument. The invention also provides a control device based on the same structural principle. The invention simplifies the structures of the surgical robot and the control device by utilizing the three-dimensional rotation capability of the ball-and-socket joint, and the control device and the execution device have the same structure and are fed back to an operator by touch, thereby improving the portability and the operability of the surgical robot.
Description
Technical field
The present invention relates to a kind of surgical robot systems, and in particular to a kind of operation based on cup-and-ball joint and touch feedback
Robot and its control device.
Background technique
With the development of science and technology more and more micro-wound surgical operations begin to use operating robot.Micro-wound surgical operation
Middle surgical instrument is entered by the fixed small notch of body surface completes operation, the operation of constraint and patient in view of body surface notch in vivo
Safety, it is desirable that surgical instrument does fixed-point motion in incision.Currently, realizing the fixed point of surgical instrument using following three kinds of schemes
Movement.
One, passive type joint: realize that surgical instrument around the movement of notch, is being transported indirectly by the joint motions of kinematic chain front end
Guarantee fixed-point motion by reaction force of the body surface to surgical instrument during dynamic.This method can guarantee the safety of patient
But it is not easy to adjustment surgical instrument posture.
Two, mechanical structure: fixed-point motion is realized by the movement characteristic of mechanical structure, it is ensured that the mechanism of fixed-point motion
Have: 1, arc orbit mechanism, as long as the center point that the body surface notch of guarantee patient is located at arc orbit ensures that surgical device
The fixed-point motion of tool, but the driving problems of this mechanism are not easy to solve.
2, axis direct drive mechanism can realize fixed-point motion as long as being located at body surface notch on driving axis, but only
The fixed-point motion being able to achieve on a swaying direction.
3, compound parallelogram lindage realizes fixed-point motion using the superimposed motion of two parallel four-bars, and this mechanism adds
Work required precision is higher, implements relatively difficult, and volume is larger, is unfavorable for surgical procedure.
Three, active control: being realized by the software control to joint of robot, only when joint of robot number is greater than
It is possible to realize fixed-point motion, the driving joint that this control mode requires the kinematic chain of medical robot longer, required when 4
Number is more, controls joint motions by algorithm to realize the fixed-point motion of incision.
Leonardo da Vinci robot is that commercialization and the most successful minimally invasive robot of clinicization, the robot use in the world at present
Open loop parallelogram telecentricity positioning mechanism, parallel four sides mechanism is realized by synchronous steel belt constraint, the shortcomings that the mechanism
It is to need to find telecentricity anchor point by device in assembly.Passive arm is integrated using the mechanical arm based on mobile platform, this
The shortcomings that mode is that entire mechanical system volume is larger, and needing passive arm tool for the ease of preoperative adjustment, there are four freedom degrees, is led
Cause cantilever beam longer, so that robot overall stiffness reduces.Patent wall for Leonardo da Vinci's minimally invasive robot in this respect simultaneously
It builds and considers, and the driving of most of Surgical instrument is often to make to drive in this way by motor direct-drive now
Motor is arranged in the top of platform, causes top-heavy, the driving moment in joint is increased, so that mechanical arm system is easy to produce
Vibration.
Endoscope driving device uses the nut screw kind of drive, but this mode is not easy to manually implemented preoperative adjustment,
Vertically movable device drives nut screw mode to move up and down to realize using motor, and overall volume is bigger.Adjust camera lens
When direction, operating doctor needs to stop all armed arm operations, is switched to and holds handel control system, is adjusted and held jointly with two hands
The position of handel after adjustment, then switches armed arm control system, restarts the operation interrupted.Repeatedly when switching waste
Between, it can not be as neatly controlling lens direction and angle by assistant in conventional laparoscopy operation.
Leonardo da Vinci's minimally invasive robot also lacks touch feedback, and touch feedback can make operative doctor distinguish tissue, " touching
Touch " to infected or by inflammatory effect delicate tissue, and more careful carry out diagnostic analysis.There is touch feedback,
Doctor can more perfect, more accurately sew up a wound in Minimally Invasive Surgery.
Therefore researching and developing novel minimally invasive robot mechanical arm system has important meaning to the development of China minimally invasive robot field
Justice.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of based on cup-and-ball joint and touching
Feel the operating robot and its control device of feedback.
Technical solution: in order to solve the above technical problems, the operating robot provided by the invention based on cup-and-ball joint, has
The cup-and-ball joint being made of ball-type part and socket joint, the socket joint is interior to be had for driving ball-type part in wherein three-dimensional rotation
First ball-and-socket roller bearing and the second ball-and-socket roller bearing, the roller bearing are driven by motor, and the center of the ball-type part is equipped with tube channel.
Specifically, motor and roller bearing, the roller bearing and the operation for passing through tube channel are installed on the tube wall of the tube channel
Instrument or siphunculus engagement.
Specifically, rotating electric machine is installed, the rotating electric machine is described for driving tube channel to rotate in the ball-type part
Roller bearing in motor and ball-type part is installed, roller bearing is driven across logical by the notch in tube channel in the ball-type part in tube channel
The pipeline of deferent is retreated along channel inside pipe wall.
Specifically, the tube channel includes rotating channel pipe and advance and retreat tube channel:
The rotating channel pipe is directly or indirectly fixedly connected with ball-type part, and the rotating channel pipe is driven across object along tube channel
Inner wall rotates, and the inductive component installed on the rotating channel pipe incudes the swing offset occurred across object along channel inside pipe wall.
The advance and retreat tube channel penetrates in rotating channel pipe or ball-type part, the driving assembly installed in the advance and retreat tube channel
It respectively drives and retreats across object along channel inside pipe wall, the inductive component installed in the advance and retreat tube channel incudes across object along channel
The advance and retreat displacement that inside pipe wall occurs.
Specifically, the socket joint is mounted in joint motion frame by spring, the joint motion frame and surgical machine
The fixed bracket connection of people.
Present invention simultaneously provides a kind of operating robot control device based on cup-and-ball joint, have the first cup-and-ball joint and
Second cup-and-ball joint, first cup-and-ball joint include the first ball-type part and the first socket joint, and second cup-and-ball joint includes
Second ball-type part and second joint seat；It is connected with pull rod and tube channel between the first ball-type part and the second ball-type part, it is described
Advance inductor for acquiring the first ball-type part and the second ball-type part relative displacement and rotation are installed on pull rod and tube channel
Inductor；Trace ball for acquiring second joint seat with respect to its three-dimensional rotation, the rail are installed on the second ball-type part
The induction pedestal of mark ball is located in the first ball-type part, is equipped in first socket joint for acquiring the first ball-type part with respect to it
The roller bearing and rotary encoder of three-dimensional rotation.
Operator executes the movement such as rotation, advance, pitching by control device robot arm.It holds and is located at control-rod top
Second cup-and-ball joint at end, to control the rotation for the working end wrist for installing surgical instrument on the robotic arm.Second ball-and-socket closes
There are finger-stall and pressoreceptor on section.The closure of fingerstall causes spring deformation, and drag-line is driven to generate electric signal, controls surgical device
The closure of tool end.
The present invention also provides a kind of mask controller or foot controller based on cup-and-ball joint, is by cup-and-ball joint and mouth
Cover or foot pedal combine, and roller bearing and rotary inductive for acquiring ball-type part with respect to its three-dimensional rotation are equipped in socket joint
Device is equipped with the inductor for the rotation of acquisition channel pipe in ball-type part, wears push-pull rod in tube channel, and in tube channel
Advance inductor for acquiring push-pull rod and tube channel relative displacement is installed, setting locating part is also needed in tube channel, is guaranteed
Tube channel can only rotate in ball-type part to retreat, the finite place piece between push-pull rod and tube channel, guarantee push-pull rod logical
It can only retreat, cannot rotate in deferent, by being controlled with tongue and/or foot for operator.
The utility model has the advantages that
1. Simple portable.Single cup-and-ball joint replaces complicated mechanical arm.Each cup-and-ball joint can independent packed and transported, body
Product is small, light-weight, easy to carry and assembling.It can also be applied in field rescue, space flight and aviation.
2. convenient for batch production.Since control device is identical with executive device structure, when use, can be replaced mutually.Production
When can share same production line, same packaging and same storage.New component can be replaced after damage at any time, can also be made
For medical disposable material use.
3. facilitate hand, mouth and foot while controlling.The system can allow operating doctor in both hands operation, moreover it is possible to by words
Other mechanical arms are freely controlled with foot, have been equivalent to mostly several hands, have been reduced a lifting-mirror doctor or assistant doctor, can also keep away
Exempt from the obstacle occurred when two people link up.
4. structure is simple, installation, debugging are simple.The component for needing to control is few, and system is simple, breaks down few, maintenance is held
Easily.Good economy performance reduces the financial burden of patient.
5. flexible layout.Traditional operation robot only has 4 mechanical arms below, and the present invention can according to need layout more
More cup-and-ball joint operating robots, the operation at multiple positions is completed at the same time by multiple doctors.
6. possessing haptic feedback system.
Except it is above-described present invention solves the technical problem that, constitute technical solution technical characteristic and by these technologies
Outside advantage brought by the technical characteristic of scheme.To keep the object of the invention, technical scheme and beneficial effects clearer, below will
In conjunction with the attached drawing in the embodiment of the present invention, to other for including in the other technologies problem of the invention that can solve, technical solution
The advantages of technical characteristic and these technical characteristics are brought does apparent, complete description, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.Therefore, below to the reality of the invention provided in the accompanying drawings
The detailed description for applying example is not intended to limit the range of claimed invention, but is merely representative of selected implementation of the invention
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
Every other embodiment, shall fall within the protection scope of the present invention.
Detailed description of the invention
Schematic diagram when Fig. 1 is the use of the cup-and-ball joint robot of the embodiment of the present invention one；
Fig. 2 is the structural schematic diagram of cup-and-ball joint；
Fig. 3 is the structural schematic diagram of actuator
Fig. 4 is the structural schematic diagram of induction pieces；
Fig. 5 is the tube channel structural schematic diagram for being driven across object and moving forward and backward；
Fig. 6 is the tube channel structural schematic diagram for being driven across object rotation；
Fig. 7 is the structural schematic diagram after two kinds of different purposes tube channel combinations；
Fig. 8 is the structural schematic diagram after two kinds of different purposes tube channels and cup-and-ball joint combination；
Fig. 9 is the structural schematic diagram of joint support device；
Figure 10 is the schematic illustration that cup-and-ball joint deflects in joint support device.
Figure 11 is console overall structure diagram.
Figure 12 is the structural schematic diagram for having driving assembly in embodiment two in ball-type part.
Figure 13 is that have driving assembly overall structure diagram in embodiment two in ball-type part.
Figure 14 is that the structural schematic diagram being mounted on mask is miniaturized in control device in example IV.
Figure 15 is the structural schematic diagram that control device is mounted on foot in embodiment five.
It is the structural schematic diagram that control device is mounted on foot-operated in Figure 16 embodiment five.
Wherein: 1- cup-and-ball joint, 2- tube channel, 3- joint support device, 4- execute instrument arm, 5- driving assembly, 6- sense
Answer component, 7- control device, 8- executive device；
11- ball-type part, 12- ball-type part through-hole, 13- socket joint shell, the anti-rotational crossbeam of 14-, the anti-rotational fixed frame of 15-；
21- screw channel pipe, 22- tube channel notch, the channel 23- tube faucet, 24- tube channel socket, 25- conical pipeline neck, 26-
Coupling tube, 27- drive seat, 28- pipeline fixture nut；
31- joint motion frame, 32- pendulum spring, 33- support rod, 34- support frame, 35- fixed frame, 36- drive seat fixing piece；
51- actuator, 52- driving motor, 53- transmission device and circuit board, 54- actuator fixed frame,
61- induction pieces, 62- inductor, 63- incude roller bearing, 64- reaction magnetic ring, 65- Hall sensor and circuit board, outside 66-
Shell；
71- hand controller, 72-3d display, 73- controller support frame, 74- elbow rest object, 75- seat；
81- oral area controller, 82- mask, 83- rubber ring against pressure, 84- headband, the miniature ball-and-socket joint control of 85-, 86- are miniature
Drive seat, 87- micro actuator tool arm control-rod, 88- dome-type head, 89- water-proof elastic film；
91- foot controller, 92- foot support object, 93- execute instrument arm control-rod, 94- toe, 95- elasticity suspender, 96-
Pedal, 97- vamp, 98- button.
Specific embodiment
Embodiment one
The structure of cup-and-ball joint robot of the invention is as shown in Figure 1, joint motion frame 31 is fixed on above patient, for wearing
The entrance of ball-type part 11 that the tube channel 2 of surgical instrument passes through 1 center of cup-and-ball joint is intraperitoneal, and the execution instrument arm 4 of robot is worn
Tube channel 2 is crossed into abdominal cavity.Cup-and-ball joint 1 is by supporting spring 32 to be fixed in joint motion frame 31, joint motion frame 31
It is supported on the fixed frame 35 that bar 33 and support frame 34 are fixed on by operating bed again.Fixed frame 35 is mounted on the floor of operating room
On.Other installation forms can also be used, including are formed with cross bar, upright bar and operating bed along fixed sliding block, operating bed is mounted on
On, and be mounted on the ceiling above patient in the form of furred ceiling.The stomach wall that inflation has got up is smooth and lacks
Elasticity, cup-and-ball joint robot can also paste on stomach wall strong at this moment.But the present invention is not limited to the link models.
In cup-and-ball joint robot, cup-and-ball joint 1 and joint support device 3 can sequentially be coupled with support rod 33,
And multiple cup-and-ball joints 1 are coupled after being connected with each other with support rod 33, thus robot can be configured on the whole it is compact
With it is small and exquisite.
As shown in Fig. 2, cup-and-ball joint 1 is made of ball-type part 11 and joint shell 13, there is circular open on joint shell 13, is open
Circular diameter is less than 11 diameter of ball-type part.Joint shell 13 is two symmetric parts to being combined into, and ball-type part 11 is positioned in pass after pairing
It saves in shell, is clamped jointly by two fixed orthogonal driving assemblies 5 of inside and mutually perpendicular inductive component 6.Driving
Component 5 and inductive component 6 have Fixing clamp-seat to be fixed in joint shell 13, and the contact point with ball-type part 11 is in ball-type part 11
Heart point is symmetric, and all in the plane parallel with the bottom surface of joint shell 13.6 type of driving assembly 5 and inductive component
There is mark on institute installation position corresponding joint shell surface with position.In a non-limiting embodiments, joint shell is transparent material
Material is made, can be with the position of visible directly internal different components.
There is symmetrical swing bolster 14 on ball-type part 11, is stuck in the groove in anti-rotational fixed frame 15.It is anti-rotational
The plane perpendicular of groove and joint shell 13 in fixed frame 15, can prevent long axis side of the ball-type part 11 during exercise along tube channel 2
To rotating.
As shown in figure 3, driving assembly 5 is driven by driving motor 52, power is reached by actuator 51 by transmission device 53.
Actuator 51 is roller bearing spline structure in the present embodiment, is fixed on joint shell 13 by actuator fixed frame 54.In a non-limit
In embodiment processed, driving assembly 5 is increased again on the basis of example 1, to increase driving force, while also in opposite ball-type
The symmetrical position of part 11 increases inductive component 6, to incude the movement that newly-increased driving assembly 5 drives ball-type part 11 to generate.It is newly-increased
The contact point of component and ball-type part and contact point in embodiment one are in the same plane.
Inductive component 6 is contacted with ball-type part 11, also incudes its movement while providing support for ball-type part 11.Ball-type part 11
Rotation the induction pieces 61 on inductive component 6 can be driven to rotate with it.As shown in figure 4, induction pieces are general in the present embodiment
Track-ball structure, the rotations of induction pieces 61 can dynamic answer roller bearing 63 to rotate, the reaction magnetic ring 64 being mounted on induction roller bearing 63
It can rotate with it.The Hall sensor 65 of installation on circuit boards senses the variation of 64 upper magnetic pole of reaction magnetic ring, generates pulse
Signal is sent in cup-and-ball joint robot controller 7 by signal transmission system.
In a non-limiting embodiments, inductive component 6 is identical as 5 structure of driving assembly, and difference is driving motor 52
Changing rotary encoder into.When driving motor 52 rotates in driving assembly 5, the rotary coding of corresponding position in inductive component 6
Device also proportionally rotates.
As shown in Figure 5 and Figure 6, it is equipped in drive seat 27 and driving assembly 5 identical in cup-and-ball joint 1 and inductive component
6, there is Fixing clamp-seat to fix.As shown in figure 5, this is to lead to for being driven across object along what the inner wall of tube channel 2 moved forward or back
Deferent is all referred to as advance and retreat tube channel below.In drive seat the driving direction of all actuators 51 all with the length of tube channel
Axis direction is parallel.As shown in fig. 6, this is the tube channel rotated for being driven across object along the inner wall of tube channel 2, below all
Referred to as rotating channel pipe.The driving direction of all actuators 51 in drive seat is all vertical with the long axis direction of tube channel.
Tube channel 2 passes through drive seat 27 and is firmly connected with it, and the duct wall that tube channel 2 is located in drive seat 27 has channel
Pipe notch 22, actuator 51 pass through pass through object of the tube channel notch 22 inside tube channel 2 and contact and drive its movement, induction pieces
61, which pass through pass through object of the tube channel notch 22 inside tube channel 2, contacts and incudes its movement.The shape of tube channel notch 22 with
Need across actuator 51 and the shapes of induction pieces 61 be consistent.
2 both ends of tube channel are respectively threaded bellmouth 23 and socket 24.The internal diameter and socket 23 of 23 inner thread of bellmouth
The outer diameter of the screw thread of outer wall is identical.The bellmouth 24 of one tube channel 2 can be connect with the socket 23 of another tube channel 2.?
In one embodiment, the both ends of tube channel 2 are respectively the socket of band clasp and the bellmouth with card slot, the internal diameter of bellmouth inner wall card slot
It is identical as the outer diameter of the snap ring of receptacle wall.
As shown in Figure 7 and Figure 8, multiple screw channel pipes 21 can tandem be driven across its internal object that passes through jointly and transport
It is dynamic.The identical tube channel of driving direction can be directly connected to, and the different tube channel of driving direction needs to be connected with coupling tube 26.It crosses
The outer diameter for crossing 26 pipe shaft of pipe is slightly less than the internal diameter of rotating channel pipe, rotating channel pipe can be inserted and under the driving of actuator 51
Rotation.There is 25 transition of conical pipeline neck between the bellmouth and pipe shaft of coupling tube 26, the socket conduit connectable of coupling tube 26 is fixed
Nut 28.Conical pipeline neck 25 and the outer diameter of pipeline fixture nut 28 be respectively greater than screw channel pipe 21 bellmouth and socket it is interior
Diameter, therefore limit can be played the role of, limitation coupling tube 26 can only be rotated and cannot be moved forward and backward.
The bellmouth of coupling tube 26 is connected on the socket of advance and retreat tube channel, can drive advance and retreat tube channel and drive seat 27 1
Play rotation.Since actuator 51 closely connect and generate certain frictional force with object is passed through, can also carry secretly across object one
Play rotation.In one embodiment, in order to reinforce it is this carry the strength that rotates together across object secretly, be equipped in tube channel 21 with
The parallel limiting slot of long axis direction is equipped with the prominent item of the limit parallel with long axis direction and above-mentioned limiting slot contract on passing through object
It closes, also can accurately be rotated with being ensured through object while retreating.
As shown in figure 8, there is ball-type part through-hole 12 in 11 center of ball-type part, ball-type part 11 connects drive seat fixed frame 36.Driving
Seat fixed frame 36 is conical pipeline, communicates with ball-type part through-hole 12, can hold tube channel or surgical instrument passes through.Drive seat fixed frame
The internal diameter of 36 bellmouths is identical as 27 outer diameter of drive seat, can tightly block drive seat 27.Ball-type part 11 is fixed by drive seat
Frame 36 drives drive seat 27 to do pitching and oscillating motion.
The executive device of cup-and-ball joint 1, advance and retreat tube channel and rotating channel pipe composition cup-and-ball joint robot, can drive
Instrument arm 4 is executed to realize advance, retrogressing, rotation, pitching, wave, it is identical as the laparoscopic instrument movement of manpower operation.
As shown in figure 9, in endoscope-assistant surgery, instrument arm 4 is executed by the puncture orifice on patient skin and enters body cavity, and with
This puncture orifice is center rotary moveable.Therefore endoscope-assistant surgery requires to execute instrument arm 4 around the same of 11 center of ball-type part rotation
When also to rotate centered on the skin penetrating mouth, two central point spacing distances are at least the radius size of ball-type part 11.When
There may be the unnecessary damages of the skin to patient when execution instrument arm 4 rotates, and the tension of skin also will affect ball-type
The precision that part 11 rotates.In order to solve this problem, cup-and-ball joint 1 is coupled by pendulum spring 32 with joint motion frame 31, ball
Nest joint 1 can be movable in joint motion frame 31, to allow to execute instrument arm 4 easily around the rotation of skin penetrating mouth.
As shown in Figure 10, in non-limiting embodiment, the central point that imagination executes the rotation of instrument arm 4 is abdominal subcutaneous
Muscle layer, the specific position O point that can be preset on abdomen wall puncture sheath, 11 deflection angle of ball-type part be zero degree when, cup-and-ball joint 1 by
Surrounding spring drawing, makes the center of ball-type part 11 be located at the central point A point of joint motion frame 31, straight line AO is to execute instrument at this time
The axis of arm 4.After cup-and-ball joint 1 starts rotation by motor drive, it is inclined as the point of rotation using O point to execute 4 axis AO of instrument arm
BO is gone to, ball-type part 11 is forced to be moved to B point.Joint motion frame 31 is rectangular parallelepiped structure, 3 structures of ABO in one embodiment
At a right angled triangle, AO ratio BO is short, and AO deflects into the generated displacement of BO can be by giving bit shift compensation after Framework computing.?
In another embodiment, joint motion frame 31 is semiglobe, and AO is identical as BO length or difference very little, AO deflect into BO institute
The displacement of generation is 0 or very little, can not have to compensation displacement.
Cup-and-ball joint robot is used for open surgery in one embodiment, due to the leading without skin in open surgery
Limitation is drawn, cup-and-ball joint 1 can not need joint support device 3 and directly be coupled with fixed bracket.
As shown in figure 11, the both hands, oral area and foot on the console of ball-and-socket robot in operator are assembled with control
Device 7.Control device 7 and executive device structure are essentially identical, including similar cup-and-ball joint 1, tube channel 2,27 and of drive seat
Joint support device 3.Difference is that each of control device 7 driving assembly 5 is sense in the corresponding position of executive device
Component 6 is answered, the inductive component 6 of each of control device 7 is driving assembly 5 in the corresponding position of executive device.It executes
Execution instrument arm 4 in the device identical position in control device is to execute instrument arm controller bar.
The movement of operator's hand is decomposed into advance, retrogressing, rotation, pitching, oscillating motion by hand controller 71, and divides
It is not acquired by inductive component 6, is transmitted to executive device through signal processing, the driving assembly 5 for controlling corresponding position moves, and drive is held
Row instrument arm 4 is done similarly to be moved with operator's hand.The movement for being performed simultaneously instrument arm 4 is also carried out sense group in device
Part 6 acquires, and is transmitted to hand controller 71 through signal processing, controls corresponding driving assembly 5 and moves, drives and execute the control of instrument arm
Bar movement processed.It is held in the hand, can generate to operator with force feedback by operator due to executing instrument arm control-rod at this time
The tactile of true touching tissue and the size for experiencing reaction force.
Cup-and-ball joint robot may need to meet conflicting needs.It is, working as cup-and-ball joint robot motion
When, it is necessary to it is placed close to patient, while making medical staff again etc. can be close to patient without obstacle, and when movement, ball
Nest articulated robot must above the body of patient, while guarantee again it is sterile, so as to eliminate patient infection danger.This
Outside, cup-and-ball joint robot must be provided for intensity, accuracy and the flexibility of enough ranks of movement, while provide small
Ingeniously, the very thin and light-weight characteristic of size, and cup-and-ball joint robot must be mounted in a stable manner, while can
The area for moving freely and occupying is small.In addition, cup-and-ball joint robot must give patient and medical care people in preparation before surgery
Member provides freely.
Present embodiments provide the ideal feature set of such as above-mentioned cup-and-ball joint robot.Different from traditional ball-and-socket
The construction of articulated robot, each robots arm is coupled with main body in the construction of traditional operating robot, so that machine human body
Product is big, and mobility is low, and acts complexity, and the present embodiment cup-and-ball joint robot passes through the joint support device against patient
3 fix, above execution instrument arm 4 length can be limited within 30cm, joint support device 3 can respectively with fixed branch
Frame connection is connect, to realize cup-and-ball joint robot again with a fixed bracket after can also being connected with each other with several fixed frames
The area for moving freely and occupying is small.
The various instruments that operation needs, laparoscopic camera, clamper, suction tube, actuator etc. may be mounted at
The terminal part of execution instrument arm 4 for being operated.
Embodiment two
The present embodiment is as shown in Figure 12 and Figure 13, is improvement on the basis of embodiment one, thes improvement is that in ball-type part 11
Driving assembly 5, inductive component 6 and the coupling tube 26 for having driving to rotate are provided with the function of drive seat 27, cancel embodiment one
In one driving rotation 27, tube channels 21 of drive seat and drive seat fixing piece 36.Other structures and embodiment one
It is identical.
Embodiment three
The present embodiment is similar to one structure of embodiment, and difference is there was only driving assembly 5 in executive device, in control device 7 only
There is inductive component 6, operator does not have the feeling of force feedback when operating.But more driving assemblies 5 can be installed in executive device
To reinforce driving force.
Example IV
The micromation of control device 7 of cup-and-ball joint robot is mounted on mask by the present embodiment, is made into oral area controller 81, by
Operator's tongue and tooth control.
As shown in figure 14, the cover of mask 82 is taper, covers on operator's snout, is fixed by headband 84 with head.
The part that mask 82 is in contact with application on human skin has soft rubber ring against pressure 83 to prevent from weighing wounded.82 lug boss of mask installs tiny balls
Nest joint control 85 is wrapped up by water-proof elastic film 89, therefrom stretches out micro actuator tool arm control-rod 87.Micro actuator tool
Arm control-rod 87 is equipped with the micro drives seat 86 of micromation, internal only to install an inductive component 6 and a driving assembly 5,
Convenient for being made into strip, rotating channel pipe can be operated by operator's tooth and lip.
One end of micro actuator tool arm control-rod 87 be smooth dome-type head 88, rolled convenient for tongue pull back or to
It is pushed forward.Operator pushes and pulls and waves dome-type head 88 with tongue, operates rotating channel pipe with tooth and lip, makes to feel accordingly
It answers component 6 to generate electric signal, after master console circuit carries out real time translation, sends output signal to executive device pair
On the driving assembly 5 answered, allows the movement of operator to synchronize and be performed the reproduction of instrument arm 4.Operator can also press half with tongue
Button in ball-type head 88 executes the activity of 4 end instrument of instrument arm further to control.
Embodiment five
The foot controller 91 of cup-and-ball joint robot is mounted on console by the present embodiment, is controlled by operator with foot,
As shown in figure 15.
Operator's light foot steps down on the foot support object 92 of ball-shaped, and toe 94, which is clamped, executes instrument arm control-rod 93.Behaviour
Author is rotated with foot, is retreated, waving execution instrument arm control-rod 93, and inductive component 6 is made to generate electric signal, is passing through main control
After platform circuit carries out real time translation, output signal is sent on the corresponding driving assembly 5 of executive device, allows the movement of operator
It synchronizes and is performed the reproduction of instrument arm 4.
Embodiment six
As shown in figure 15, the present embodiment is similar to embodiment five, and difference is that foot support object 92 is slippers spline structure, covers and is grasping
On author's foot, it is connect by elastic suspender 95 with fixed frame.Also foot is facilitated to move freely while providing support for foot.
Foot-operated 96 connect with instrument arm control-rod 93 is executed.There is vamp 97 on foot-operated 96, facilitates the upper foot-up face of operator.On foot-operated 96 also
There is button 98 to press for toe.
Operator is rotated with foot, is retreated, waving execution instrument arm linkage, so that inductive component 6 is generated electric signal, is being passed through
It crosses after master console circuit carries out real time translation, output signal is sent on the corresponding driving assembly 5 of executive device, allows operation
The movement of person, which synchronizes, is performed the reproduction of instrument arm 4.Operator, which can also be pushed a button to further control with toe, executes instrument
The activity of 4 end instrument of arm.
Embodiment seven
The robot controller of the station control device and control robot arm running that are connect with station, and station
Control device is connect with robot controller.In use, robot arm is controlled by station, the instruction of station is by operating
Platform control device is assigned, and is reached from end robot controller, after robot controller receives instruction by RTC instant messaging
It would be communicated to robot arm to be acted accordingly.The status summary of robot arm is to robot controller, by machine
People's control device is communicated by RTC reaches station control device, while the status information and robot of station control device
The status information aggregation process of arm reaches station, and feeds back to staff.
Be provided on station control device for monitoring personnel whether monitoring device in place and for showing behaviour
Make the display of the status information of platform and robot.Monitoring device, then can be according to monitoring result when monitoring abnormal condition
Braking or power operation are carried out, is carried out with the safety for ensuring to perform the operation.Preferably, above-mentioned monitoring device includes the photography of 3D body-sensing
Machine (Kinect) and floor push can carry out robot arm when 3D body-sensing video camera monitors staff in place
Partial function operation, when staff steps on floor push at this time, robot arm just can start operation；In staff
When not in place, and floor push is not stepped on, robot arm braking, to avoid the running of operation interface caused by improper factor
Caused by robot arm it is mobile.
It is provided on robot controller for recording the inductive component 6 for executing instrument arm 4, inductive component 6 can be remembered
Record executes the displacement of instrument arm 4, to record the motion profile for executing instrument arm 4.It can by the information that inductive component 6 records
It, can when with multiple execution instrument arms 4 to judge automatically whether the motion path of execution instrument arm 4 meets operation demand
It monitors whether each motion path for executing instrument arm 4 can interfere, to plan new motion path again, guarantees to hold
The safety of the movement of row instrument arm 4.
The motor driver and reaction machine for obtaining motor status information are also provided on robot controller
The dynamic braking device of people's state, when monitoring danger signal, dynamic braking device automatic braking.Above-mentioned motor driver
It can be used cooperatively, be deposited when abnormal in the motion path of encoders monitor to robot arm, encoder can with encoder
Information is fed back into motor driver, and motor driver driving motor is made to start new operating path.
Further include having motor communication device on above-mentioned robot controller, is filled with real-time monitoring motor and motor driven
It sets, the feedback states between motor driver and robot arm, and monitoring information is fed back into staff, event occurring
In the case where barrier, motor communication device can carry out Brake lamp operation according to monitoring information, to guarantee the normal of operating robot
Running, or fault message is fed back into staff, enable the quick handling failure of staff.
In addition, station control device is for recorder human arm parameter information and/or the number of station parameter information
According to logging modle, in order to search fault message.Specifically, the data recordin module include running log and control hand data,
For example in control hand data, staff's operation handle is passed to robot arm end by station controller, makes machine
Human arm movement, information when robot arm acts pass through encoder, motor driver feedback to station controller, shape
At feedback mechanism, if there is inconsistent, system adjust automatically with encoder or motor data in operation data, if not adjusting,
It then breaks down, needs to check data and tracing for troubles place in control hand data.
Preferably, being provided with the emergency stop switch for emergency braking on station control device with right in the event of a failure
Robot carries out emergency braking, and then reduces loss caused by failure.
In one embodiment of the application, monitoring is also respectively provided on robot controller and station control device
Voltage and the first ups power (uninterruptible power supply) and the second ups power for protecting circuit.Size and power grid for monitoring voltage
Stable case enable above-mentioned ups power and in the event of a power failure, guarantee the smooth progress of operation, and will monitor resulting
Information feeds back to staff by station controller.
Each position circuit shape of monitor controller is also respectively provided on robot controller and station control device
The the first power monitor and second source power monitor of state, the voltage of circuit, current values are in preset parameter range
It is then worked normally when interior, when being more than parameter preset, then faulty presence is braked immediately or powered off.
Display robot arm working condition is also respectively provided on robot controller and station control device
Second status indicator lamp of first state indicator light and display operation platform working condition.Above-mentioned indicator light can by robotic end and
The working condition of station is most intuitively presented to staff, and staff passes through inspection according to the display situation of indicator light
Error code can quickly find out guilty culprit.Specifically, above-mentioned indicator light can specifically be provided with it is normal, await orders, warn
Announcement, danger etc. indicate situation, so as to the use state of personnel monitoring robot.
Control device provided in an embodiment of the present invention specifically includes station control device and robot controller, with
The state of station and robot arm is controlled respectively, and station control device is connect with robot controller,
To realize information connection and feedback between the two, staff is enable to operate in operation end to robot arm
To implement operation.In surgical procedure, monitoring device can real-time monitoring staff whether in place, to judge whether to make
It is dynamic, effectively avoid the running of robot arm under the maloperation of part；Display can be by all of station and robot
Status information, which is shown, is presented directly to staff, enable staff fast and accurately find system there are the problem of, into
And quickly solve the problems, such as, guarantee the safety of operation；In addition, the encoder on robot controller is able to record the rotation of motor
Motion path can be judged automatically by the information system of encoder feedback to record the motion profile of mechanical arm by enclosing number
With the presence or absence of problem, and judge whether interfere when the movement of multiple robot arms, can be ensured respectively according to its feedback information
The more accurate trouble free service of robot arm, and then improve the safety of operation.
The control device provided based on the above embodiment, the embodiment of the present invention also provide a kind of operating robot, including behaviour
Make platform, robot arm, and the control device connecting respectively with station and robot arm；And control device is any of the above-described
The control device of item.For the structure of the rest part of above-mentioned operating robot, the prior art is referred to, repeats no more herein.
Since the operating robot has above-mentioned control device, to a certain extent, which also has
Higher safety in utilization.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
Solution is indication or suggestion relative importance.
The foregoing is merely the preferred embodiment of the present invention, are not intended to restrict the invention, for this field
For technical staff, the invention may be variously modified and varied, in the range of the principle of the present invention and technical idea, to this
A little embodiments carry out a variety of variations, modifications, equivalent substitutions and improvements etc., should all be included in the protection scope of the present invention.
Claims (10)
Priority Applications (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811152893.6A CN109171986B (en) | 2018-09-30 | 2018-09-30 | Surgical robot and its control device based on ball and socket joint and tactile feedback |
| CN202110711126.XA CN113397712B (en) | 2018-09-30 | 2018-09-30 | Surgical robot based on ball joint and tactile feedback |
| EP19866071.4A EP3858283A4 (en) | 2018-09-30 | 2019-09-29 | Surgical robot based on ball and socket joint and tactile feedback, and control device thereof |
| PCT/CN2019/108930 WO2020063949A1 (en) | 2018-09-30 | 2019-09-29 | Surgical robot based on ball and socket joint and tactile feedback, and control device thereof |
| US17/217,133 US20210212779A1 (en) | 2018-09-30 | 2021-03-30 | Surgical robot based on ball-and-socket joint and tactile feedback and control device thereof |
| ZA2021/03006A ZA202103006B (en) | 2018-09-30 | 2021-04-30 | Surgical robot based on ball and socket joint and tactile feedback, and control device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811152893.6A CN109171986B (en) | 2018-09-30 | 2018-09-30 | Surgical robot and its control device based on ball and socket joint and tactile feedback |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110711126.XA Division CN113397712B (en) | 2018-09-30 | 2018-09-30 | Surgical robot based on ball joint and tactile feedback |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109171986A true CN109171986A (en) | 2019-01-11 |
| CN109171986B CN109171986B (en) | 2021-07-16 |
Family
ID=64907925
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110711126.XA Active CN113397712B (en) | 2018-09-30 | 2018-09-30 | Surgical robot based on ball joint and tactile feedback |
| CN201811152893.6A Active CN109171986B (en) | 2018-09-30 | 2018-09-30 | Surgical robot and its control device based on ball and socket joint and tactile feedback |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110711126.XA Active CN113397712B (en) | 2018-09-30 | 2018-09-30 | Surgical robot based on ball joint and tactile feedback |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN113397712B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109171979A (en) * | 2018-09-30 | 2019-01-11 | 泗洪县正心医疗技术有限公司 | A kind of bicyclic universal joint control device of operating robot |
| CN109171985A (en) * | 2018-09-30 | 2019-01-11 | 泗洪县正心医疗技术有限公司 | A kind of cup-and-ball joint operating robot and its control device |
| WO2020063949A1 (en) * | 2018-09-30 | 2020-04-02 | 泗洪县正心医疗技术有限公司 | Surgical robot based on ball and socket joint and tactile feedback, and control device thereof |
| CN112043550A (en) * | 2020-09-29 | 2020-12-08 | 深圳睿瀚医疗科技有限公司 | Tongue control hand rehabilitation robot system based on magnetic markers and operation method thereof |
| CN113116519A (en) * | 2021-04-26 | 2021-07-16 | 武汉联影智融医疗科技有限公司 | Force feedback main manipulator and puncture surgical robot system |
| CN116250859A (en) * | 2022-12-15 | 2023-06-13 | 安徽理工大学 | A remote ultrasonic robot force feedback teleoperation device and control method |
| CN116509557A (en) * | 2023-06-28 | 2023-08-01 | 苏州恒瑞宏远医疗科技有限公司 | Puncture robot main operator, puncture biopsy robot and operating method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105539876A (en) * | 2015-12-14 | 2016-05-04 | 浙江日发航空数字装备有限责任公司 | Pose adjusting ball device for airplane assembly |
| WO2016144180A1 (en) * | 2015-03-12 | 2016-09-15 | Mofixx B.V. | Guiding trocar and system for connecting to a guiding trocar |
| CN106456275A (en) * | 2014-01-23 | 2017-02-22 | 视觉激光股份有限公司 | Stereotactic access devices and methods |
| CN207522634U (en) * | 2017-10-30 | 2018-06-22 | 桂林电子科技大学 | The wrist joint of robot mechanism of omnidirectional's wheel drive |
| CN108245254A (en) * | 2018-01-10 | 2018-07-06 | 北京术锐技术有限公司 | A multipurpose flexible surgical tool system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008528197A (en) * | 2005-01-28 | 2008-07-31 | マサチユセツツ・ジエネラル・ホスピタル | Guide and insertion system |
| CN118717295A (en) * | 2013-03-15 | 2024-10-01 | 史赛克公司 | End effector of surgical robot arm |
| US10285670B2 (en) * | 2014-09-12 | 2019-05-14 | Canon U.S.A., Inc. | Needle positioning apparatus |
| US20160367332A1 (en) * | 2015-06-19 | 2016-12-22 | Amit Navin Shah | Procedural assist device |
| CN107097243B (en) * | 2017-05-10 | 2019-09-24 | 泰州市晨虹数控设备制造有限公司 | A kind of robot based on gimbal suspension |
-
2018
- 2018-09-30 CN CN202110711126.XA patent/CN113397712B/en active Active
- 2018-09-30 CN CN201811152893.6A patent/CN109171986B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106456275A (en) * | 2014-01-23 | 2017-02-22 | 视觉激光股份有限公司 | Stereotactic access devices and methods |
| WO2016144180A1 (en) * | 2015-03-12 | 2016-09-15 | Mofixx B.V. | Guiding trocar and system for connecting to a guiding trocar |
| CN105539876A (en) * | 2015-12-14 | 2016-05-04 | 浙江日发航空数字装备有限责任公司 | Pose adjusting ball device for airplane assembly |
| CN207522634U (en) * | 2017-10-30 | 2018-06-22 | 桂林电子科技大学 | The wrist joint of robot mechanism of omnidirectional's wheel drive |
| CN108245254A (en) * | 2018-01-10 | 2018-07-06 | 北京术锐技术有限公司 | A multipurpose flexible surgical tool system |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109171979A (en) * | 2018-09-30 | 2019-01-11 | 泗洪县正心医疗技术有限公司 | A kind of bicyclic universal joint control device of operating robot |
| CN109171985A (en) * | 2018-09-30 | 2019-01-11 | 泗洪县正心医疗技术有限公司 | A kind of cup-and-ball joint operating robot and its control device |
| WO2020063949A1 (en) * | 2018-09-30 | 2020-04-02 | 泗洪县正心医疗技术有限公司 | Surgical robot based on ball and socket joint and tactile feedback, and control device thereof |
| CN112043550A (en) * | 2020-09-29 | 2020-12-08 | 深圳睿瀚医疗科技有限公司 | Tongue control hand rehabilitation robot system based on magnetic markers and operation method thereof |
| CN112043550B (en) * | 2020-09-29 | 2023-08-18 | 深圳睿瀚医疗科技有限公司 | Tongue control hand rehabilitation robot system based on magnetic marks and operation method thereof |
| CN113116519A (en) * | 2021-04-26 | 2021-07-16 | 武汉联影智融医疗科技有限公司 | Force feedback main manipulator and puncture surgical robot system |
| CN116250859A (en) * | 2022-12-15 | 2023-06-13 | 安徽理工大学 | A remote ultrasonic robot force feedback teleoperation device and control method |
| CN116509557A (en) * | 2023-06-28 | 2023-08-01 | 苏州恒瑞宏远医疗科技有限公司 | Puncture robot main operator, puncture biopsy robot and operating method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109171986B (en) | 2021-07-16 |
| CN113397712A (en) | 2021-09-17 |
| CN113397712B (en) | 2023-01-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109171986A (en) | Surgical robot and its control device based on ball and socket joint and tactile feedback | |
| KR102345782B1 (en) | Surgical assistance device, control method therefor, and recording medium | |
| US20210212779A1 (en) | Surgical robot based on ball-and-socket joint and tactile feedback and control device thereof | |
| EP3616594B1 (en) | Endoscope adaptor and method of attaching endoscope to robot arm through the same | |
| CN109171969A (en) | A kind of operating robot based on gimbal suspension | |
| Berkelman et al. | LER: The light endoscope robot | |
| EP3616643B1 (en) | Driver interface and method of detecting attachment of surgical instrument to driver interface | |
| CN109171983A (en) | A kind of laparoscopic surgery robot having gimbal suspension | |
| JP6546361B1 (en) | Surgery support device | |
| JP6562174B1 (en) | Surgery support device | |
| CN110179541A (en) | Robot perceptual system and control method | |
| CN209611305U (en) | A kind of operating robot based on gimbal suspension | |
| JP3628743B2 (en) | Medical manipulator | |
| CN209490097U (en) | Operating robot | |
| JP2020032162A (en) | Adaptor | |
| CN109452977A (en) | A kind of laparoscopic surgery robot driven by crossbeam | |
| CN109171984A (en) | A kind of operating robot portable control device | |
| CN109171987A (en) | A kind of double gimbal suspension control devices of operating robot | |
| CN213722387U (en) | Laparoscopic surgery robot driven by cross beam | |
| CN209611307U (en) | A kind of tubulose Combined operation robot | |
| CN209377746U (en) | A ball-and-socket joint surgical robot and its control device | |
| AU2021102466A4 (en) | Surgical robot based on ball-and-socket joint and tactile feedback and control device thereof | |
| CN209437368U (en) | A kind of double gimbal suspension control devices of operating robot and operating robot | |
| CN109171979A (en) | A kind of bicyclic universal joint control device of operating robot | |
| JP2020032161A (en) | Driving unit interface, adapter, and method of detecting attachment of surgical instrument to driving unit interface |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220815 Address after: A017, 6th Floor, Block A, Mingjia Science and Technology Building, No. 99, Shengli Road, Jiangning District, Nanjing City, Jiangsu Province, 211100 (Jiangning Development Zone) Patentee after: Nanjing Maikeshi Medical Technology Co., Ltd. Address before: 223900 1-1, building 17, Kangqiao community, Dongcheng, Sihong County, Suqian City, Jiangsu Province Patentee before: SIHONG ZHENGXING MEDICAL TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20250103 Address after: Room 200-33, Building 005, No. 750 Chuangyuan Road, High tech Zone, Ningbo City, Zhejiang Province 315048 Patentee after: Ningbo High tech Zone Mettler Software Technology Co.,Ltd. Country or region after: China Address before: A017, 6th Floor, Block A, Mingjia Science and Technology Building, No. 99, Shengli Road, Jiangning District, Nanjing City, Jiangsu Province, 211100 (Jiangning Development Zone) Patentee before: Nanjing Maikeshi Medical Technology Co.,Ltd. Country or region before: China |
|
| TR01 | Transfer of patent right |