Minimally invasive surgical robot master control data glove

Abstract

The invention discloses a minimally invasive surgical robot master control data glove comprising a hand position mechanism, the hand position mechanism comprises a base and a four-bar mechanism; the four-bar mechanism comprises an upper arm, an upper forearm, a lower forearm and a lower arm hinged in sequence; a tail end joint is arranged on the hinge shaft between the upper forearm and the lower forearm; a hand control mechanism is arranged on the tail end joint; the hand control mechanism comprises an arm control mechanism, a wrist joint control mechanism and a palm sequentially connected in series, a thumb control mechanism, an index finger control mechanism and a middle finger control mechanism are connected on the palm in parallel, and each parallel connecting position is provided with a joint shaft; both the arm control mechanism and the wrist joint control mechanism are provided with joint shafts; each joint shaft is connected with a potentiometer. The invention is used for collecting the position signals of human hand moving in a three-dimensional space and the acting signals of the thumb, index finger, middle finger of hand, the wrist joint and the arms, and is applicable to control a minimally invasive surgical robot multifunctional tail end tool to carry out robot enterocoelia and thoracic cavity part minimally invasive surgery.

Description

technical field [0001] The invention relates to a minimally invasive surgery robot master control data glove. In particular, it relates to a control device for measuring the position of the operator's hand in three-dimensional space, measuring the joint movements of the operator's arm, wrist, thumb, index finger, and middle finger, and a master control device for a minimally invasive surgical robot that is easy to use and flexible to operate. Background technique [0002] Minimally invasive surgery is to use advanced surgical instruments and equipment to complete the operation with less trauma, and achieve better curative effect than traditional open surgery. After robotics technology entered the field of minimally invasive surgery, in order to complete complex surgical operations, the end tool of the robot requires high flexibility, and the end tool has developed from the initial single-degree-of-freedom configuration to a multi-degree-of-freedom, multi-functional form. Th...

AI Technical Summary

Problems solved by technology

[0003] So far, in the field of minimally invasive surgical robot main controller, it is used to simultaneously measure the operator's arm, wrist, thumb, index finger, middle finger joint movement and the spatial position of the hand, and control the multi-functional, multi-degree-of-freedom robot minimally invasive surgical tools. The main operator, not developed and used

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