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Force feedback main manipulator for minimally invasive surgery

A master operator and minimally invasive surgery technology, applied in the field of medical machinery, can solve the problems that the structure and function cannot fully meet the needs of minimally invasive surgery, unfavorable force between surgical instruments and tissues, clamping mechanism does not have force feedback function, etc. Achieve the effects of small space, increased rigidity and compact structure

Active Publication Date: 2020-02-21
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the most successful minimally invasive robot main operator is the main operator of da Vinci Surgical System, which adopts a series structure with a large working space, but its mechanism is too large, and the clamping mechanism does not have force feedback function, which is not conducive to doctors to judge surgical instruments The force between the organization
The more successful commercialized main operators on the market include 3D Systems’ Phantom series tandem main operators. This series of main operators has a large working space, but the series structure has low rigidity, so the feedback force that can be provided is limited; Force Dimension A variety of parallel main hands developed by the company based on the Stewart mechanism have good rigidity and precision, but their working space is relatively small
These two kinds of commercialized main hands are aimed at general-purpose occasions, and their structure and function cannot fully meet the needs of minimally invasive surgery, and they have been in a monopoly position for a long time, and the price is expensive.

Method used

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  • Force feedback main manipulator for minimally invasive surgery
  • Force feedback main manipulator for minimally invasive surgery
  • Force feedback main manipulator for minimally invasive surgery

Examples

Experimental program
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Embodiment 1

[0037] This embodiment discloses a force feedback main manipulator for minimally invasive surgery, which includes a base 1, an arm position adjustment mechanism 2, a wrist posture adjustment mechanism 3, and a clamping mechanism 4, with a total of eight degrees of freedom. Among them, R1, R2, R3, R5, R6, R7, R8 are connected to the seven joint motors, which are active joints that can provide force feedback; R4 is connected to the double parallelogram mechanism, which is a passive joint, to realize the wrist posture adjustment mechanism 3. maintain standard.

[0038] Please refer to figure 2 , image 3 , Figure 4 , Figure 5 The base 1 includes a base 1 frame, a base 1 motor frame, a base 1 bearing seat, and a slewing bearing. The base 1 frame and the base 1 bearing seat are mounted on the base 1 frame, and the slewing bearing is connected to the base 1. With the first position adjustment mechanism; the central axis of the slewing bearing is the R1 axis, and the base 1 is connec...

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Abstract

The invention discloses a force feedback main manipulator for minimally invasive surgery. The force feedback main manipulator comprises a first parallelogram structure, a second parallelogram structure, an attitude adjusting mechanism and a clamping mechanism; the first parallelogram structure and the second parallelogram structure are both formed by a plurality of rod pieces which are sequentially hinged end to end; a first hinging point of the first parallelogram structure is coaxial with a first hinging point of the second parallelogram structure; a second hinging point of the first parallelogram structure is connected with a second hinging point of the second parallelogram structure through a connecting rod; the tail end of the second parallelogram structure is a wrist part, wherein the wrist part can be keep horizontal under connection of the first parallelogram structure and the second parallelogram structure; the wrist part is hinged with the attitude adjusting mechanism; and the attitude adjusting mechanism is hinged with the clamping mechanism. The force feedback main manipulator provided by the invention can meet the requirements of minimally invasive surgery, conforms toergonomics, has a force feedback function and is low in cost.

Description

Technical field [0001] The invention relates to the field of medical machinery, in particular to a force feedback main operating hand used for minimally invasive surgery. Background technique [0002] With the maturity of robotics and minimally invasive surgery, minimally invasive surgical robots representing the top technology of minimally invasive surgery have emerged. The emergence of minimally invasive surgical robots has improved the accuracy and reliability of minimally invasive surgery. Doctors use the main operating hand of the console to remotely operate surgical instruments. Digital manipulators replace human hands to complete the surgery, reducing hand tremor and ensuring more surgical actions. Flexible and accurate. The main operator should have a force feedback function while ensuring sufficient working space, so that the doctor can accurately perceive the force between the surgical instrument and the human tissue, and improve the transparency of the operation. [00...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/37A61B90/00
CPCA61B34/37A61B34/76A61B90/06A61B2090/067
Inventor 杜付鑫王得晨张涛张钢卢佳佳彭崧王子豪王壹帆杨浩锦
Owner SHANDONG UNIV
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