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Master-slave isomorphic teleoperation force feedback master manipulator of minimally invasive surgery robot

A robot-driven, minimally invasive surgery technology, applied in the field of medical robotics, can solve the problems of increased inertia of the main hand and reduced flexibility of the main hand, and achieve the effects of stable driving force, hand-eye coordination, and accurate force feedback

Active Publication Date: 2020-10-30
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the doctor operates the main hand, the motor will move with the joints. Due to the large mass of the torque motor, the overall inertia of the main hand will increase, reducing the flexibility of the main hand.

Method used

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  • Master-slave isomorphic teleoperation force feedback master manipulator of minimally invasive surgery robot
  • Master-slave isomorphic teleoperation force feedback master manipulator of minimally invasive surgery robot
  • Master-slave isomorphic teleoperation force feedback master manipulator of minimally invasive surgery robot

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Embodiment Construction

[0030] The present invention will be described in detail below in conjunction with the accompanying drawings. This description is a description of the current preferred embodiment of the system of the present invention, and does not represent the only form that the present invention can be constructed or used.

[0031] Such as figure 1 As shown, the minimally invasive surgical robot master-slave isomorphic teleoperation force feedback main hand of the present invention includes:

[0032] Base 1, universal joint mechanism component 2, translational rotation component 3, motion detection and force feedback drive elements for each degree of freedom of motion, parallelogram mechanism 4 and joystick 5, the rotation axes of the two components always intersect at a point O, This point is the RCM point of the main operator.

[0033] Among them, the force feedback of each degree of freedom of motion can use rotating motors, linear motors, and magnetic powder dampers as drive elements;...

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Abstract

The invention discloses a master-slave isomorphic teleoperation force feedback master manipulator of a minimally invasive surgery robot. The master manipulator comprises a universal joint mechanism assembly, a translational autorotation assembly, a parallelogram mechanism and a control handle connected with the translational autorotation assembly. The universal joint mechanism assembly is fixed onthe base, the translational autorotation assembly is rotatably connected with a deflection frame of the universal joint mechanism assembly, and the parallelogram mechanism is rotatably connected withthe translational autorotation assembly. According to the invention, four degrees of freedom of three-dimensional rotation around a certain point and linear motion along an operating handle shaft canbe realized; the force feedback function is achieved for pitching, yawing and linear motion freedom degrees, isomorphic arrangement is adopted for all the freedom degrees and the motion freedom degree of a minimally invasive surgery execution end instrument, the one-to-one mapping relation is achieved, errors caused by master-slave control system delay and kinematics solving are reduced, and operation intuition is improved. The force feedback driver is fixedly installed, motion and feedback force is transmitted through the parallelogram mechanism, the motion inertia of a main hand moving partis reduced, and the control flexibility is improved.

Description

technical field [0001] The invention relates to the technical field of medical robots, in particular to a master-slave isomorphic teleoperated force-feedback master hand of a minimally invasive surgical robot. Background technique [0002] In a broad sense, minimally invasive surgery refers to the type of surgery that only causes extremely minimal trauma to the patient. During the operation, the surgeon sends surgical instruments through a small incision on the patient's body to treat the lesion. Minimally invasive surgery has certain restrictions on the movement of surgical instruments, and has high requirements for the doctor's operation accuracy. During the operation, the doctor's hand shaking or excessive operating force may cause postoperative complications or even iatrogenic injuries. [0003] With the development of robot technology, robot-assisted surgery has become the development trend of minimally invasive surgery. Using the master-slave teleoperation surgical ro...

Claims

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Application Information

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IPC IPC(8): A61B34/35F16F15/02F16F15/10H02K7/10H02K41/02H02K41/035
CPCA61B34/35A61B34/76A61B34/73F16F15/02F16F15/10H02K7/10H02K41/0356H02K41/02A61B2034/301
Inventor 左思洋王震王树新
Owner TIANJIN UNIV
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