CN-115634050-B - Mechanical arm operating device, operation control platform and operation robot system

CN115634050BCN 115634050 BCN115634050 BCN 115634050BCN-115634050-B

Abstract

The invention relates to a mechanical arm operating device, a surgical control platform and a surgical robot system. The surgical robot system comprises a surgical control platform and a surgical execution mechanism, wherein the surgical control platform comprises a mechanical arm operation device for controlling the surgical execution mechanism to execute surgical operation. The mechanical arm operating device comprises a tail end joint and an operating joint, wherein the operating joint comprises a first driving control unit, a first driving part and an opening and closing mechanism, the opening and closing mechanism can change the opening and closing angle when bearing pinching force, the opening and closing angle information of the opening and closing mechanism is fed back to the first driving control unit, and the first control unit sends a control instruction generated based on the opening and closing angle information to the first driving part, so that the first driving part drives the opening and closing mechanism to generate a reaction force for resisting pinching force, and the operating robot system can simulate force change of a doctor during operation of the mechanical arm operating device in a real mode, and the sense of reality of the doctor during operation is enhanced.

Inventors

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Assignees

上海微创医疗机器人（集团）股份有限公司

Dates

Publication Date: 20260508
Application Date: 20221013

Claims (11)

1. An operation device of a mechanical arm, characterized by comprising the following steps: an end joint; The operation joint comprises a first driving control unit, a first driving part, an encoder, a transmission mechanism and an opening and closing mechanism, wherein the first driving part is in communication connection with the first driving control unit, the opening and closing mechanism can change an opening and closing angle when bearing pinching force, the transmission mechanism comprises a first transmission part and a second transmission part which are in transmission connection with each other, the first transmission part is in transmission connection with the first driving part, the second transmission part is in transmission connection with the opening and closing mechanism, the first transmission part and the second transmission part can rotate around the axis direction of the opening and closing mechanism respectively, the first driving control unit is used for acquiring opening and closing angle information of the opening and closing mechanism and sending a control instruction generated based on the opening and closing angle information to the first driving part, the first driving part is a motor, the encoder is arranged on the motor and is in communication connection with the first driving control unit, and the encoder is used for acquiring position signals of the motor and determining the opening and closing angle information based on the corresponding relation between the position signals of the motor and the opening and closing angle. The first driving piece is used for driving the opening and closing mechanism to generate a reaction force resisting the kneading force through the transmission mechanism according to the control instruction.
2. The robotic arm manipulator of claim 1, wherein the distal joint is configured to interface with a previous joint, the distal joint comprising a second drive control unit communicatively coupled to the first drive control unit; The second driving control unit is used for receiving the opening and closing angle information, generating the control instruction according to a preset strategy and sending the control instruction to the first driving control unit; Or the second driving control unit is used for receiving the opening and closing angle information, sending the opening and closing angle information to an upper computer, receiving the control instruction generated by the upper computer according to the preset strategy, and sending the control instruction to the first driving control unit; The preset strategy comprises the corresponding relation of different control modes for the first driving piece according to different opening and closing angle information.
3. The mechanical arm operation device according to claim 2, wherein the control means is capable of controlling the first driving member to move unidirectionally to give a reaction force to the opening and closing mechanism through the transmission mechanism or capable of controlling the first driving member to reciprocate to vibrate the opening and closing mechanism.
4. The mechanical arm operation device according to claim 2, wherein the first drive control unit is connected to the second drive control unit via a connecting shaft having a passage penetrating through opposite ends of the connecting shaft in an axial direction thereof, and the first drive control unit and the second drive control unit are capable of wireless communication through the passage.
5. The mechanical arm operation device according to any one of claims 1 to 4, wherein a central axis of the first transmission member is a first central axis, a central axis of the second transmission member is a second central axis perpendicular to the first central axis, and the first transmission member is coaxially connected with the first driving member; The first driving piece can drive the first driving piece, the second driving piece and the opening and closing mechanism to link, so that the axial motion which is output by the first driving piece and is in reciprocating rotation around the first central shaft is converted into the opening and closing motion which enables the opening and closing mechanism to in reciprocating rotation around an axis which is parallel to the second central shaft.
6. The mechanical arm operation device according to claim 5, wherein the first transmission member and the second transmission member are a pair of gears which are meshed with each other and whose central axes are perpendicular to each other.
7. The mechanical arm operation device according to claim 5, wherein the first transmission member and the second transmission member are connected to each other by four L-shaped links, through holes penetrating through the respective axis directions are respectively formed in the first transmission member and the second transmission member, and opposite ends of each L-shaped link are respectively movably inserted into one corresponding through hole of the first transmission member and one corresponding through hole of the second transmission member.
8. The mechanical arm operation device according to claim 5, wherein the opening and closing mechanism comprises a kneading handle and a gear arranged at one end of the kneading handle, the second transmission member has a meshing tooth meshed with the gear in the circumferential direction, and the second transmission member can drive the opening and closing mechanism to rotate around an axis parallel to the second central axis when rotating around the second central axis so as to change the opening and closing angle of the opening and closing mechanism.
9. The mechanical arm operation device according to claim 8, wherein the two opening and closing mechanisms are symmetrically arranged with the first central axis as a symmetry axis, the gears of the two opening and closing mechanisms are meshed with each other, and the meshing teeth of the second transmission member are meshed with the gear of one of the opening and closing mechanisms, so that an included angle formed between the two opening and closing mechanisms can be increased or decreased.
10. A surgical control platform, comprising: A mechanical arm; the manipulator of any one of claims 1 to 9, wherein the manipulator is articulated at its end to the manipulator and wherein the manipulator is adapted to manipulate the manipulator movements to enable surgical manipulation.
11. A surgical robotic system, comprising: The surgical execution platform is provided with a surgical execution mechanism; the surgical control platform of claim 10, communicatively coupled to the surgical execution platform, the surgical control platform for controlling the surgical execution mechanism to perform a corresponding surgical operation.

Description

Mechanical arm operating device, operation control platform and operation robot system Technical Field The invention relates to the technical field of medical instruments, in particular to a mechanical arm operating device, a surgical control platform and a surgical robot system. Background The surgical robot system is a master-slave type advanced robot platform for realizing complex surgical operations. The system can be simply divided into a main mechanical arm positioned at a main end, a surgical execution mechanism positioned at a slave end and an endoscope image system. The main mechanical arm is operated by a doctor of the main cutter and is used for inputting operation information of the doctor; the endoscope image system is used for collecting images of the operation area and clearly presenting the images to doctors and assistants. In the operation process, a doctor can control the operation of the surgical instrument held by the surgical executing mechanism to finish complex operation by operating the main mechanical arm according to the seen operation image. In this process, the main mechanical arm plays an extremely important role as an input end of the whole system. The opening and closing mechanism is used as an important component of the main mechanical arm, and is opened by hands to guide the movement of the mechanism, and the main functions are to realize the operations of shearing, suturing, knotting and the like in the operation process. In the existing surgical robot system, the opening and closing mechanism is mostly connected with the spring, the hand feeling of the surgical instrument clamping target object is simulated through the force of the secondary force spring, the scheme cannot truly simulate and feed back the clamping feeling of the surgical instrument clamping target object at the slave end, a doctor is easy to have no clear understanding and judgment on the actual clamping force, the doctor can always use larger operation force to ensure the stable operation of the surgical process, and further, the parts in the mechanical arm are in long-time full load or even overload operation, so that the normal use of the surgical robot system and the smooth operation of the surgical process are not facilitated. Disclosure of Invention Accordingly, it is necessary to provide a robot arm operating device, a surgical control platform including the robot arm operating device, and a surgical robot system including the surgical control platform, in order to solve the problem that the conventional surgical robot system cannot truly simulate and feedback the gripping feeling of the surgical target object. According to an aspect of the present application, there is provided a robot arm operation device including: an end joint; The operation joint comprises a first driving control unit, a first driving part, a transmission mechanism and an opening and closing mechanism, wherein the first driving part is in communication connection with the first driving control unit, the opening and closing mechanism can change an opening and closing angle when bearing kneading force, the transmission mechanism comprises a first transmission part and a second transmission part which are in transmission connection with each other, the first transmission part is in transmission connection with the first driving part, the second transmission part is in transmission connection with the opening and closing mechanism, the first transmission part and the second transmission part can rotate around the axis direction of the first driving part respectively, and the first driving control unit is used for acquiring opening and closing angle information of the opening and closing mechanism and sending a control instruction generated based on the opening and closing angle information to the first driving part; The first driving piece is used for driving the opening and closing mechanism to generate a reaction force resisting the kneading force through the transmission mechanism according to the control instruction. In one embodiment, the end joint is configured to connect with a previous joint, the end joint including a second drive control unit communicatively coupled to the first drive control unit; The second driving control unit is used for receiving the opening and closing angle information, generating the control instruction according to a preset strategy and sending the control instruction to the first driving control unit; Or the second driving control unit is used for receiving the opening and closing angle information, sending the opening and closing angle information to an upper computer, receiving the control instruction generated by the upper computer according to the preset strategy, and sending the control instruction to the first driving control unit; The preset strategy comprises the corresponding relation of different control modes for the first driving piece according to different opening and closing angle