Master manipulators of robots
AssigneeWuhan United Imaging Surgical Co., Ltd.
InventorsZhuangzhuang Lu, Ting Ye, Saili Wang
Life of this patent
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Abstract
Disclosed is a master manipulator of a robot. The master manipulator may comprise a puncture component including a handle housing, a puncture actuator movably arranged on the handle housing, and a force feedback mechanism arranged at a bottom of the handle housing, the force feedback mechanism and the puncture actuator being connected, and the force feedback mechanism applying resistance to the puncture component based on puncture force feedback information; and an attitude adjustment part.
Claims19
A master manipulator of a robot, comprising:
- a puncture component including a handle housing, a puncture actuator movably arranged on the handle housing, and a force feedback mechanism arranged at a bottom of the handle housing, the force feedback mechanism and the puncture actuator being connected, the force feedback mechanism applying resistance to the puncture component based on puncture force feedback information, and the puncture actuator including a sliding component, wherein the sliding component includes a slip ring and a slide block connected to the slip ring, and the slip ring sleeves an outer side of the handle housing;
- and
- an attitude adjustment part;
- wherein the puncture actuator further includes a puncture enabling component disposed on the sliding component, and a linear motion component disposed inside the handle housing,
- wherein
- the sliding component is slidably arranged on the handle housing and connected to the linear motion component,
- the puncture enabling component is electrically connected to a communication device, and
- the puncture enabling component feeds back a puncture enabling signal to an end of a robotic arm through the communication device.
A robot, comprising a puncture needle at an end of the robot and a master manipulator wherein
- the puncture needle is arranged at an end of a robotic arm of the robot,
- the robot is electrically connected to a communication device, and
- the master manipulator is electrically connected to the communication device and the puncture needle, and the master manipulator includes:
- a puncture component including a handle housing, a puncture actuator movably arranged on the handle housing, and a force feedback mechanism arranged at a bottom of the handle housing, the force feedback mechanism and the puncture actuator being connected, the force feedback mechanism applying resistance to the puncture component based on puncture force feedback information, and the puncture actuator including a sliding component, wherein the sliding component includes a slip ring and a slide block connected to the slip ring, and the slip ring sleeves an outer side of the handle housing;
- and
- an attitude adjustment part;
- wherein the puncture actuator further includes a puncture enabling component disposed on the sliding component, and a linear motion component disposed inside the handle housing,
- wherein
- the sliding component is slidably arranged on the handle housing and connected to the linear motion component,
- the puncture enabling component is electrically connected to a communication device, and
- the puncture enabling component feeds back a puncture enabling signal to an end of a robotic arm through the communication device.
A master manipulator of a robot, comprising:
- a puncture component including a handle housing, a puncture actuator movably arranged on the handle housing, and a force feedback mechanism arranged at a bottom of the handle housing, the force feedback mechanism and the puncture actuator being connected, the force feedback mechanism applying resistance to the puncture component based on puncture force feedback information, the puncture component being a hollow columnar structure, and the puncture component rotating along a spindle of the hollow columnar structure;
- and
- an attitude adjustment part.
Dependencies are inferred from the claim text.