US 12,402,968 B2
Minimally invasive surgical robot master manipulator and slave manipulator control method
Liao Wang, Chongqing (CN); Jiang Hu, Chongqing (CN); Yu Huang, Chongqing (CN); Yong Wang, Chongqing (CN); and Jinshan Wang, Chongqing (CN)
Assigned to CHONGQING JINSHAN MEDICAL ROBOTICS CO., LTD., Chongqing (CN)
Appl. No. 17/788,773
Filed by CHONGQING JINSHAN MEDICAL ROBOTICS CO., LTD., Chongqing (CN)
PCT Filed Sep. 14, 2020, PCT No. PCT/CN2020/114986
§ 371(c)(1), (2) Date Jun. 24, 2022,
PCT Pub. No. WO2021/139203, PCT Pub. Date Jul. 15, 2021.
Claims priority of application No. 202010025695.4 (CN), filed on Jan. 10, 2020.
Prior Publication US 2023/0033189 A1, Feb. 2, 2023
Int. Cl. A61B 34/37 (2016.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/71 (2016.02) [A61B 34/20 (2016.02); A61B 34/37 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/742 (2016.02); A61B 34/76 (2016.02); A61B 2090/066 (2016.02)] 21 Claims
OG exemplary drawing
 
1. A master manipulator of a minimally invasive surgical robot, comprising a first master manipulator module, a second master manipulator module and a third master manipulator module which are perpendicular to each other in three dimensions, a fourth master manipulator module, a fifth master manipulator module and a sixth master manipulator module which are connected vertically from bottom to top; wherein an output end of the third master manipulator module is connected to an input end of the second master manipulator module; an output end of the second master manipulator module is connected to an input end of the first master manipulator module; and the first master manipulator module is connectable to a master controller, and the fourth master manipulator module is fixedly connected to the third master manipulator module,
wherein the first master manipulator module and the second master manipulator module are connected by a first master arm; the second master manipulator module is provided with a second master arm; the third master manipulator module is provided with a third master arm; and one end, away from the third master manipulator module, of the third master arm is connected to one end, away from the second master manipulator module, of the second master arm,
the first master manipulator module, the second master manipulator module, the third master manipulator module, the fourth master manipulator module, the fifth master manipulator module and the sixth master manipulator module are all located above the third master arm,
wherein the first master manipulator module comprises a first joint module, the second master manipulator module comprises a second joint module, and the third master manipulator module comprises a third joint module,
wherein each of the first joint module, the second joint module and the third joint module comprises a first motor,
wherein the fourth master manipulator module comprises a fourth joint module, the fifth master manipulator module comprises a fifth joint module and the sixth master manipulator module comprises a sixth joint module,
wherein each of the fourth joint module, the fifth joint module, and the sixth joint module comprises a second motor.