Main hand clamping mechanism, main manipulator and medical console

Abstract

The invention relates to a main manipulator clamping mechanism, a main manipulator and a medical console. The main hand clamping mechanism comprises a first base; the two clamping pieces are respectively hinged to the first base; the hinging centers of the two clamping pieces are spaced from each other, and the clamping surfaces of the two clamping pieces are opposite to each other; the two fingerstall assemblies are arranged on the sides, deviating from each other, of the two clamping pieces correspondingly; wherein at least one fingerstall assembly can slide relative to the clamping piece in the extending direction of the corresponding clamping piece. Therefore, when a doctor performs clamping, opening and closing actions, fingers rotate along with the clamping piece, and the at least one fingerstall assembly can move along the extending direction of the clamping piece, so that at least part of inertia force between the fingers and the master hand clamping mechanism can be absorbed, the negative influence of the inertia force on the master hand clamping mechanism is reduced, the master-slave control precision is improved, and the working efficiency is improved. And the operation precision is higher.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a master hand clamping mechanism, a master operating hand and a medical control console. Background Art

[0002] Surgical robots are highly intelligent products. Medical surgical robots that require higher accuracy and precision are mostly master-slave operation structures, that is, personnel operate the master manipulator structure and control the movement of the slave mechanism through remote communication. For medical robots, the master-slave operation structure improves the accuracy and convenience of surgery and avoids adverse consequences caused by doctors' misoperation. However, most of the current master manipulator structures rotate around a fixed axis, and doctors will have errors during the operation, resulting in inaccurate master-slave control. Summary of the invention

[0003] Based on this, the present application proposes a master hand clamping mechanism, a master operating hand and a medical control console to address at least one of the above problems.

[0004] In a first aspect, an embodiment of the present application provides a master hand clamping mechanism, comprising:

[0005] First Pedestal;

[0006] Two clamping members are respectively hinged on the first base; the hinge centers of the two clamping members are spaced apart from each other, and the clamping surfaces of the two clamping members are opposite to each other;

[0007] Two finger sleeve assemblies are respectively arranged on the sides of the two clamping members facing away from each other;

[0008] Wherein, at least one of the finger sleeve components can slide relative to the corresponding clamping member along the extension direction of the corresponding clamping member.

[0009] The master-hand clamping mechanism provided in the embodiment of the present application enables at least one finger sleeve assembly to slide relative to the corresponding clamping member along the extension direction of the clamping member. In this way, when the doctor performs clamping and opening and closing actions, the fingers rotate with the clamping member. Since the at least one finger sleeve assembly can move along the extension direction of the clamping member, it can absorb at least part of the inertial force between the fingers and the master-hand clamping mechanism, reducing the negative impact of the inertial force on the master-hand clamping mechanism, thereby improving the master-slave control accuracy and making the surgery more accurate.

[0010] In one embodiment, each of the finger sleeve components can slide relative to the corresponding clamping member along the extension direction of the corresponding clamping member.

[0011] In one of the embodiments, a sliding connection member is provided between the finger sleeve assembly and the corresponding clamping member, and the sliding connection member is used to drive the finger sleeve assembly to slide along the extension direction of the corresponding clamping member.

[0012] In one of the embodiments, a slide rail is disposed on the clamping member, and the direction of the slide rail is parallel to the extension direction of the clamping member; the sliding connection member is a slider, and the finger sleeve assembly is disposed on the slider.

[0013] In one embodiment, the finger sleeve assembly includes:

[0014] A fixed plate connected to the sliding connection member;

[0015] A finger sleeve, a part of the structure of which is sandwiched between the fixing plate and the sliding connection member.

[0016] In one embodiment, the clamping member has a connecting end, and the connecting end is hinged to the first base; the connecting end of each clamping member is provided with an engaging portion, and the engaging portions of the two clamping members engage with each other.

[0017] In one of the embodiments, the main hand clamping mechanism further includes an angle detection member, and the angle detection member is used to detect the rotation angle of the clamping member.

[0018] In one of the embodiments, a connecting portion is provided at one end of at least one of the clamping members away from the hinge center; the angle detecting member is an encoder, and the connecting portion is transmission-connected to the encoder.

[0019] In a second aspect, an embodiment of the present application provides a master operating hand, which includes the master hand clamping mechanism in any embodiment of the first aspect.

[0020] The master operator provided in the embodiment of the present application enables at least one finger sleeve assembly to slide relative to the corresponding clamping member along the extension direction of the clamping member. In this way, when the doctor performs clamping and opening and closing actions, the fingers rotate with the clamping member. Since the at least one finger sleeve assembly can move along the extension direction of the clamping member, it can absorb at least part of the inertial force between the fingers and the master hand clamping mechanism, reducing the negative impact of the inertial force on the master hand clamping mechanism, thereby improving the master-slave control accuracy and making the surgery more accurate.

[0021] In a third aspect, an embodiment of the present application provides a medical console, which includes the main operator in the second aspect.

[0022] The medical control console provided in the embodiment of the present application enables at least one finger sleeve assembly to slide relative to the corresponding clamping member along the extension direction of the clamping member. In this way, when the doctor performs clamping and opening and closing actions, the fingers rotate with the clamping member. Since the at least one finger sleeve assembly can move along the extension direction of the clamping member, it can absorb at least part of the inertial force between the fingers and the master hand clamping mechanism, reducing the negative impact of the inertial force on the master hand clamping mechanism, thereby improving the master-slave control accuracy and making the surgery more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 A schematic diagram of the structure of a main operator provided in one embodiment of the present application.

[0025] Figure 2 for Figure 1 A schematic diagram of the partial structure of the main operator is shown.

[0026] Figure 3 for Figure 1 A top view of the master hand clamping mechanism of the master operator is shown.

[0027] Figure 4 for Figure 1 A side view of the partial structure of the main operator is shown.

[0028] Figure 5 for Figure 1 An axonometric view of the partial structure of the main manipulator is shown.

[0029] Figure 6 for Figure 1 A schematic diagram of the master hand clamping mechanism of the master operator is shown in the first state.

[0030] Figure 7 for Figure 1 A schematic diagram of the master hand clamping mechanism of the master operator is shown in the second state.

[0031] Figure 8 for Figure 2 A schematic structural diagram of another clamping member of the master hand clamping mechanism is shown.

[0032] Description of reference numerals:

[0033] 10. Main operator; 11. Main hand clamping mechanism; 111. First base; 1111. Assembly part; 1112. Grip part; 112. Clamping member; 1121. Slide rail; 1122. Connecting end; 1123. Engaging part; 1124. Connecting part; 113. Finger sleeve assembly; 1131. Fixed plate; 1132. Finger sleeve; 114. Sliding connector; 12. Arm assembly; 121. First fixed plate; 122. Second base; 123. Third base; 124. First connecting rod; 125. Second connecting rod; 126. Third connecting rod; 127. Fourth base; 128. Fifth base; 129. Sixth base; 20. Operator. DETAILED DESCRIPTION

[0034] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0035] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0036] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0037] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0038] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0039] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0040] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" and the like specify the presence of stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. At the same time, in this specification, the term "and / or" includes any and all combinations of the relevant listed items.

[0041] As described in the background technology, the clamping part of the current main operating hand structure rotates around a fixed axis. During the doctor's clamping and opening and closing process, the movement path of the doctor's fingers is different from the movement trajectory of the clamping part. Therefore, the relative position between the doctor's hand and the main operating hand structure will change, thereby generating an inertial force. This inertial force can easily cause the position of the main operating hand structure to change. Since the position information of the main operating hand structure is synchronously transmitted to the end instrument while the clamping action is transmitted to the end instrument, the inertial force causes the position of the main operating hand structure to change, which can easily lead to inaccurate master-slave control.

[0042] In view of this, the embodiments of the present application provide a master hand clamping mechanism, a master operating hand and a medical control console, by enabling at least one finger sleeve assembly to slide relative to the corresponding clamping member along the extension direction of the clamping member. In this way, when the doctor performs clamping and opening and closing actions, the fingers rotate with the clamping member. Since the at least one finger sleeve assembly can move along the extension direction of the clamping member, it can absorb at least part of the inertial force between the fingers and the master hand clamping mechanism, reducing the negative impact of the inertial force on the master hand clamping mechanism, thereby improving the master-slave control accuracy and making the surgery more accurate.

[0043] First, refer to Figure 1-Figure 5 As shown, the embodiment of the present application provides a master hand clamping mechanism 11 , which includes a first base 111 , two clamping members 112 and two finger sleeve assemblies 113 .

[0044] Specifically, the two clamping members 112 are respectively hinged on the first base 111. The hinge centers of the two clamping members 112 are spaced apart from each other, and the clamping surfaces of the two clamping members 112 are opposite to each other. The two finger sleeve assemblies 113 are respectively arranged on the sides of the two clamping members 112 that are away from each other. Among them, at least one finger sleeve assembly 113 can slide relative to the corresponding clamping member 112 along the extension direction of the corresponding clamping member 112.

[0045] It should be noted here that the hinge center refers to: the rotation center of the clamp 112. Exemplarily, the clamp 112 is hinged to the first base 111 via a hinge shaft. The axis of the hinge shaft is the rotation center of the clamp 112. "The two finger sleeve assemblies 113 are respectively arranged on the sides of the two clamps 112 that are away from each other" means: a finger sleeve assembly 113 is arranged on the side of each clamp 112 that is away from the other clamp 112. By providing the finger sleeve assembly 113, it is convenient for the doctor to insert his finger into the finger sleeve assembly 113 to drive the clamp 112 to rotate.

[0046] The master-hand clamping mechanism 11 provided in the embodiment of the present application enables at least one finger sleeve assembly 113 to slide relative to the corresponding clamping member 112 along the extension direction of the clamping member 112. In this way, when the doctor performs clamping and opening and closing actions, the fingers rotate with the clamping member 112. Since the at least one finger sleeve assembly 113 can move along the extension direction of the clamping member 112, the fingers can be displaced along the extension direction of the clamping member 112 during the rotation process, thereby absorbing at least part of the inertial force generated by the position change between the fingers and the master-hand clamping mechanism 11, thereby reducing the negative impact of the inertial force on the master-hand clamping mechanism 11, improving the master-slave control accuracy, and making the surgery more accurate.

[0047] In one embodiment, each finger sleeve assembly 113 can slide relative to the corresponding clamping member 112 along the extending direction of the corresponding clamping member 112 .

[0048] In this way, both finger sleeve assemblies 113 are slidable finger sleeve assemblies 113. When the doctor performs clamping and opening and closing actions, the two fingers rotate with the clamping member 112. Since the two finger sleeve assemblies 113 can move along the extension direction of the clamping member 112, the two fingers can be displaced along the extension direction of the clamping member 112 during the rotation process, thereby absorbing all the inertial forces generated by the position change between the hand and the main hand clamping mechanism 11, thereby eliminating the negative impact of the inertial force on the main hand clamping mechanism 11, improving the master-slave control accuracy, and making the surgery more accurate.

[0049] Specifically, combined Figure 6 and Figure 7 As shown, Figure 6 It is a schematic diagram of the positions of the finger sleeve assembly 113 and the clamping member 112 before the operator 20 performs a clamping action, wherein each finger sleeve assembly 113 is located in the middle of the corresponding clamping member 112 . Figure 7 It is a schematic diagram of the positions of the finger sleeve assembly 113 and the clamping member 112 after the operator 20 performs a clamping action, wherein each finger sleeve assembly 113 slides to the end of the corresponding clamping member 112 .

[0050] In one embodiment, a sliding connection member 114 is disposed between the finger sleeve assembly 113 and the corresponding clamping member 112 , and the sliding connection member 114 is used to drive the finger sleeve assembly 113 to slide along the extension direction of the corresponding clamping member 112 .

[0051] Here, the sliding connection member 114 has at least the following functions: on the one hand, it is used to connect the finger sleeve assembly 113 with the clamping member 112 ; on the other hand, it is used to drive the finger sleeve assembly 113 to move on the clamping member 112 .

[0052] In one example, the sliding connection member 114 may be a sliding sleeve, and the sliding sleeve may be movably sleeved on the clamping member 112. The clamping member 112 is assembled on the sliding sleeve.

[0053] In one embodiment, a slide rail 1121 is disposed on the clamping member 112, and the direction of the slide rail 1121 is parallel to the extension direction of the clamping member 112. The sliding connection member 114 is a slider, and the finger sleeve assembly 113 is disposed on the slider.

[0054] In this way, on the one hand, the structure of the master hand clamping mechanism 11 can be simplified, and it is easy to manufacture and assemble; on the other hand, the finger sleeve assembly 113 can slide on the clamping member 112 more smoothly, reducing the adverse effects of external factors on the sliding of the finger sleeve assembly 113.

[0055] In one embodiment, the finger sleeve assembly 113 includes a fixing plate 1131 and a finger sleeve 1132. The fixing plate 1131 is connected to the sliding connection member 114. Part of the structure of the finger sleeve 1132 is sandwiched between the fixing plate 1131 and the sliding connection member 114.

[0056] Specifically, the fixing plate 1131 and the sliding connector 114 can be connected by a fastener, which can be a pin, a screw, a bolt, etc. The fastener can pass through the finger sleeve 1132 and connect to the fixing plate 1131. The finger sleeve 1132 can be a ring-shaped flexible member, such as a plastic finger sleeve 1132, a cloth finger sleeve 1132, etc.

[0057] In one embodiment, referring to Figure 8 As shown, the clamping member 112 has a connecting end 1122, and the connecting end 1122 is hinged to the first base 111. The connecting end 1122 of each clamping member 112 is provided with an engaging portion 1123, and the engaging portions 1123 of the two clamping members 112 engage with each other.

[0058] It is understandable that one end of the clamping member 112 is a connecting end 1122, and by providing mutually meshing meshing portions 1123 at the connecting ends 1122 of the two clamping members 112, it is helpful to keep the two clamping members 112 synchronous, that is, the two clamping members 112 rotate at the same angle. In this way, the master-slave control accuracy can be improved, thereby improving the surgical accuracy.

[0059] In one embodiment, the master hand clamping mechanism 11 further includes an angle detection member, which is used to detect the rotation angle of the clamping member 112. Exemplarily, the angle detection member may be a Hall angle sensor, a photoelectric angle sensor, or the like.

[0060] In one embodiment, at least one of the clamping members 112 is provided with a connecting portion 1124 at one end away from the hinge center. The angle detection member is an encoder, and the connecting portion 1124 is transmission-connected to the encoder.

[0061] In this way, when the clamping member 112 rotates, the connecting portion 1124 of the clamping member 112 drives the encoder to rotate, and the rotation angle of the clamping member 112 can be obtained through the rotation angle of the encoder.

[0062] In one embodiment, referring to Figure 2 As shown, the first base includes an assembly portion 1111 and a gripping portion 1112 connected to each other, one end of the assembly portion 1111 is connected to one end of the gripping portion 1112, and the extension direction of the assembly portion 1111 is perpendicular to the extension direction of the gripping portion 1112. Further, both clamping members 112 are assembled on the assembly portion 1111.

[0063] In one of the embodiments, a presence detection component is provided on the gripping portion 1112 , and the presence detection component is used to detect whether the doctor's hand is on the main hand clamping mechanism 11 .

[0064] Based on the description of the above embodiments, more specific embodiments and drawings are presented below for detailed description.

[0065] Reference Figure 1-Figure 5 As shown, the master hand clamping mechanism 11 includes a first base 111 , two clamping members 112 and two finger sleeve assemblies 113 .

[0066] Specifically, the two clamping members 112 are respectively hinged on the first base 111. The hinge centers of the two clamping members 112 are spaced apart from each other, and the clamping surfaces of the two clamping members 112 are opposite to each other. The two finger sleeve assemblies 113 are respectively arranged on the sides of the two clamping members 112 that are away from each other. Each finger sleeve assembly 113 can slide relative to the corresponding clamping member 112 along the extension direction of the corresponding clamping member 112.

[0067] Furthermore, a sliding connection member 114 is provided between the finger sleeve assembly 113 and the corresponding clamping member 112 , and the sliding connection member 114 is used to drive the finger sleeve assembly 113 to slide along the extension direction of the corresponding clamping member 112 .

[0068] Furthermore, a slide rail 1121 is provided on the clamping member 112, and the direction of the slide rail 1121 is parallel to the extension direction of the clamping member 112. The sliding connection member 114 is a slider, and the finger sleeve assembly 113 is provided on the slider.

[0069] Furthermore, the finger sleeve assembly 113 includes a fixing plate 1131 and a finger sleeve 1132. The fixing plate 1131 is connected to the sliding connection member 114. Part of the structure of the finger sleeve 1132 is sandwiched between the fixing plate 1131 and the sliding connection member 114.

[0070] Furthermore, the clamping member 112 has a connecting end 1122, and the connecting end 1122 is hinged to the first base 111. The connecting end 1122 of each clamping member 112 is provided with an engaging portion 1123, and the engaging portions 1123 of the two clamping members 112 engage with each other.

[0071] Furthermore, the master hand clamping mechanism 11 further includes an angle detection member, which is used to detect the rotation angle of the clamping member 112. A connecting portion 1124 is provided at one end of at least one clamping member 112 away from the hinge center. The angle detection member is an encoder, and the connecting portion 1124 is transmission-connected to the encoder.

[0072] The master hand clamping mechanism 11 provided in the embodiment of the present application can, on the one hand, absorb all inertial forces generated between the hand and the master hand clamping mechanism 11 due to position changes, thereby removing the negative impact of the inertial force on the master hand clamping mechanism 11, improving the master-slave control accuracy, and making the surgery more accurate; on the other hand, it can make the structure of the master hand clamping mechanism 11 simple, easy to manufacture and assemble; on the other hand, it can make the finger sleeve assembly 113 slide on the clamping member 112 more smoothly, reducing the adverse effects of external factors on the sliding of the finger sleeve assembly 113.

[0073] Second, refer to Figure 1 As shown, an embodiment of the present application provides a master operating hand 10, which includes a master hand clamping mechanism 11 in any embodiment of the first aspect.

[0074] Specifically, the master hand clamping mechanism 11 further includes an arm assembly 12, and the master hand clamping mechanism 11 is assembled on the arm assembly 12. Further, the arm assembly 12 includes a first fixing plate 121, a second base 122, a third base 123, a first connecting rod 124, a second connecting rod 125, a third connecting rod 126, a fourth base 127, a fifth base 128 and a sixth base 129. Among them, the second base 122 is rotatably connected to the first fixing plate 121, and the second base 122 can rotate relative to the first fixing plate 121. The third base 123 is fixedly connected to the second base 122, the first connecting rod 124 is rotatably connected to the third base 123, the second connecting rod 125 is rotatably connected to the third base 123, the third connecting rod 126 is rotatably connected to the second connecting rod 125, the fourth base 127 is rotatably connected to the third connecting rod 126, the fourth base 127 is rotatably connected to the fifth base 128, the fifth base 128 is rotatably connected to the sixth base 129, and the first base 111 of the main hand clamping mechanism 11 is rotatably connected to the sixth base 129.

[0075] The master operating hand 10 provided in the embodiment of the present application enables at least one finger sleeve assembly 113 to slide relative to the corresponding clamping member 112 along the extension direction of the clamping member 112. In this way, when the doctor clamps and opens and closes the operation, the finger rotates with the clamping member 112. Since the at least one finger sleeve assembly 113 can move along the extension direction of the clamping member 112, the finger can be displaced along the extension direction of the clamping member 112 during the rotation process, thereby absorbing at least part of the inertial force generated by the position change between the finger and the master hand clamping mechanism 11, thereby reducing the negative impact of the inertial force on the master hand clamping mechanism 11, improving the master-slave control accuracy, and making the operation more accurate.

[0076] In a third aspect, an embodiment of the present application provides a medical console, which includes the main operator 10 in the second aspect.

[0077] The medical control console provided in the embodiment of the present application enables at least one finger sleeve assembly 113 to slide relative to the corresponding clamping member 112 along the extension direction of the clamping member 112. In this way, when the doctor clamps and opens and closes the operation, the finger rotates with the clamping member 112. Since the at least one finger sleeve assembly 113 can move along the extension direction of the clamping member 112, it can absorb at least part of the inertial force between the finger and the master hand clamping mechanism 11, thereby reducing the negative impact of the inertial force on the master hand clamping mechanism 11, thereby improving the master-slave control accuracy and making the operation more precise.

[0078] In the description of this specification, the description with reference to the terms "some embodiments", "other embodiments", "ideal embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.

[0079] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features of the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0080] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A master hand clamping mechanism, characterized in that: include: A first base (111); Two clamping members (112) are respectively hinged on the first base (111); the hinge centers of the two clamping members (112) are spaced apart from each other, and the clamping surfaces of the two clamping members (112) are opposite to each other; Two finger sleeve assemblies (113) are respectively arranged on the sides of the two clamping members (112) facing away from each other; Wherein, at least one of the finger sleeve components (113) can slide relative to the clamping member (112) along the extension direction of the corresponding clamping member (112).

2. The master hand clamping mechanism according to claim 1, characterized in that: Each of the finger sleeve components (113) can slide relative to the corresponding clamping component (112) along the extension direction of the corresponding clamping component (112).

3. The master hand clamping mechanism according to claim 2, characterized in that: A sliding connection member (114) is provided between the finger sleeve assembly (113) and the corresponding clamping member (112), and the sliding connection member (114) is used to drive the finger sleeve assembly (113) to slide along the extension direction of the corresponding clamping member (112).

4. The master hand clamping mechanism according to claim 3, characterized in that: The clamping member (112) is provided with a slide rail (1121), and the direction of the slide rail (1121) is parallel to the extension direction of the clamping member (112); the sliding connection member (114) is a slider, and the finger sleeve assembly (113) is provided on the slider.

5. The master hand clamping mechanism according to claim 2, characterized in that: The finger sleeve assembly (113) comprises: A fixed plate (1131) connected to the sliding connection member (114); A finger sleeve (1132), wherein a portion of the structure of the finger sleeve (1132) is sandwiched between the fixing plate (1131) and the sliding connection member (114).

6. The master hand clamping mechanism according to claim 1, characterized in that: The clamping member (112) has a connecting end (1122), and the connecting end (1122) is hinged to the first base (111); the connecting end (1122) of each clamping member (112) is provided with an engaging portion (1123), and the engaging portions (1123) of the two clamping members (112) engage with each other.

7. The master hand clamping mechanism according to claim 1, characterized in that: The master-hand clamping mechanism (11) further comprises an angle detection component, wherein the angle detection component is used to detect the rotation angle of the clamping component (112).

8. The master hand clamping mechanism according to claim 7, characterized in that: A connecting portion (1124) is provided at one end of at least one of the clamping members (112) that is away from the hinge center; the angle detection member is an encoder, and the connecting portion (1124) is transmission-connected to the encoder.

9. A master operator, characterized in that: It comprises a master hand clamping mechanism (11) as claimed in any one of claims 1 to 8.

10. A medical console, characterized in that: It comprises the main operator (10) as claimed in claim 9.

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