Master control device and surgical robot system

Abstract

This application provides a master hand control device and a surgical robot system. The master hand control device includes a base, a rotating bracket, a drive assembly, a clamping assembly, and a sensing module. The rotating bracket is rotatably connected to the base and can rotate relative to the base about a central axis. The drive assembly is mounted to the base, and its output end is connected to the rotating bracket to output a feedback torque to the rotating bracket. The rotation axis of the drive assembly's output end coincides with the central axis. The clamping assembly is disposed on the rotating bracket and rotates synchronously with the rotating bracket about the central axis. The clamping assembly can rotate relative to the rotating bracket to achieve opening and closing actions. The sensing module is disposed between the drive assembly and the clamping assembly. The sensing module is used to output signals indicating the opening and closing angle of the clamping assembly relative to the rotating bracket and / or to output signals indicating the rotation angle of the clamping assembly about the central axis.

Description

[0001] Cross-references to related applications This application incorporates Chinese Patent Application No. 2024119557881, filed on December 25, 2024, entitled “A Master Hand Control Device and Surgical Robot System,” which is incorporated herein by reference in its entirety. Technical Field

[0002] This application relates to the field of medical device technology, and more specifically to a master hand control device and a surgical robot system. Background Technology

[0003] A surgical robot system is a computer-assisted medical system that enables remotely controlled surgery. A surgical robot system may include a doctor's console, a patient-side robotic arm system, and an imaging system. The doctor operates the system via the console, while the patient-side robotic arm system performs the actual surgical procedures at the patient's surgical site. The imaging equipment provides the doctor with real-time images of the surgical site. The doctor's console and the patient-side robotic arm system form a master-slave control relationship; the doctor's actions on the master hand control device on the console are mapped to the movements of the surgical instruments held by the robotic arm in the patient-side robotic arm system.

[0004] The master hand control device can be equipped with input components that allow doctors to operate with their fingers, as well as sensing components to detect the doctor's actions on the input components. Since the master hand control device is the input device with the longest interaction time and the highest frequency during surgical procedures, high requirements are placed on the detection accuracy and stability of the input components. Summary of the Invention

[0005] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0006] This application provides a master hand control device for a surgical robot system. The master hand control device includes a base, a rotating bracket, a drive assembly, a clamping assembly, and a sensing module. The rotating bracket is rotatably connected to the base and can rotate relative to the base about a central axis. The drive assembly is mounted to the base, and its output end is connected to the rotating bracket to output a feedback torque to the rotating bracket. The rotation axis of the drive assembly's output end coincides with the central axis. The clamping assembly is disposed on the rotating bracket and rotates synchronously with the rotating bracket about the central axis. The clamping assembly can rotate relative to the rotating bracket to achieve opening and closing actions. The sensing module is disposed between the drive assembly and the clamping assembly. The sensing module is used to output signals indicating the opening and closing angle of the clamping assembly relative to the rotating bracket and / or to output signals indicating the rotation angle of the clamping assembly about the central axis.

[0007] In some examples, the rotating bracket has a receiving groove, which includes a first receiving space and a second receiving space that are interconnected. The drive component is placed in the first receiving space, and the sensing module is placed in the second receiving space.

[0008] In some examples, the master control device also includes a support shaft fixed to the base and extending along the central axis into the receiving groove. A rotating bracket is rotatably connected to the support shaft. The fixed part of the drive component is sleeved on the outer periphery of the support shaft, and the moving part of the drive component is fixed to the groove wall of the receiving groove. The support shaft passes through the first receiving space to the second receiving space and is connected to the sensing module.

[0009] In some examples, the rotating bracket includes a first bracket portion and a second bracket portion that are detachably connected. The first bracket portion and the second bracket portion together form a receiving groove. The first bracket portion is rotatably connected to a support shaft. The sensing module includes at least one sensing component. The driving component and the sensor of the sensing component form an active module that is mounted to the first bracket portion. The clamping component and the sensing element of the sensing component form a passive module that is mounted to the second bracket portion. The active module and the passive module do not contact each other.

[0010] In some examples, the sensing module includes a sensing circuit board and a first sensing assembly. The first sensing assembly includes a first sensor and a first sensing element. The first sensing element is connected to the wall of the receiving groove, and the first sensor is connected to the sensing circuit board for sensing the detected part to output a signal indicating the rotation angle of the clamp assembly about the central axis.

[0011] In some examples, the master control device also includes a spindle, the longitudinal axis of which coincides with the central axis. The spindle is mounted on a rotating bracket and rotates synchronously with the rotating bracket around the central axis. The spindle is connected to the clamp assembly, so that the opening and closing action of the clamp assembly drives the spindle to move along the central axis.

[0012] In some examples, the sensing module includes a sensing circuit board and a second sensing assembly. The second sensing assembly includes a second sensor and a second sensing element. The second sensing element is connected to a spindle, and the second sensor is connected to the sensing circuit board for sensing the detected part to output a signal indicating the opening and closing angle of the clamp assembly.

[0013] In some examples, the rotating bracket also has an axial channel extending along the central axis, which communicates with the receiving groove. The mandrel is movably disposed in the axial channel and extends into the receiving groove to connect to the detected part of the second sensing component. The clamp assembly is disposed outside the axial channel and partially enters the axial channel to connect with the mandrel.

[0014] In some examples, the master control device also includes an operating component, which is disposed on and rotates synchronously with the rotating bracket, and is movable relative to the rotating bracket in a direction parallel to the central axis.

[0015] In some examples, the sensing module includes a sensing circuit board and a third sensing component. The third sensing component includes a third sensor and a third sensing element. The third sensing element is connected to the operating component, and the third sensor is connected to the sensing circuit board for sensing the detected part to output a signal indicating the position of the operating component relative to the rotating bracket.

[0016] In some examples, the sensing module further includes a first sensing component for sensing the rotation angle of the clamp assembly about the central axis. The sensing circuit board is set perpendicular to the central axis. The first sensing component and the third sensing component are set off from the central axis, and the third sensor of the third sensing component and the first sensor of the first sensing component are set on opposite sides of the sensing circuit board.

[0017] In some examples, the sensing module also includes a second sensing component for sensing the opening angle of the clamp assembly relative to the rotating bracket. The second sensor of the second sensing component is mounted on the sensing circuit board. The third sensing component and the second sensing component are proximity sensors, and the first sensing component is a rotary encoder.

[0018] This application also provides a surgical robot system, including a doctor's console, a patient-side robotic arm system, and surgical instruments. The doctor's console includes the aforementioned master hand control device. The patient-side robotic arm system includes a robotic arm. Surgical instruments are detachably mounted to the end of the robotic arm. The master hand control device is operated to control the movement of the surgical instruments.

[0019] Details of one or more embodiments of this application are set forth in the following drawings and description. Other features, objects, and advantages of this application will become apparent from the specification, drawings, and claims. Attached Figure Description

[0020] The following drawings, which are incorporated herein by reference and are used to understand this application, illustrate embodiments of the invention and their descriptions to explain the principles of the invention.

[0021] In the attached image: Figure 1 This is a schematic diagram of a surgical robot system according to an embodiment of this application; Figure 2 This is a schematic diagram of a doctor's control console according to an embodiment of this application; Figure 3 This is a schematic diagram of a master hand control device according to an embodiment of this application; Figure 4 This is a cross-sectional view along the XY plane of a master hand control device according to an embodiment of this application; Figure 5 This is a cross-sectional view along the XY plane of a passive module of a master control device according to an embodiment of this application; Figure 6 This is a cross-sectional view along the XZ plane of a master hand control device according to an embodiment of this application; Figure 7 This is a perspective sectional view of an active module of a master hand control device according to an embodiment of this application, wherein the sectional plane is parallel to the XZ plane; Figure 8 This is a schematic diagram of the sensing circuit board of a master hand control device according to an embodiment of this application; Figure 9 This is a perspective sectional view of a passive module of a master control device according to an embodiment of the present application, wherein the sectional plane is parallel to the XZ plane; Figure 10 This is another schematic diagram of the sensing circuit board of a master hand control device according to an embodiment of this application; Figure 11 This is a schematic diagram of a portion of the operating components of a master control device according to an embodiment of this application. Detailed Implementation

[0022] The following description provides numerous specific details to offer a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with this application.

[0023] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0024] The ordinal numbers such as “first” and “second” used in this application are merely identifiers and have no other meaning, such as a specific order. Furthermore, for example, the term “first component” does not imply the existence of a “second component,” and the term “second component” does not imply the existence of a “first component.” It should be noted that the terms “upper,” “lower,” “front,” “back,” “left,” “right,” “inner,” “outer,” and similar expressions used herein are for illustrative purposes only and are not intended to be limiting.

[0025] The terms “active” and “passive” used in this application are two relative concepts, where “active” refers to the requirement of electrical connection and “passive” refers to the requirement of no electrical connection.

[0026] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings.

[0027] The surgical robot system 1 of this application is a computer-aided medical system capable of remotely controlling and performing surgery. (See reference...) Figure 1 The surgical robot system 1 may include a doctor's console 10, a patient-side robotic arm system 20, and an imaging system 30. The doctor operates the system through the doctor's console 10, the patient-side robotic arm system 20 performs the actual surgical procedure at the patient's surgical site, and the imaging device 30 provides the doctor with real-time image information of the surgical site.

[0028] The doctor's console 10 is the main operating device. Please also refer to... Figure 2 The doctor's control console 10 includes a display unit 12 (also called a monitor) for displaying the surgical instruments and environment, a main hand control device 100, and armrests 13. The display unit 12 has an observation window for the doctor to observe, and the armrests 13 are for supporting the doctor's arm. The doctor's operation of the main hand control device 100 can be mapped to the movement of the surgical instruments; therefore, the main hand control device 100 can also be called an input device. In addition, the doctor's control console 10 also has other input devices, such as control switches that are easily touched or pressed by hand or foot, for performing various functions and completing human-computer interaction. The display unit 12, the main hand control device 100, and the armrests 13 are all mounted on a support 11.

[0029] refer to Figure 1 The patient-side robotic arm system 20 is a slave operating device, and it communicates with the doctor's console 10 to achieve master-slave control. The patient-side robotic arm system 20 includes several robotic arms 21, each with several connecting arms 22. Adjacent connecting arms 22 move relative to each other with specific degrees of freedom, allowing the end effector of the robotic arm 21 to achieve multi-degree-of-freedom movement. The end effector of the robotic arm 21 includes a holding arm 23, on which an instrument actuator is mounted. Surgical instruments or endoscopes are detachably mounted on the instrument actuator. Surgical instruments typically have an end effector in the form of a surgical tool, such as forceps, scissors, or clamps, at one end of a slender tube. The conventional motion structure of the end effector uses a steel cable to rotate it to perform pitch, yaw, and gripping movements.

[0030] The imaging system 30 includes a display screen, an endoscope controller, system electronics, and an image processor. The imaging device 30 can capture images in the surgical area, process the images, and display and record the processed images and related information. The imaging device 30 can communicate with the patient-side robotic arm system 20 and the doctor's console 10 to synchronize images and information to the display unit 12 of the doctor's console 10 for viewing by the surgeon. The imaging device 30 can be installed independently or integrated into the patient-side robotic arm system 20 and / or the doctor's console 1.

[0031] Also refer to Figure 2 and Figure 3 The master hand control device 100 typically includes at least one master manipulator (also known as a control arm, master robotic arm, etc.), for example, two master manipulators, respectively corresponding to the surgeon's hands. Each master manipulator can control the movement of a surgical instrument. The surgeon can operate the master manipulator to control the movement of the corresponding surgical instrument in the patient-side robotic arm system 20 to perform the surgical procedure. The master manipulator typically includes multiple connected arms connected in sequence, with adjacent connected arms rotatably connected. The end of the master manipulator may also include an input handle for the surgeon's hand to grip, and the input handle is rotatably connected to the final connected arm.

[0032] like Figure 3 As shown, the input handle may include a rotating bracket 101, on which input components, such as a clamp assembly 130 and an operating assembly 160, may be mounted to facilitate operation by the doctor using their fingers while gripping the input handle. Furthermore, the input handle typically also includes a sensing component to detect the doctor's actions on the input components. Since the input handle is the input device with the longest interaction time and highest frequency during surgical procedures, high requirements are placed on the detection accuracy and stability of the input components.

[0033] However, the inventors discovered that in related technologies, to reduce interference from cables on the movement of the input handle, non-contact sensing is generally used across the joints of the input component. This results in the sensing component and the input component needing to be positioned across a large distance, possibly requiring the passage of other components such as drivers. Such structures have long transmission links for sensing and sampling, and low structural rigidity, leading to large detection fluctuations and affecting detection accuracy and stability. Furthermore, the entire mechanism needs to be assembled before dimensional chain adjustments and testing and compensation of the sensing component can be performed, making overall assembly and dimensional adjustment difficult. Finally, the overall compactness of the mechanism is poor.

[0034] Based on this, the master control device 100 provided in this application can improve or avoid at least one of the above-mentioned problems.

[0035] For a more specific structure of the master control device 100 according to the embodiments of this application, please refer to Figures 4 to 11 The master control device 100 includes a base 180 and a rotating bracket 101. The base 180 is used to connect to other components of the master control device 100, such as the final connecting arm of the master operator mentioned above, only when... Figure 6 As shown in the diagram, a rotating bracket 101 is rotatably connected to a base 180, allowing the rotating bracket 101 to rotate relative to the base 180 about a central axis AX. The direction of rotation of the rotating bracket 101 about the central axis AX can be denoted as a first rotation direction D1, or it can be a circumferential direction D1 around the central axis. The rotating bracket 101 is used to mount at least one input component, which may be, for example... Figure 3 The clamp assembly 130 or operating assembly 160 shown.

[0036] In some examples, see Figures 3 to 6 The master control device 100 may further include a clamp assembly 130 mounted to the rotating bracket 101, which is capable of rotating synchronously with the rotating bracket 101 about the central axis AX. Further, the clamp assembly 130 is pivotally connected to the rotating bracket 101, and the axis of rotation of the clamp assembly 130 is perpendicular to the central axis AX. Rotation of the clamp assembly 130 allows its free end to approach and move away from the rotating bracket 101, thereby achieving an opening and closing motion. The clamp assembly 130 may, for example, include two jaws 131, each of which is pivotally connected to the rotating bracket 101. The two jaws 131 may be kinematically coupled, allowing them to rotate synchronously; for example, the two jaws 131 may simultaneously approach the rotating bracket 101 at the same rotation angle, or simultaneously move away from the rotating bracket 101 at the same rotation angle.

[0037] Understandably, when a doctor operates the master hand control device 100, they typically manipulate the clamp assembly 130 with their fingers, such as by pinching or releasing, causing the clamp assembly to open and close. The opening and closing motion of the clamp assembly is generally mapped to the opening and closing of the end effector of a surgical instrument. Furthermore, the clamp assembly 130 can be rotated, causing it and the rotating support 101 to rotate together around the central axis AX. This rotational motion is generally mapped to the rolling motion of the end effector of the surgical instrument. Therefore, the master hand control device 100 also includes a sensing module 170 for detecting and outputting relevant signals of the opening and closing motion and / or rotational motion of the clamp assembly.

[0038] In some examples, the sensing module 170 may include a first sensing component 171 for detecting rotation of the clamp assembly 130 about the central axis AX. The first sensing component 171 may include a first sensor 1711 and a first sensing element 1712. The first sensor 1711 may be fixed relative to the base 180, and the first sensing element 1712 may be fixed relative to the rotating bracket 101. The first sensor 1711 senses the first sensing element 1712 to output a signal indicating the rotation angle of the clamp assembly 130 about the central axis AX. Further, the first sensing element 1712 may be a passive component, i.e., it does not require power.

[0039] The first sensing component 171 may include a rotary encoder, such as a photoelectric encoder or an electromagnetic encoder. For example, the first sensor 1711 may be a photoelectric detection device, and the first sensing element 1712 may be a grating code disk. For example, the first sensor 1711 may be a Hall element, and the first sensing element 1712 may be a magnetic ring.

[0040] In some examples, the sensing module 170 may include a second sensing component 172 for detecting the opening angle of the clamp assembly 130 relative to the rotating bracket 101. To facilitate the detection of the opening angle of the clamp assembly 130, the master hand control device 100 may also include a spindle 140, which is motion-coupled with the clamp assembly 130, such that the opening and closing motion of the clamp assembly 130 drives the spindle 140 to move in a second direction D2. The second direction D2 is parallel to the central axis AX. Thus, the opening angle of the clamp assembly 130 relative to the rotating bracket 101 is mapped to the movement distance of the spindle 140 along the central axis AX, and the opening and closing of the clamp assembly 130 can be indirectly detected by detecting the movement of the spindle 140. The second sensing component 172 may include a second sensor 1721 and a second sensing element 1722. The second sensor 1721 may be fixed relative to the base 180, and the second sensing element 1722 may be fixed relative to the spindle 140. The second sensor 1721 is used to sense the second sensing element 1722 to output a signal indicating the opening angle of the clamp assembly 130 relative to the rotating bracket 101. Furthermore, the second sensing element 1722 can be a passive element, that is, it does not require power.

[0041] The second sensing component 172 may include a continuous detection type proximity sensor, such as an electromagnetic proximity sensor, a photoelectric proximity sensor, a capacitive proximity sensor, an inductive proximity sensor, etc. For example, the second sensor 1721 may be a Hall element, and the second sensing element 1722 may be a magnetic element, such as a magnet. For example, the second sensor 1721 may be a photoelectric detection device, and the second sensing element 1722 may be a reflective plate with a reflective surface.

[0042] In some examples, the master hand control device 100 includes an operating component 160 mounted to the rotating support 101, which is capable of rotating synchronously with the rotating support 101 about the central axis AX. Further, the operating component 160 is movably connected to the rotating support 101, allowing the operating component 160 to move relative to the rotating support 101 in a second direction D2. Understandably, when a physician operates the master hand control device 100, they typically operate the operating component 160 with their fingers, such as by pulling or pushing, causing the operating component 160 to move relative to the rotating support 101. The sensing module 170 can also be used to detect the movement of the operating component 160 to generate control signals for controlling certain functions of the surgical robot system 1, such as clutch control, instrument energy control, and endoscope light source control.

[0043] In some examples, the sensing module 170 may include a third sensing component 173 for detecting the position of the operating component 160 relative to the rotating bracket 101. The third sensing component 173 may include a third sensor 1731 and a third sensing element 1732. The third sensor 1731 may be fixed relative to the base 180, and the third sensing element 1732 may be fixed relative to the operating component 160. The third sensor 1731 senses the third sensing element 1732 to output a signal indicating the position of the operating component 160 relative to the rotating bracket 101. Further, the third sensing element 1732 may be a passive component, i.e., it does not require power.

[0044] The third sensing component 173 may include a proximity sensor, such as a Hall effect proximity sensor, a photoelectric proximity sensor, a capacitive proximity sensor, or an inductive proximity sensor. Depending on the specific functional control requirements, the proximity sensor may be of continuous or discrete detection type. For example, when the operating component 160 is used to control the engagement and disengagement of the master hand control device 100 and its corresponding controlled surgical instruments, or for graded adjustment of instrument energy or light source intensity, the proximity sensor may be of continuous or discrete detection type. For instance, when the operating component 160 is used to continuously adjust instrument energy or light source intensity, the proximity sensor is of continuous detection type.

[0045] Understandably, in applications where the sensing module 170 integrates two or more sensing components, it is necessary to prevent signal interference between the multiple sensing components. For example, sensors with different signal types can be used, and / or interference from signals of the same type can be prevented through proper layout.

[0046] The following describes the concept and specific implementation of this application using an application scenario where the sensing module 170 simultaneously includes a first sensing component 171, a second sensing component 172, and a third sensing component 173 as an example. It is understood that the concept and some specific implementations of this application are also applicable to application scenarios where the sensing module 170 includes one or more of the first sensing component 171, the second sensing component 172, and the third sensing component 173.

[0047] In some examples, see Figure 4 , Figure 6 and Figure 7 The master control device 100 also includes a drive assembly 150. The drive assembly 150 is mounted to the base 180, and its output is connected to the rotating bracket 101 to output a feedback torque to the rotating bracket 101. Figure 7As shown, the drive assembly 150 may include, for example, a motor. The stationary part 151 of the motor is mounted to the base 180, and the moving part 152 of the motor is connected to the rotating bracket 101 via an output terminal, or the moving part 152 of the motor is connected to the rotating bracket 101 as an output terminal. For example, in some applications, when the rotating bracket 101 is rotated to the software control limit, the drive assembly 150 outputs torque to the rotating bracket 101, preventing the rotating bracket 101 from being rotated further.

[0048] In some examples, see Figure 4 and Figure 6 The sensing module 170 is disposed between the drive assembly 150 and the clamp assembly 130, with the rotation axis of the drive assembly 150 coinciding with the central axis AX. That is, along the central axis AX, the drive assembly 150, sensing module 170, and clamp assembly 130 are arranged sequentially from proximal to distal, such that the sensing module 170 is closer to the clamp assembly 130 than the drive assembly 150. Placing the sensing module 170 close to the clamp assembly 130 shortens the sensing sampling transmission path, reduces detection fluctuations, and improves detection accuracy. Furthermore, this arrangement facilitates the separable design of active and passive modules (which will be described in detail below). The coaxial structure of the drive assembly 150 and the rotating bracket 101 makes the main hand control device 100 more compact and easier to assemble, while also reducing torque transmission losses between the drive assembly 150 and the clamp assembly 130.

[0049] In some examples, see Figure 4 and Figure 6 Both the drive assembly 150 and the sensing module 170 are disposed within the rotating bracket 101. Specifically, the rotating bracket 101 has a receiving groove 102, which has a first receiving space 1021 and a second receiving space 1022 that are interconnected and arranged along the central axis AX. The drive assembly 150 is placed in the first receiving space 1021, and the sensing module 170 is placed in the second receiving space 1022. The clamping assembly 130 is disposed outside the receiving groove 102. An end opening is provided at one end of the rotating bracket 101 away from the clamping assembly 130, through which the drive assembly 150 can enter the receiving groove 102.

[0050] Furthermore, the master device 100 also includes a support shaft 190. The support shaft 190 is fixed to the base 180 and extends along the central axis AX through the end opening of the rotating bracket 101 into the receiving groove 102. The support shaft 190 is used to mount the rotating bracket 101, the drive assembly 150, and the sensing module 170.

[0051] The rotating bracket 101 is rotatably connected to the support shaft 190. A bearing can be provided at the connection point to limit their relative degrees of freedom, allowing the rotating bracket 101 to rotate relative to the support shaft 190 around the central axis AX, while the radial and axial movements of the rotating bracket 101 are restricted. Here, radial refers to the direction perpendicular to the central axis AX, and axial refers to the direction parallel to the central axis AX.

[0052] The drive assembly 150 is mounted around the outer periphery of the support shaft 190 in the first receiving space 1021. For example, a stepped surface may be provided on the outer periphery of the support shaft 190 for positioning the drive assembly 150. Specifically, the drive assembly 150 includes an outer rotor motor, with a fixed portion 151 sleeved on and fixed to the outer periphery of the support shaft 190, and a movable portion 152 rotatably sleeved on the outer periphery of the fixed portion 151. The movable portion 152 is also connected to a rotating bracket 101 to apply a feedback torque to the rotating bracket 101; for example, the movable portion 152 may be fixed to the inner surface of the wall of the receiving groove 102. A stepped surface may also be provided on the inner surface of the wall of the receiving groove 102 for positioning the movable portion 152.

[0053] The sensing module 170 is connected to the support shaft 190 in the second receiving space 1022. The sensors in the sensing module 170 can be mounted around the outer periphery of the support shaft 190 or disposed on the end face of the support shaft 190. For example, the sensing module 170 may include a sensing circuit board 174 for mounting sensors of various sensing components, such as a first sensor 1711, a second sensor 1721, and a third sensor 1731. The sensing circuit board 174 can be fixed to the support shaft 190. Since the support shaft 190 is fixed to the base 180, that is, the sensing circuit board 174 is fixed relative to the base 180, this arrangement facilitates the routing of the sensing circuit board 174's wiring and avoids problems such as cable interference with movement. Furthermore, the support shaft 190 can be a hollow shaft, and the cables connecting the sensing circuit board 174 and external electronic components or power supplies can be partially housed in the hollow channel of the support shaft 190. Furthermore, the sensing circuit board 174 is disposed perpendicular to the central axis AX on the end face of the support shaft 190 facing away from the base 180.

[0054] Furthermore, the rotating bracket 101 includes a first bracket portion 110 and a second bracket portion 120 that are detachably connected, for example, by means of a threaded connection. The first bracket portion 110 and the second bracket portion 120 together form the aforementioned receiving groove 102. The first bracket portion 110 is rotatably fitted around the outer periphery of the support shaft 190. Inside the first bracket portion 110, the drive assembly 150 and the sensing circuit board 174 of the sensing module 170 are mounted to the support shaft 190. That is, one or more sensors of the drive assembly 150 and the sensing module 170 constitute an active module mounted to the first bracket portion 110. In this case, active components requiring power (such as sensors, motor stators, etc.) are fixed to the support shaft 190 and will not move with the first bracket portion 110 relative to the base 180, effectively avoiding the problem of wire entanglement or interference with the rotation of the rotating bracket 101.

[0055] The second support portion 120 has a portion extending along the central axis AX outside the receiving groove 102 for the operator to grip (hereinafter referred to as the "grip portion"). The clamp assembly 130 and the operating assembly 160 can be disposed on the grip portion so that the user can operate the clamp assembly 130 and the operating assembly 160 while gripping. The clamp assembly 130, the operating assembly 160, and one or more sensing elements of the sensing module 170 constitute a passive module mounted to the second support portion 120.

[0056] The aforementioned active and passive modules are detachably assembled via a detachable connection between the first support portion 110 and the second support portion 120, achieving a separable design for the active and passive modules. Therefore, during assembly, the active and passive modules can be assembled separately. After testing and compensation of the active module are completed, the first support portion 110 and the second support portion 120 are connected, and then the support shaft 190 is installed onto the base 180 to complete the overall assembly.

[0057] Compared to related technologies that require complete assembly before testing and compensating active devices, the detachable design of this application simplifies the entire production and testing process, enhances operability, and reduces repeated disassembly and assembly. Furthermore, since the active and passive modules can perform their respective functions (such as sensing and force feedback) without contact after assembly, the rotating bracket 101 can rotate infinitely relative to the base 180 degrees.

[0058] In some examples, such as Figure 7 and Figure 8As shown, for ease of installation, an inner flange 111 is provided on the inner surface of the groove wall of the first bracket portion 110. The first sensing element 1712 is fixedly mounted on the end face of the inner flange facing the second bracket portion 120. The first sensor 1711 is mounted on the first mounting surface 1741 of the sensing circuit board 174 and spaced apart from the first sensing element 1712, wherein the first mounting surface 1741 faces the inner flange 111. This arrangement leaves the entire second mounting surface 1742 of the sensing circuit board 174 facing the first bracket portion 110 unused for mounting other sensors. The first sensor 1711 is offset from the central axis AX. Further, as... Figure 8 As shown, two first sensors 1711 can be set to achieve redundant detection.

[0059] Understandably, the support shaft 190 passes through the inner flange 111 and is connected to the sensing circuit board 174. The sensing module 170 and the drive assembly 150 are respectively arranged on both sides of the inner flange 111 along the central axis AX. That is, the inner flange 111 can serve as a solid part that separates the first accommodating space 1021 and the second accommodating space 1022.

[0060] In some examples, such as Figure 4 , Figure 6 and Figure 9 As shown, the rotating bracket 101 also has an axial channel 103 extending along the central axis AX, and the axial channel 103 communicates with the receiving groove 102. For example, the axial channel 103 is provided in the grip portion of the second bracket portion 120 and is adjacent to and communicates with the second receiving space 1022. The spindle 140 is movably disposed in the axial channel 103 and extends into the receiving groove 102. The longitudinal axis of the spindle 140 coincides with the central axis AX, so that the rotation of the rotating bracket 101 does not affect the positional change of the spindle 140 in the direction perpendicular to the central axis AX, which is beneficial for the detection of the second sensing component 172 (described below). The clamp assembly 130 is disposed outside the axial channel 103 and is pivotally connected to the grip portion for user operation. A portion of the clamp assembly 130 enters the axial channel 103 and connects to the spindle 140 to achieve kinematic coupling between the clamp assembly 130 and the spindle 140.

[0061] Further, refer to Figure 4 and Figure 5Each jaw 131 of the clamp assembly 130 is connected to the second support portion 120 via a pin 133. Each jaw 131 has an actuating portion 132, and a driven portion 141 is also provided within the axial channel 103, the driven portion 141 being connected to the spindle 140. The actuating portion 132 cooperates with the driven portion 141 to convert rotation of the jaw 131 about the pin 133 into movement of the spindle 140 along the central axis AX. For example, the actuating portion 132 includes a shaft portion, and the driven portion 141 includes a guide groove structure 142, in which the shaft portion is confined, and the guide groove structure 142 extends obliquely relative to the central axis AX. The shaft portion is slidable in the guide groove structure 142, thereby actuating the driven portion 141 to move along the central axis AX. The interaction between the actuating part 132 and the driven part 141 can be found in Chinese patent application CN115486944A, entitled "A Master-End Manipulation Device and Surgical Robot," the entire contents of which are incorporated herein by reference and will not be repeated here. It is understood that the rotation of the gripper 131 can also be converted into the translation of the spindle 140 through other structures, such as gear and rack transmission structures, which will not be elaborated here.

[0062] Furthermore, a first stop 123 and a first elastic member 143 are also provided within the axial channel 103. The first stop 123 is fixed relative to the second support portion 120, and the spindle 140 movably passes through the first stop 123. That is, the first stop 123 is arranged around the spindle 140 to limit the radial displacement of the spindle 140. The two ends of the first elastic member 143 abut against the driven portion 141 and the first stop 123 respectively, so that the spindle 140 can interact with the first stop 123 through the first elastic member 143. Thus, the first elastic member 143 can apply a force in the second direction D2 to the driven portion 141. Through the interaction between the actuating portion 132 and the driven portion 141, the jaws 131 of the clamp assembly 130 tend to open, so that the operator will feel a certain resistance when operating the clamp assembly 130.

[0063] Preventing radial displacement of the mandrel 140 is particularly important for the detection accuracy of the second sensing assembly 172. To further prevent radial displacement of the mandrel 140 and improve detection accuracy, a limiting member can also be provided near the end of the mandrel 140. See, in an exemplary example... Figure 9A first limiting member 125 is provided at one end of the axial channel 103 near the sensing module 170, and the first limiting member 125 is fixed relative to the second support portion 120. The first limiting member 125 is arranged around the spindle 140 to limit the radial displacement of the spindle 140. A second limiting member 126 is provided at the other end of the axial channel 103 away from the sensing module 170, and the second limiting member 126 is fixed relative to the spindle 140, so that it can move synchronously with the spindle 140 along the central axis AX. The outer periphery of the second limiting member 126 matches the inner wall of the axial channel 103, so that the inner wall of the axial channel 103 can limit the radial displacement of the second limiting member 126, thereby limiting the radial displacement of the spindle 140. It is understood that in other examples, only one of the first limiting member 125 and the second limiting member 126, or other limiting members, may be provided.

[0064] The second sensing element 1722 is disposed in the portion of the spindle 140 located within the receiving groove 102, for example, at the end of the spindle 140. Since the longitudinal axis of the spindle 140 coincides with the central axis AX, the second sensing element 1722 can be disposed on the central axis AX, thus the rotation of the rotating bracket 101 about the central axis AX will not affect the sensing signal strength of the second sensor 1721 for the second sensing element 1722. The second sensor 1721 is mounted on the sensing circuit board 174 and spaced apart from the second sensing element 1722. The second sensor 1721 can also be disposed on the central axis AX, where the physical signal sensed is strongest compared to other positions. Depending on the type of sensing signal, the second sensor 1721 can be disposed on the first mounting surface 1741 and / or the second mounting surface 1742 of the sensing circuit board 174, wherein the second mounting surface 1742 faces the second sensing element 1722, and the first mounting surface 1741 faces the opposite direction to the second mounting surface 1742.

[0065] For example, when the second sensor 1721 is a Hall element, the second sensing element 1722 is a magnetic element. Since the magnetic field of the magnetic element 1722 can penetrate the sensing circuit board 174 and be sensed, the Hall element 1721 can be disposed on either the first mounting surface 1741 or the second mounting surface 1742. Further, as... Figure 8 and Figure 10 As shown, two Hall elements 1721 can be provided to achieve redundant detection. The two Hall elements 1721 are respectively provided on the first mounting surface 1741 and the second mounting surface 1742.

[0066] Understandably, within the movement stroke of the clamp assembly 130, the second sensing element 1722 remains spaced apart from the second sensor 1721 without contact. The second sensor 1721 senses the second sensing element 1722, thereby obtaining the position of the second sensing element 1722 relative to the second sensor 1721. This position is then combined with the motion mapping relationship between the spindle 140 and the clamp assembly 130 to obtain the opening angle of the clamp assembly 130. For example, as the clamp assembly 130 closes from its maximum opening angle toward the second support portion 120, the spindle 140 moves along the central axis AX closer to the second sensor 1721, reducing the distance between the second sensing element 1722 and the second sensor 1721, thereby causing a change in the physical signal (such as light, magnetism, capacitance, inductance, etc.) sensed by the second sensor 1721.

[0067] In some examples, see Figure 6 , Figure 9 and Figure 11 The operating component 160 includes a button portion 161 and a connecting portion 162. The button portion 161 is for operation by a user's finger. A track groove 121 extending along a second direction D2 is provided on the second support portion 120, and the track groove 121 communicates with the axial channel 103. The button portion 161 is movably disposed within the track groove 121. The connecting portion 162 is movably disposed within the axial channel 103, extends into the receiving groove 102, and connects to the third sensing element 1732. The button portion 161 is connected to the connecting portion 162, thereby kinetically coupling with the third sensing element 1732. The button portion 161 can be engaged, for example, by a locking portion 164 provided on the connecting portion 162.

[0068] In one exemplary example, see Figure 6 and Figure 9 Two button sections 161 can be provided, along with two corresponding track slots 121. The two button sections 161 are connected to the same third sensing element 1732 via a common connecting section 162. In this configuration, the two button sections 161 are linked; operating either button section 161 will change the position of the third sensing element 1732, generating a control signal. This arrangement facilitates the operation of the operating component 160 regardless of how the operator's fingers engage with the two grippers 131. It is understood that in other examples, only one button section 161 may be provided; alternatively, in other examples, the two button sections 161 may not be linked, meaning they can be connected to two different connecting sections 162 and two different third sensing elements 1732, thereby expanding the control functionality of the operating component.

[0069] Understandably, since the longitudinal axis of the spindle 140 coincides with the central axis AX, to prevent interference between the connecting part 162 and the spindle 140, the connecting part 162 is positioned off-center from the central axis AX, or in other words, the solid portion of the connecting part 162 is off-center from the central axis AX to avoid the spindle 140. In the example where there are two linked button parts 161, the connecting part 162 can be configured as a hollow sleeve and connected to the second support part 120 via a sliding bearing 163 fitted around its outer periphery. The spindle 140 is movably inserted through the central space of the connecting part 162, so the connecting part 162 can also limit the radial displacement of the spindle 140. The connecting part 162 also has a relief groove 1621 to avoid the first limiting member 125, so as to prevent the first limiting member 125 from interfering with the movement of the connecting part 162.

[0070] Further, see Figure 4 and Figure 6 The axial channel 103 also includes a second stop 124 and a second elastic member 144. The second stop 124 is fixed relative to the second support portion 120, and the spindle 140 movably passes through the second stop 124. An outer flange (not shown) is provided on the outer periphery of the connecting portion 162. The two ends of the second elastic member 144 abut against the outer flange of the connecting portion 162 and the second stop 124, respectively, allowing the connecting portion 162 to interact with the second stop 124 through the second elastic member 144. Thus, the second elastic member 144 can apply a force in the second direction D2 to the connecting portion 162, causing the button portion 161 to tend to return to its initial position. Therefore, after the operator releases the button portion 161, it will return to its initial position under the action of the second elastic member 144.

[0071] In one exemplary example, the second stop 124 and the first stop 123 can stop each other. For example, see... Figure 4 and Figure 6 The second stop 124 is the inner flange of the axial channel 103, while the first stop 123 is an independent component that abuts against the end face of the second stop 124. It can be understood that the first stop 123 and the second stop 124 can also be arranged independently and at intervals from each other.

[0072] The third sensing element 1732 is disposed in the portion of the connecting portion 162 located within the receiving groove 102, for example, it may be disposed at the end of the connecting portion 162. The third sensor 1731 is mounted on the sensing circuit board 174 and is disposed at a distance from the third sensing element 1732. Depending on the type of sensing signal, the third sensor 1731 may be disposed on the first mounting surface 1741 and / or the second mounting surface 1742 of the sensing circuit board 174. In order to avoid the movement path of the spindle 140, the third sensing element 1732 is also offset from the central axis AX, or in other words, the physical portion of the third sensing element 1732 is offset from the central axis AX to avoid the spindle 140. Similarly, the third sensor 1731 is also offset from the central axis AX. In order to ensure that the rotation of the rotating bracket 101 about the central axis AX does not affect the sensing of the third sensing element 1732 by the third sensor 1731, at least one of the third sensor 1731 and the third sensing element 1732 is disposed around the central axis AX.

[0073] In one exemplary example, the operating component 160 and the third sensing component 173 are used to implement master-slave clutch control in the surgical robot system 1. For example, a user can operate the operating component 160 to disconnect the mapping relationship between the master hand control device 100 and its corresponding surgical instrument. The third sensing component 173 includes a discrete-detection type proximity sensor.

[0074] Furthermore, the third sensor 1731 can be a phototransistor, and the third sensing element 1732 can be a signal blocking element. See also Figure 10 The photoelectric pair 1731 includes a transmitter 1731A and a receiver 1731B. The transmitter 1731A and receiver 1731B are positioned opposite each other and spaced apart to form a transmission channel 1731C, which is radially arranged. Radial refers to the direction radiating outward from the central axis AX. The user operates the button 161, which moves the signal blocking member 1732 to enter or exit the transmission channel 1731C.

[0075] For example, when the button portion 161 of the operating component 160 is in the first position, the signal blocking member 1732 is located within the transmission channel 1731C, blocking the light path, so that the receiver 1731B receives almost no light emitted from the transmitter 1731A. When the button portion 161 is in the second position, the signal blocking member 1732 is located outside the transmission channel 1731C, so that the receiver 1731B can receive light emitted from the transmitter 1731A. The change in the amount of light received by the receiver 1731B will cause a change in the electrical signal, which can be used as a basis for determining whether the operating component 160 has been operated.

[0076] Furthermore, in one application scenario, the first position can be the initial position of the button 161. That is, when the button 161 is not operated, it remains in the first position under the action of the second elastic member 144, and the signal blocking member 1732 blocks the light path. When the button 161 is operated to move it from the first position to the second position, the signal blocking member 1732 is moved out of the transmission channel 1731C, causing a surge in the amount of light received by the receiver 1731B, thereby triggering a corresponding control signal. When the button 161 is released, it returns to the first position under the action of the second elastic member 144. It is understandable that in other application scenarios, the second position can also be set as the initial position of the button 161.

[0077] Furthermore, at least one of the photoelectric pair 1731 and the signal blocking member 1732 is arranged around the central axis AX. For example, when only one photoelectric pair 1731 is provided, the signal blocking member 1732 is constructed as a closed ring arranged around the central axis AX, so that when the operating component 160 is in the first position, the signal blocking member 1732 can always block the optical path in the transmission channel 1731C regardless of how the rotating bracket 101 rotates. For example, when multiple photoelectric pairs 1731 are provided, if the multiple photoelectric pairs 1731 are evenly arranged around the central axis AX, the signal blocking member 1732 can be set as an arc centered on the central axis AX, and the length of the arc is greater than the circumferential distance D1 between two adjacent photoelectric pairs, so that when the operating component 160 is in the first position, the signal blocking member 1732 can always block the optical path in the transmission channel 1731C of at least one photoelectric pair 1731 regardless of how the rotating bracket 101 rotates. Of course, it is understandable that when multiple photoelectric pairs 1731 are set, the signal blocking component 1732 can also be constructed as a closed ring around the central axis AX, so that the signal blocking component 1732 blocks all photoelectric pairs 1731 at the same time to achieve redundant detection.

[0078] Using a photoelectric pair to detect the operation of the operating component 160 simplifies the structure and measurement method of the third sensing component 173, reduces the amount of detection data, and eliminates the need for calibration, thus making the detection of the operating component 160 more stable and reliable.

[0079] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Features described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0080] This application has been described through the above embodiments. However, it should be understood that the above embodiments are only for illustrative purposes. This application is not limited to the above embodiments. Many variations and modifications can be made based on the teachings of this application, and all such variations and modifications fall within the scope of protection claimed in this application.

Claims

1. A master control device for a surgical robot system, characterized in that, include: Base; A rotating bracket is rotatably connected to the base, and the rotating bracket is rotatable about a central axis relative to the base. A drive assembly is mounted to the base, and the output end of the drive assembly is connected to the rotating bracket to output a feedback torque to the rotating bracket. The rotation axis of the output end of the drive assembly coincides with the central axis. A clamp assembly is disposed on the rotating bracket and rotates synchronously with the rotating bracket around the central axis, and the clamp assembly can rotate relative to the rotating bracket to realize the opening and closing action; A sensing module is disposed between the drive assembly and the clamp assembly. The sensing module is used to output a signal indicating the opening angle of the clamp assembly relative to the rotating bracket and / or to output a signal indicating the rotation angle of the clamp assembly about the central axis.

2. The master hand control device according to claim 1, characterized in that, The rotating bracket has a receiving groove, which includes a first receiving space and a second receiving space that are interconnected. The driving component is placed in the first receiving space, and the sensing module is placed in the second receiving space.

3. The master hand control device according to claim 2, characterized in that, It also includes a support shaft, which is fixed to the base and extends along the central axis into the receiving groove. The rotating bracket is rotatably connected to the support shaft. The fixed part of the driving component is sleeved on the outer periphery of the support shaft, and the moving part of the driving component is fixed to the groove wall of the receiving groove. The support shaft passes through the first receiving space to the second receiving space and is connected to the sensing module.

4. The master hand control device according to claim 3, characterized in that, The rotating bracket includes a first bracket portion and a second bracket portion that are detachably connected. The first bracket portion and the second bracket portion together form the receiving groove. The first bracket portion is rotatably connected to the support shaft. The sensing module includes at least one sensing component. The driving component and the sensor of the sensing component form an active module that is installed on the first bracket portion. The clamping component and the sensing element of the sensing component form a passive module that is installed on the second bracket portion. The active module and the passive module do not contact each other.

5. The master hand control device according to any one of claims 2 to 4, characterized in that, The sensing module includes a sensing circuit board and a first sensing component. The first sensing component includes a first sensor and a first sensing element. The first sensing element is connected to the wall of the receiving groove, and the first sensor is connected to the sensing circuit board for sensing the detected part to output a signal indicating the rotation angle of the clamp assembly about the central axis.

6. The master hand control device according to any one of claims 2 to 4, characterized in that, It also includes a mandrel, the longitudinal axis of which coincides with the central axis. The mandrel is mounted on the rotating bracket and rotates synchronously with the rotating bracket around the central axis. The mandrel is connected to the clamp assembly, such that the opening and closing action of the clamp assembly drives the mandrel to move along the central axis. The sensing module includes a sensing circuit board and a second sensing component. The second sensing component includes a second sensor and a second sensing element. The second sensing element is connected to the spindle, and the second sensor is connected to the sensing circuit board. The sensing module is used to sense the detected part and output a signal indicating the opening and closing angle of the clamping assembly.

7. The master hand control device according to any one of claims 1 to 4, characterized in that, It also includes an operating component, which is disposed on the rotating bracket and rotates synchronously with the rotating bracket, and the operating component is movable relative to the rotating bracket in a direction parallel to the central axis; and The sensing module includes a sensing circuit board and a third sensing component. The third sensing component includes a third sensor and a third sensing element. The third sensing element is connected to the operating component, and the third sensor is connected to the sensing circuit board. The third sensor is used to sense the detected part and output a signal indicating the position of the operating component relative to the rotating bracket.

8. The master hand control device according to claim 7, characterized in that, The sensing module further includes a first sensing component for sensing the rotation angle of the clamping assembly about the central axis. The sensing circuit board is arranged perpendicular to the central axis. The first sensing component and the third sensing component are arranged off-center from the central axis, and the third sensor of the third sensing component and the first sensor of the first sensing component are arranged on opposite sides of the sensing circuit board.

9. The master hand control device according to claim 8, characterized in that, The sensing module further includes a second sensing component, which is used to sense the opening and closing angle of the clamping component relative to the rotating bracket. The second sensor of the second sensing component is disposed on the sensing circuit board. The third sensing component and the second sensing component are proximity sensors, and the first sensing component is a rotary encoder.

10. A surgical robot system, characterized in that, include: A doctor's console, including a master hand control device as described in any one of claims 1 to 9; A patient-side robotic arm system, including a robotic arm; and Surgical instruments, detachably mounted to the end of the robotic arm; The master hand control device is used to be operated to control the movement of the surgical instruments.

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