Slave hand device and surgical robot

Abstract

The utility model provides a slave hand device and a surgical robot, and relates to the technical field of medical equipment. The slave hand device comprises a containing arm, a telescopic arm and a button assembly. And the telescopic arm is connected with the accommodating arm, so that the telescopic arm and the accommodating arm are fixedly mounted. One end of the telescopic arm can be connected with the puncture cylinder, the telescopic arm extends or retracts relative to the containing arm, the distance between the puncture cylinder connected to the telescopic arm and the containing arm can be adjusted, and therefore the puncture cylinder can be conveniently adjusted to the designated position. The supporting part in the telescopic arm is arranged in the shell, so that the supporting part can be supported on the inner wall of the shell, and the whole telescopic arm has better structural strength. The button assembly is arranged on the supporting part, so that the supporting part can support and mount the button assembly, and the supporting part has better structural strength, so that the structural stability is better when the button assembly is arranged on the supporting part.

Description

Technical Field

[0001] The present application relates to a slave device and a surgical robot, belonging to the technical field of surgical robots. Background Art

[0002] The end of a single-port minimally invasive surgical robot generally consists of a robotic arm, a trocar, and surgical instruments. The trocar provides an instrument channel for minimally invasive surgery and is fixed to the end of the robotic arm. The robotic arm at the end has a telescopic function, so that this section of the robotic arm can be manually / automatically extended when needed. When not in use, this section of the robotic arm can be retracted, which is beneficial for hospital storage and transportation. At the same time, this telescopic function is also beneficial for the installation of the sterile cover during preoperative preparation.

[0003] Currently, the control of the surgical robot can be achieved through buttons provided on the surface of the surgical robot. However, the current process of installing the buttons on the surface of the surgical robot is relatively complex, and the structural stability of the buttons after installation is poor. Utility Model Content

[0004] The present application provides a slave device and a surgical robot, which solve the problems of inconvenient installation and poor structural stability of the buttons of the surgical robot in the prior art.

[0005] In a first aspect, the present application provides a slave device, including:

[0006] A receiving arm;

[0007] A telescopic arm, movably arranged in the receiving arm, the telescopic arm can extend or contract relative to the receiving arm; the telescopic arm includes a housing and a support part, and the support part is arranged in the housing;

[0008] A button assembly, arranged on the support part, an opening is arranged at a position corresponding to the button assembly on the housing, the button assembly protrudes from the opening, and the button assembly is used to control the relative fixation of the telescopic arm and the receiving arm.

[0009] In the slave device proposed in this application, the telescopic arm is connected to the receiving arm, enabling the telescopic arm to be fixedly installed with the receiving arm. One end of the telescopic arm can be connected to the puncture cylinder. When the telescopic arm extends or contracts relative to the receiving arm, the distance between the puncture cylinder connected to the telescopic arm and the receiving arm can be adjusted, thereby conveniently adjusting the puncture cylinder to a specified position. The support part in the telescopic arm is arranged inside the housing, enabling the support part to support on the inner wall of the housing, so that the overall telescopic arm has better structural strength. The button assembly is arranged on the support part, enabling the support part to support and install the button assembly. The support part has better structural strength, so that the button assembly has better structural stability when arranged on the support part. The button assembly protrudes from the opening on the housing, enabling part of the button assembly to extend out of the housing, so that users can conveniently press the button assembly to control the relative fixation of the telescopic arm and the receiving arm, so that the telescopic arm and the receiving arm remain relatively stable.

[0010] In some embodiments, the button assembly includes a microswitch, a pressing part, and an elastic restoring part. The microswitch is arranged on the support part. The pressing part is movably connected to the support part. The pressing part is configured to be movable along a pressing direction, and the pressing direction is a direction towards or away from the microswitch. The elastic restoring part is arranged between the pressing part and the support part.

[0011] Through the cooperation of the pressing part and the microswitch, the button function can be realized. The elastic restoring part can provide force feedback for the button assembly and drive the pressing part to separate from the microswitch.

[0012] In some embodiments, the button assembly further includes a switch seat. The switch seat penetrates through the support part. The microswitch is arranged on the switch seat. One end of the elastic restoring part abuts against the switch seat. The pressing part is movably connected to the switch seat.

[0013] By providing the switch seat, the microswitch, the pressing part, and the elastic restoring part can all be installed on the switch seat, improving the modularity and integration degree of the button assembly.

[0014] In some embodiments, the button assembly further includes a guiding part. The guiding part is arranged in the pressing direction. The pressing part moves relative to the support part through the guiding part.

[0015] By providing the guiding part, the pressing part will not deflect when moving towards or away from the microswitch.

[0016] In some embodiments, the switch seat is provided with a guiding hole. The axial direction of the guiding hole is the movable direction of the pressing part. At least part of the guiding part is located in the guiding hole, and the outer wall of the guiding part contacts the inner wall of the guiding hole.

[0017] In some embodiments, the guiding part is sleeved on the elastic restoring part so that at least part of the elastic restoring part is located inside the guiding part.

[0018] The guiding part is sleeved on the elastic restoring part, enabling the elastic restoring part to be fixed and making use of the internal space of the guiding part, thus making the structure of the button assembly more compact.

[0019] In some embodiments, the guiding part has a limiting protrusion which is inserted into the switch base, and the limiting protrusion limits the guiding part in the circumferential direction of the guiding hole.

[0020] By providing the limiting protrusion, rotation of the guiding part and the pressing part can be avoided.

[0021] In some embodiments, the button assembly further includes a limiting post which penetrates through the switch base from the side of the switch base facing away from the guiding part, and the limiting post is connected to the guiding part. The limiting post is in limiting cooperation with the side of the switch base facing away from the guiding part.

[0022] By providing the limiting cooperation between the limiting post and the switch base, detachment of the guiding part from the switch base can be avoided.

[0023] In some embodiments, the slave hand device further includes a limiting assembly, and the telescopic arm further includes a limiting part. The limiting assembly includes a driving part and a limiting plate. The driving part is connected to the limiting plate, and the button assembly is electrically connected to the driving part. The limiting plate is provided with a limiting groove. When the distance between the end of the telescopic arm far from the receiving arm and the telescopic arm is the largest, the button assembly controls the driving part to drive the limiting plate to rotate towards the limiting part so that the limiting part is embedded in the limiting groove.

[0024] In a second aspect, based on the above-mentioned slave hand device, the present application further provides a surgical robot, including a master hand device and the above-mentioned slave hand device, and the master hand device is connected to the slave hand device. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Through the following detailed description with reference to the drawings, the above and other objects, features and advantages of the embodiments of the present application will become more understandable. In the drawings, multiple embodiments of the present application will be illustrated by way of example and not limitation, where:

[0026] Figure 1 is a schematic diagram of the slave hand device according to an embodiment of the present application;

[0027] Figure 2 is a schematic diagram of the receiving arm and the limiting assembly of the slave hand device according to an embodiment of the present application;

[0028] Figure 3Top view schematic diagram of the slave hand device according to an embodiment of the present application;

[0029] Figure 4 is Figure 3 Schematic cross-sectional view taken along line A-A in

[0030] Figure 5 is Figure 4 Enlarged display schematic diagram of area B in

[0031] Figure 6 Overall structural schematic diagram of the button assembly of the slave hand device according to an embodiment of the present application;

[0032] Figure 7 Schematic diagram of the guiding part of the slave hand device according to an embodiment of the present application.

[0033] Figure 8 Schematic diagram of the guide rail and guide block of the slave hand device according to an embodiment of the present application;

[0034] Figure 9 Schematic diagram of the cooperation between the damping rack and the damping gear of the slave hand device according to an embodiment of the present application;

[0035] Figure 10 Schematic diagram of the limiting component of the slave hand device according to an embodiment of the present application;

[0036] Figure 11 Schematic diagram of the cooperation between the limiting plate and the limiting part of the slave hand device according to an embodiment of the present application.

[0037] Reference numerals:

[0038] 100 - Base, 110 - Fixed groove, 111 - First opening, 112 - Second opening, 120 - Positioning groove, 200 - Receiving arm, 210 - Guide rail, 220 - Damping rack, 221 - Fixed hole, 230 - Elastic member,

[0039] 300 - Telescopic arm, 310 - Housing, 320 - Support part, 330 - Guide block, 340 - Damping gear, 350 - Limiting part,

[0040] 400 - Limiting component, 410 - Limiting plate, 411 - Limiting groove, 420 - Substrate, 421 - Positioning hole, 430 - Driving part, 431 - Driver, 432 - Towing rope,

[0041] 500 - Button assembly, 510 - Microswitch, 520 - Pressing part, 530 - Elastic restoring part, 540 - Switch seat, 541 - Guide hole, 550 - Guiding part, 551 - Limiting protrusion, 560 - Limiting column, 570 - Limiting bottom plate,

[0042] 600 - Outer shell,

[0043] 700 - puncture cylinder. Detailed implementation manner

[0044] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application and should not be construed as limiting the present application.

[0045] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application.

[0046] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0047] In the present application, unless otherwise clearly defined and limited, the terms "installed", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0048] In this application, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may mean that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply indicates that the first feature has a lower horizontal height than the second feature.

[0049] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0050] The end of a single-port minimally invasive surgical robot generally consists of a robotic arm, a trocar, and surgical instruments. The trocar provides an instrument channel for minimally invasive surgery and is fixed at the end of the robotic arm. The robotic arm at the end has a telescopic function, so that this section of the robotic arm can be manually / automatically extended when needed. When not needed, this section of the robotic arm can be retracted, which is beneficial for hospital storage and transportation. At the same time, this telescopic function is also beneficial for the installation of the sterile cover during preoperative preparation.

[0051] Currently, the control of the surgical robot can be achieved by buttons provided on the surface of the surgical robot. However, the current process of installing the buttons on the surface of the surgical robot is relatively complex, and the structural stability of the buttons after installation is poor.

[0052] In the slave device proposed in this application, the telescopic arm is connected to the receiving arm, enabling the telescopic arm and the receiving arm to be fixedly installed. One end of the telescopic arm can be connected to the puncture cylinder. The telescopic extension or contraction of the telescopic arm relative to the receiving arm can adjust the distance between the puncture cylinder connected to the telescopic arm and the receiving arm, thus facilitating the adjustment of the puncture cylinder to a specified position. The support part in the telescopic arm is arranged inside the housing, enabling the support part to support on the inner wall of the housing, so that the overall telescopic arm has better structural strength. The button assembly is arranged on the support part, enabling the support part to support and install the button assembly. The support part has better structural strength, so that the button assembly has better structural stability when arranged on the support part. The button assembly protrudes from the opening on the housing, enabling part of the button assembly to extend out of the housing, so that users can conveniently press the button assembly to control the relative fixation of the telescopic arm and the receiving arm, so as to keep the telescopic arm and the receiving arm relatively stable.

[0053] The slave device and surgical robot provided in this application will be described in detail below with reference to specific embodiments.

[0054] An embodiment of this application proposes a slave device, refer to Figures 1 to 11 as shown, including a base 100, a receiving arm 200, a telescopic arm 300, and a button assembly 500. This slave device can be applied to a surgical robot.

[0055] Among them, the base 100 is the basic component of the slave device in this application. The base 100 can provide an installation basis for at least some other components of the slave device and serve the purpose of protecting at least some other components. The base 100 can be prepared from a metal material, so that the base 100 has better structural strength, thereby making the durability and reliability of the base 100 better. Of course, the base 100 can also be prepared from a polymer material, so that the base 100 has a certain structural strength while being relatively light in weight.

[0056] The receiving arm 200 is rotatably connected to the base 100, so that the base 100 can support the receiving arm 200, enabling the receiving arm 200 to be fixedly installed. One end of the telescopic arm 300 is movably connected to the receiving arm 200, so that the telescopic arm 300 can be fixed to the base 100 through the receiving arm 200, enabling the telescopic arm 300 to be fixedly installed as well. The other end of the telescopic arm 300 can be used to connect to the puncture cylinder 700. Specifically, the puncture cylinder 700 can be a puncture device. Of course, the puncture cylinder 700 can also be other types of instrument parts, and this application does not limit this. The telescopic arm 300 is configured to be driven to extend or contract relative to the receiving arm 200. Specifically, the telescopic arm 300 can reciprocally move relative to the receiving arm 200 in the telescopic direction. Thus, the puncture cylinder 700 connected to the telescopic arm 300 can also reciprocally move in the telescopic direction, and the distance between the puncture cylinder 700 and the receiving arm 200 can be adjusted, so that the position of the puncture cylinder 700 can be adjusted to a specified position. Specifically, the specified position can be the affected part of the patient during the operation. When there are multiple affected parts, the telescopic arm 300 can reciprocally move in the telescopic direction multiple times as needed, so that the puncture cylinder 700 can be moved to multiple affected parts respectively.

[0057] The receiving arm 200 is configured to guide the telescopic arm 300 in the telescopic direction. Specifically, the receiving arm 200 can limit the moving direction of the telescopic arm 300, so that the telescopic arm 300 can only move relative to the receiving arm 200 in the telescopic direction. This can prevent the telescopic arm 300 from deviating from the telescopic direction during the movement, and further avoid the puncture cylinder 700 connected to the telescopic arm 300 from being unable to reach the specified position. Thus, when the telescopic arm 300 moves relative to the receiving arm 200, the puncture cylinder 700 can accurately reach the specified position.

[0058] Specifically, the telescopic arm 300 can include a support portion 320 and a housing 310. The support portion 320 is disposed inside the housing 310, and the support portion 320 is connected to the housing 310. In this way, the support portion 320 can serve to support the inner wall of the housing 310 inside the housing 310, so that the telescopic arm 300 has better structural strength. One end of the support portion 320 can extend out of the housing 310, and one end of the support portion 320 can be movably connected to the receiving arm 200. In this way, the support portion 320 can reciprocally move relative to the receiving arm 200 in the telescopic direction, enabling the telescopic arm 300 to reciprocally move relative to the receiving arm 200 in the telescopic direction. The end of the support portion 320 facing away from the receiving arm 200 can be located inside the housing 310, and the puncture cylinder 700 can be connected to the outer wall of the housing 310, so that the puncture cylinder 700 can be connected to the telescopic arm 300. Specifically, the puncture cylinder 700 can be connected to the side of the housing 310 away from the receiving arm 200.

[0059] The button assembly 500 can be disposed on the support portion 320 of the telescopic arm 300. The button assembly 500 can be electrically connected to other components of the surgical robot to electrically control other components of the surgical robot.

[0060] The support portion 320 is the main structure of the telescopic arm 300. The support portion 320 enables the telescopic arm 300 to have better structural strength as a whole. By disposing the button assembly 500 on the support portion 320, the button assembly 500 can be disposed on the telescopic arm 300 more stably and reliably. An opening is formed on the housing 310, and the button assembly 500 protrudes from the opening of the housing 310, so that a part of the button assembly 500 can be located outside the housing 310, so that the user can conveniently press the button assembly 500. The button assembly 500 is configured to drive the telescopic arm 300 to be relatively fixed to the receiving arm 200, so that the position of the telescopic arm 300 can be fixed, so that the position of the puncture cylinder 700 can also be fixed.

[0061] The receiving arm 200 is rotatably connected to the base 100, so that the angle between the receiving arm 200 and the base 100 can be adjusted. Specifically, the extending direction of the receiving arm 200 can be adjusted. The telescopic arm 300 is connected to the receiving arm 200, so that when the receiving arm 200 rotates relative to the base 100, the telescopic arm 300 can also rotate relative to the base 100. Thus, the angle between the telescopic arm 300 and the base 100 can be adjusted, so that the extending direction of the telescopic arm 300 can also be adjusted. When the telescopic arm 300 rotates with the receiving arm 200, the orientation of the end of the telescopic arm 300 for connecting to the puncture cylinder 700 can be changed. In this way, when the slave hand device cannot be installed in place with the puncture cylinder 700 due to assembly accuracy and preparation accuracy, the receiving arm 200 can be rotated to adjust the orientation of the end of the telescopic arm 300 for connecting to the puncture cylinder 700 to an angle that can be directly installed with the puncture cylinder 700, so that it is not necessary to rework the slave hand device, thereby making the assembly efficiency of the slave hand device of the present application higher and improving the surgical efficiency.

[0062] In some embodiments, the base 100 in the present application has a fixing groove 110, and the fixing groove 110 is a through groove structure penetrating the base 100. After the receiving arm 200 is connected to the base 100, one end of the telescopic arm 300 can pass through the fixing groove 110 of the base 100 and then be connected to the receiving arm 200. In this way, the inner wall of the fixing groove 110 of the base 100 can also serve to limit the telescopic arm 300, so that the telescopic arm 300 can be better connected to the base 100 through the receiving arm 200.

[0063] Specifically, the fixing groove 110 has a first opening 111 and a second opening 112. The first opening 111 and the second opening 112 are located on both sides of the base 100. The telescopic arm 300 can pass through the fixing groove 110 from the first opening 111 and pass out from the second opening 112. There is a gap between the outer wall of the part of the telescopic arm 300 passing through the fixing groove 110 of the base 100 and the inner wall of the fixing groove 110. Thus, it can be avoided that the telescopic arm 300 contacts and rubs against the inner wall of the fixing groove 110 when reciprocatingly moving along the telescopic direction, so that the telescopic arm 300 moves smoothly and the telescopic arm 300 and the base 100 are prevented from contacting and wearing each other.

[0064] In some embodiments, the button assembly 500 of the present application may include a microswitch 510, a pressing part 520, and an elastic restoring part 530. Among them, the microswitch 510 may be disposed on the supporting part 320. The pressing part 520 is movably connected to the supporting part 320, and the pressing part 520 faces the microswitch 510. The pressing part 520 is configured to move towards or away from the microswitch 510. When the pressing part 520 moves towards the microswitch 510, the distance between the pressing part 520 and the microswitch 510 can be reduced until the pressing part 520 contacts and presses on the microswitch 510, so that the microswitch 510 can be turned on. When the pressing part 520 moves away from the microswitch 510, the distance between the pressing part 520 and the microswitch 510 can be increased until the pressing part 520 is separated from the microswitch 510, so that the pressing part 520 no longer exerts pressure on the microswitch 510, and the microswitch 510 can be turned off.

[0065] Specifically, the pressing part 520 has a pressing surface facing the microswitch 510. When the pressing part 520 moves towards the microswitch 510, the pressing surface can move to contact and press on the microswitch 510. When the pressing part 520 moves away from the microswitch 510, the pressing surface can be separated from the microswitch 510 and the distance therebetween is increased.

[0066] The elastic restoring part 530 is disposed between the supporting part 320 and the pressing part 520, so that the elastic restoring part 530 is connected to the supporting part 320 and the pressing part 520. When the user presses the pressing part 520 to make the pressing part 520 move towards the microswitch 510, the elastic restoring part 530 can be compressed, so that the elastic restoring part 530 generates an elastic restoring force. When the user no longer presses the pressing part 520, the pressing part 520 can move away from the microswitch 510 under the action of the elastic restoring force of the elastic restoring part 530.

[0067] In some embodiments, the button assembly 500 of the present application may further be provided with a switch base 540. The switch base 540 is disposed on the support portion 320, and the switch base 540 and the support portion 320 may be connected in a detachable manner. The microswitch 510 is disposed on the switch base 540. The pressing portion 520 is movably connected to the switch base 540. One end of the elastic restoring portion 530 facing away from the pressing portion 520 may abut against the switch base 540.

[0068] When assembling the button assembly 500 of the present application, the microswitch 510, the elastic member 230, and the pressing portion 520 may be first assembled on the switch base 540, and then the switch base 540 may be assembled on the support portion 320, so that the slave hand device of the present application can achieve modular installation, reducing the preparation and assembly difficulty of the slave hand device.

[0069] In some embodiments, in order to fix the microswitch 510 to the switch base 540, the microswitch 510 may be snap-fitted to the switch base 540. Specifically, a switch mounting plate may be provided on the switch base 540. The switch mounting plate is detachably connected to the switch base 540. The switch mounting plate is provided with a mounting hole, and the microswitch 510 is snap-fitted into the mounting hole of the switch mounting plate.

[0070] In some embodiments, the switch assembly of the present application may further be provided with a guiding portion 550. The guiding portion 550 is connected to the pressing portion 520 and is also movably connected to the switch base 540, so that the pressing portion 520 can be movably connected to the switch base 540 through the guiding portion 550. The guiding portion 550 and the switch base 540 are in guiding cooperation with the switch base 540 in the direction towards or away from the microswitch 510. Thus, the guiding portion 550 can only move in the direction towards or away from the microswitch 510, so that the pressing portion 520 connected to the guiding portion 550 can also only move in the direction towards or away from the microswitch 510. This can prevent the pressing portion 520 from being deflected when the user presses the pressing portion 520, so as to ensure that the pressing portion 520 can accurately press on the microswitch 510 to generate an electrical signal for the microswitch 510.

[0071] In some embodiments, in order to enable the guiding portion 550 to be in guiding cooperation with the switch base 540, the switch base 540 may be provided with a guiding hole 541. The axial direction of the guiding hole 541 is the same as the direction in which the pressing portion 520 faces towards or away from the microswitch 510. The switch base 540 sleevs at least a part of the guiding portion 550 in the guiding hole 541, and the outer wall of the guiding portion 550 contacts the inner wall of the guiding hole 541. The guiding portion 550 can move along the axial direction of the guiding hole 541 in the guiding hole 541, so that the pressing portion 520 connected to the guiding portion 550 can face towards or away from the microswitch 510.

[0072] By sleeving the guiding part 550 inside the switch base 540, the guiding part 550 can be fixed inside the switch base 540, so that the pressing part 520 does not need to be additionally provided with a structure for movably connecting with the switch base 540, thereby simplifying the structure of the button assembly 500.

[0073] In some embodiments, the guiding part 550 of the present application has a limiting protrusion 551. The limiting protrusion 551 can be inserted into the switch fixing plate. The limiting protrusion 551 can limit the guiding part 550 in the circumferential direction of the guiding hole 541, so that the guiding part 550 does not rotate along the circumferential direction of the guiding hole 541, thereby making the pressing part 520 not rotate along the circumferential direction of the guiding hole 541 and keeping the pressing part 520 stable. Specifically, the switch base 540 can be provided with an opening cooperating with the limiting protrusion 551. The axial direction of the opening is the same as the axial direction of the guiding hole 541, and the opening deviates from the center of the guiding hole 541. The inner wall of the opening limits the limiting protrusion 551, making the limiting protrusion 551 unable to rotate, so that the guiding part 550 and the pressing part 520 connected to the guiding part 550 also cannot rotate.

[0074] In some embodiments, the button assembly 500 of the present application can also be provided with a limiting post 560. The limiting post 560 penetrates the switch base 540 from the side of the switch base 540 facing away from the guiding part 550 and is connected to the guiding part 550. The limiting post 560 is in limiting cooperation with the side of the switch base 540 facing away from the guiding part 550, so that the limiting post 560 cannot completely move to the side of the switch base 540 facing the guiding part 550, so that the limiting post 560 cannot be separated from the switch base 540. Thus, the guiding part 550 connected to the limiting post 560 cannot be separated from the switch base 540 either, further avoiding the separation of the pressing part 520 and the elastic restoring part 530 from the switch base 540, making the pressing assembly structure of the present application complete and stable.

[0075] Specifically, the switch base 540 can be provided with an opening for the limiting post 560 to penetrate. The outer diameter of the end of the limiting post 560 away from the guiding part 550 can be set as the inner diameter of the above-mentioned opening, so that the whole limiting post 560 cannot pass through the switch base 540 to make the limiting post 560 in limiting cooperation with the switch base 540. The limiting post 560 and the guiding part 550 can be fixed by means of threaded connection.

[0076] The button assembly 500 of the present application can also be provided with a limiting bottom plate 570. The limiting bottom plate 570 is arranged on the side of the switch base 540 facing away from the guiding part 550. The limiting post 560 passes through the limiting bottom plate 570 and then passes through the switch base 540.

[0077] The slave device of the present application may also be provided with a housing 600. The housing 600 is connected to the base 100, and the receiving arm 200 may be disposed within the housing 600, such that the housing 600 can serve the purpose of protecting the receiving arm 200.

[0078] The telescoping direction in the present application may specifically include a first direction and a second direction, and the first direction and the second direction are opposite to each other. When the telescoping arm 300 moves relative to the receiving arm 200 in the first direction, the end of the telescoping arm 300 connected to the puncture cylinder 700 can move away from the receiving arm 200; when the telescoping arm 300 moves relative to the receiving arm 200 in the second direction, the end of the telescoping arm 300 connected to the surgical instrument can move closer to the receiving arm 200, so that the telescoping arm 300 can telescope relative to the receiving arm 200, and in this way, the specific position of the puncture cylinder 700 disposed on the telescoping arm 300 can be controlled.

[0079] One end of the housing 310 can extend into the fixing groove 110 of the base 100, and the end of the supporting portion 320 passing through the housing 310 can pass through the fixing groove 110 and be connected to the receiving arm 200.

[0080] In some embodiments, in order to enable the receiving arm 200 to guide the telescoping arm 300 in the telescoping direction, the receiving arm 200 may be provided with a guide rail 210, and the telescoping arm 300 may be provided with a guide block 330. The guide rail 210 is movably connected to the base 100, such that the guide rail 210 can be fixed on the base 100, and the guide rail 210 can rotate relative to the base 100. The guide rail 210 extends along the telescoping direction. The guide block 330 is specifically connected to the supporting portion 320, and the guide block 330 is cooperatively connected to the guide rail 210, such that the guide block 330 can move along the extending direction of the guide rail 210, that is, move along the telescoping direction. Thus, the guide rail 210 can guide and limit the guide block 330 in the telescoping direction, so that the receiving arm 200 can guide and limit the telescoping arm 300 in the telescoping direction.

[0081] Specifically, a slotted structure is formed on the guide rail 210, and the guide block 330 can be embedded in the slotted structure on the guide rail 210, so that the guide block 330 can be fixed on the guide rail 210. In this way, the telescoping arm 300 can be connected to the receiving arm 200, and the telescoping arm 300 can be fixedly installed.

[0082] In addition, in other embodiments, a groove structure extending along the telescoping direction may be provided on the supporting portion 320 of the telescoping arm 300 of the present application, and the receiving arm 200 may be provided with a convex block structure embedded in the groove structure of the supporting portion 320, and in this way, the receiving arm 200 can also guide the telescoping arm 300 in the telescoping direction.

[0083] In some embodiments, the receiving arm 200 of the present application may further be provided with a damping rack 220, and the telescopic arm 300 may further be provided with a damping gear 340. The damping rack 220 may be fixed to the base 100, and the damping gear 340 may be specifically connected to the support portion 320. The damping gear 340 cooperates with the damping rack 220, so that the damping gear 340 can rotate along the extending direction of the damping rack 220. Among them, the damping rack 220 may be arranged to extend along the telescopic direction. Correspondingly, the damping gear 340 moves relative to the damping rack 220 along the telescopic direction. In this way, when the telescopic arm 300 moves reciprocally along the telescopic direction as a whole, the damping gear 340 can also move reciprocally relative to the damping rack 220 along the telescopic direction.

[0084] Damping may be formed between the damping gear 340 and the damping rack 220, so that the damping gear 340 can be relatively fixed to the damping rack 220, thereby enabling the telescopic arm 300 to be relatively fixed to the receiving arm 200. Specifically, when a force is applied to the telescopic arm 300 to move the telescopic arm 300 in the first direction, the damping gear 340 can move relative to the damping rack 220 in the first direction. When the force that causes the telescopic arm 300 to move in the first direction is no longer applied, due to the damping between the damping gear 340 and the damping rack 220, the damping gear 340 and the damping rack 220 can be relatively stationary, thereby enabling the telescopic arm 300 and the receiving arm 200 to be relatively stationary. In this way, it is possible to prevent the telescopic arm 300 from telescoping by itself without external force, so that the telescopic arm 300 can be kept stable.

[0085] When a force is applied to the telescopic arm 300 to move the telescopic arm 300 in the second direction, the damping gear 340 can move relative to the damping rack 220 in the second direction. When the force that causes the telescopic arm 300 to move in the second direction is no longer applied, due to the damping between the damping gear 340 and the damping rack 220, the damping gear 340 and the damping rack 220 can be relatively stationary, thereby enabling the telescopic arm 300 and the receiving arm 200 to be relatively stationary. In this way, it is possible to prevent the telescopic arm 300 from telescoping by itself without external force, so that the telescopic arm 300 can be kept stable.

[0086] When a doctor actually uses the slave hand device of the present application, after applying a force to the telescopic arm 300 to make the puncture cylinder 700 on the telescopic arm 300 reach the designated position, if the doctor releases the telescopic arm 300 and the puncture cylinder 700, the puncture cylinder 700 can maintain its current position.

[0087] In some embodiments, in order to enable the receiving arm 200 of the present application to be rotatably connected to the base 100, a damping rack 220 may be provided to be rotatably connected to the base 100, so that the damping rack 220 can rotate relative to the base 100. The guide rail 210 may be provided on the damping rack 220, so that the guide rail 210 can rotate relative to the base 100 along with the damping rack 220. Since the telescopic arm 300 is connected to the guide rail 210 through the guide block 330, rotating the damping rack 220 can drive the telescopic arm 300 to rotate. In this way, it is not necessary to rotatably connect the damping rack 220 and the guide rail 210 to the base 100 respectively, thereby simplifying the structure of the slave hand device of the present application.

[0088] Specifically, the damping rack 220 may be rotatably connected to the outer wall of the base 100, so that the damping rack 220 does not occupy the space inside the fixing groove 110 of the base 100, and the inner wall of the fixing groove 110 can be closer to the housing 310 of the telescopic arm 300, making the structure of the base 100 more compact.

[0089] In some embodiments, in order to enable the damping rack 220 of the present application to be rotatably connected to the base 100, the receiving arm 200 may further be provided with a fixing member. A fixing hole 221 may be formed on the damping rack 220. The fixing hole 221 on the damping rack 220 is a bent hole structure, and the fixing hole 221 extends along the rotatable direction of the damping rack 220. The fixing member passes through the fixing hole 221 of the damping rack and is fixed to the base 100, thereby fixing the damping rack 220 to the base 100.

[0090] Among them, when the fixing member is pre-fixed to the damping rack 220 and the base 100, the damping rack 220 can be rotated by applying a force to the damping rack 220. Specifically, the fixing hole 221 may be an annular hole, and the damping rack 220 can rotate around the fixing member and can rotate at most until the fixing member abuts against the opposite inner walls of the fixing hole 221. After the damping rack 220 rotates in place, the fixing member can be fastened to the damping rack 220 and the base 100, so that the damping rack 220 can be relatively fixed to fix the telescopic angle in the telescopic direction.

[0091] The number of fixing holes 221 on the damping rack 220 may also be set to be multiple. The connection lines of the multiple fixing holes 221 may form a ring. Correspondingly, the number of fixing members may be set to be multiple. The multiple fixing members can respectively pass through the multiple fixing holes 221 and be fixed to the base 100, so that the fixed connection effect between the damping rack 220 and the base 100 is more stable and reliable. Other openings may also be provided on the damping rack 220, and the opening is surrounded by the multiple fixing holes 221. A fixing member connected to the base 100 may also be passed through the opening, so that the connection effect between the damping rack 220 and the base 100 is more reliable.

[0092] In some embodiments, the receiving arm 200 of the present application may further be provided with an elastic member 230. One end of the elastic member 230 may be connected to the damping rack 220, and the other end of the elastic member 230 may be connected to the telescopic arm 300. After the end of the telescopic arm 300 away from the receiving arm 200 moves away from the receiving arm 200, the elastic member 230 can be deformed, so that the elastic member 230 generates a restoring deformation force. In this way, the elastic member 230 can drive the end of the telescopic arm 300 away from the receiving arm 200 to move towards the receiving arm 200.

[0093] Specifically, when a force is applied to the telescopic arm 300 to move the telescopic arm 300 in the first direction, the distance between the puncture cylinder 700 provided on the telescopic arm 300 and the receiving arm 200 increases, and the elastic member 230 can be stretched, so that the elastic member 230 generates a restoring deformation force. When a force is applied to the telescopic arm 300 to move the telescopic arm 300 in the second direction, the elastic member 230 can recover its deformation, and the restoring deformation force of the elastic member 230 can assist the telescopic arm 300 to move in the second direction, so that a smaller force applied to the telescopic arm 300 can make the telescopic arm 300 move in the second direction, and further make the telescopic arm 300 contract more quickly.

[0094] In some embodiments, the elastic member 230 in the present application may specifically be a coil spring. One end of the coil spring may be connected to the damping rack 220, and the other end of the coil spring may be connected to the support portion 320 of the telescopic arm 300, so that the elastic member 230 can be connected to the receiving arm 200 and the telescopic arm 300. Specifically, a rotating shaft may be provided on the damping rack 220, one end of the coil spring may be connected to the rotating shaft, and the coil spring may be sleeved on the rotating shaft.

[0095] Using a coil spring as the elastic member 230 can make the elastic force of the elastic member 230 relatively larger, so that the telescopic can contract more efficiently. Using a coil spring as the elastic member 230 can also make the volume of the elastic member 230 more compact when it is in the natural state, occupying less space, so that the elastic member 230 can be more conveniently connected to the damping rack 220 and the receiving arm 200.

[0096] In addition, in other embodiments, the elastic member 230 may also adopt a telescopic spring structure, and the number of the elastic members 230 may also be set to be multiple, and multiple elastic members 230 can be connected to the damping rack 220 and the telescopic arm 300.

[0097] In some embodiments, the sub-hand device of the present application may further be provided with a limiting component 400. The limiting component 400 may be provided on the base 100 and is located inside the housing 600. The limiting component 400 is configured to limit the telescopic arm 300 in the telescopic direction, so as to prevent the telescopic arm 300 from moving excessively in the telescopic direction.

[0098] By arranging the limiting component 400 on the base 100, the limiting component 400 can be fixedly installed. In this way, when assembling the slave hand device of the present application, after the receiving arm 200, the telescopic arm 300 and the limiting component 400 are assembled respectively, the receiving arm 200 and the limiting component 400 can be assembled on the base 100 respectively, and finally the telescopic arm 300 is assembled with the receiving arm 200. This can make the modularization degree of the slave hand device of the present application higher, the assembly simpler and more convenient, and easier to maintain in the later stage.

[0099] In some embodiments, the limiting component 400 of the present application can be connected to the outer wall of the base 100. In this way, the limiting component 400 does not occupy the space inside the fixing groove 110 of the base 100, so that the inner wall of the fixing groove 110 can be closer to the housing 310 of the telescopic arm 300, making the structure of the base 100 more compact.

[0100] In some embodiments, when the telescopic arm 300 of the present application moves in the first direction to the position where the distance between the end of the telescopic arm 300 away from the receiving arm 200 and the receiving arm 200 is the largest, the limiting component 400 limits the telescopic arm 300, so that the telescopic arm 300 can no longer move in the telescopic direction, thereby fixing the state of the telescopic arm 300.

[0101] Specifically, the end of the telescopic arm 300 away from the receiving arm 200 can be connected to the puncture cylinder 700. When the telescopic arm 300 moves to the position where the distance between the puncture cylinder 700 and the receiving arm 200 is the largest and the telescopic arm 300 reaches the maximum extension degree, the telescopic arm 300 can be kept at the maximum extension degree by the limiting component 400, which is convenient for the doctor to precisely operate the puncture cylinder 700 on the telescopic arm 300.

[0102] In some embodiments, in order to enable the limiting component 400 to limit the telescopic arm 300 in the telescopic direction, the limiting component 400 may be provided to include a limiting plate 410 and a driving part, and the telescopic arm 300 may further include a limiting part 350. Among them, the limiting plate 410 is movably arranged on the base 100, the driving part is connected to the limiting plate 410, and the driving part can drive the limiting plate 410 to move relative to the base 100. The limiting part 350 is arranged on the supporting part 320 of the telescopic arm 300, so that the limiting part 350 can reciprocate along the telescopic direction with the supporting part 320. The limiting plate 410 is provided with a limiting groove 411, and the groove size of the limiting groove 411 matches the outer dimension of the limiting part 350. When the telescopic arm 300 moves in the first direction to the maximum distance between its end away from the receiving arm 200 and the receiving arm 200, the driving part drives the limiting plate 410 to move towards the limiting part 350, so that the limiting part 350 is embedded in the limiting groove 411, and the inner wall of the limiting groove 411 can serve the purpose of limiting the limiting part 350, so that the limiting part 350 is fixed in the limiting groove 411. Thus, the limiting part 350 and the limiting plate 410 can be relatively fixed, and the limiting part 350 can no longer move, so that the telescopic arm 300 cannot move in the telescopic direction either.

[0103] When the limiting part 350 is embedded in the limiting groove 411 of the limiting plate 410, the limiting plate 410 can also be driven to move away from the limiting part 350, so that the limiting part 350 can be disengaged from the limiting groove 411 of the limiting plate 410. In this way, the limiting plate 410 and the limiting part 350 no longer limit each other, and the limiting part 350 can move freely in the telescopic direction, so that the telescopic arm 300 can also move freely in the telescopic direction.

[0104] In this application, the driving part 430 may specifically adopt a motor. The output end of the driving part 430 is connected to the limiting plate 410. The driving part 430 may be electrically connected to the button assembly 500. The button assembly 500 can control the opening, closing and output direction of the driving part 430. Thus, the limiting part 350 can be controlled by the driving part 430 to be embedded in the limiting groove 411 of the limiting plate 410, so that the telescopic arm 300 and the receiving arm 200 are relatively fixed, or the limiting part 350 can be controlled by the driving part 430 to move out of the limiting groove 411, so that the limiting plate 410 and the limiting part 350 no longer limit each other. In this way, the telescopic arm 300 can move in the telescopic direction.

[0105] In some embodiments, in order to make the limiting component 400 of the present application more conveniently connected to the base 100, the limiting component 400 may further be provided with a substrate 420, and the substrate 420 is fixed to the base 100 in a detachable manner. The limiting plate 410 is movably connected to the substrate 420, so that the limiting plate 410 can move relative to the base 100 through the substrate 420. Specifically, one end of the substrate 420 is connected to the base 100, and the other end of the base 100 extends in a direction away from the first opening 111 of the fixing groove 110 of the base 100. The limiting plate 410 is arranged on the substrate 420 and on the side of the base 100 facing away from the first opening 111, so that the structural arrangement of the limiting component 400 is more reasonable.

[0106] In some embodiments, the limiting plate 410 of the present application and the substrate 420 may be specifically connected in a rotatable manner, so that the limiting plate 410 can rotate relative to the substrate 420. Specifically, the limiting plate 410 can rotate towards the limiting portion 350, so that the limiting groove 411 of the limiting portion 350 approaches the limiting portion 350, and finally the limiting portion 350 is embedded in the limiting groove 411. The limiting plate 410 can also rotate away from the limiting portion 350, so that the limiting portion 350 disengages from the limiting groove 411. By rotatably connecting the limiting plate 410 and the substrate 420, the movement range of the limiting plate 410 relative to the substrate 420 is relatively small when the limiting plate 410 moves relative to the substrate 420, so that the structure of the slave hand device of the present application is relatively compact in each state.

[0107] In some embodiments, the substrate 420 of the present application is movably connected to the base 100, and the substrate 420 is configured to move relative to the base 100 along the telescopic direction, so as to adjust the relative position between the substrate 420 and the base 100. In this way, the limiting plate 410 arranged on the substrate 420 can also move along the telescopic direction. When the limiting plate 410 moves relative to the substrate 420 along the telescopic direction, the limiting groove 411 on the limiting plate 410 can also move along the telescopic direction, so that the position of the limiting groove 411 in the telescopic direction can be adjusted. In this way, when the limiting portion 350 moves along the telescopic direction with the support portion 320 to different positions, it can be in limiting cooperation with the limiting groove 411 of the limiting plate 410 to fix the support portion 320, so that the position where the end of the telescopic arm 300 away from the receiving arm 200 is relatively fixed to the receiving arm 200 can be adjusted.

[0108] Specifically, when the substrate 420 is adjusted to move in the first direction, the limiting plate 410 can also be made to move in the first direction, so that the distance between the limiting plate 410 and the base 100 can be increased. Correspondingly, when the limiting portion 350 moves with the support portion 320 to approach the limiting plate 410, and the limiting plate 410 can be rotated to embed the limiting portion 350 in the limiting groove 411, the distance between the limiting portion 350 and the base 100 is also relatively larger, so that the maximum extension length of the telescopic arm 300 away from the receiving arm 200 can be reduced.

[0109] When the adjustment substrate 420 moves along the second direction, the limiting plate 410 can also move along the second direction, so that the distance between the limiting plate 410 and the base 100 is reduced. Correspondingly, the limiting portion 350 moves along with the supporting portion 320 to approach the limiting plate 410. When the limiting plate 410 can rotate to make the limiting portion 350 embedded in the limiting groove 411, the distance between the limiting portion 350 and the base 100 is also relatively smaller, so that the maximum extension length of the telescopic arm 300 away from the receiving arm 200 can be increased.

[0110] In some embodiments, in order to enable the substrate 420 of the present application to move relative to the base 100 in the telescopic direction, the limiting assembly 400 may further be provided with a positioning member. A positioning hole 421 may be formed on the substrate 420. The positioning hole 421 on the substrate 420 has a slot structure, and the positioning hole 421 extends along the telescopic direction. The positioning member passes through the positioning hole 421 of the substrate 420 and is fixed to the base 100, so that the substrate 420 can be fixed to the base 100.

[0111] Wherein, when the positioning member is pre-fixed on the substrate 420 and the base 100, the substrate 420 can be made to move along the telescopic direction by applying a force to the substrate 420. Specifically, the positioning hole 421 may be an oval hole, and the substrate 420 can move relative to the positioning member and can move at most until the positioning member abuts against the opposite inner walls of the positioning hole 421. After the substrate 420 moves into place, the positioning member can be fastened to the substrate 420 and the base 100, so that the substrate 420 and the base 100 can be relatively fixed to fix the position of the substrate 420 in the telescopic direction.

[0112] The number of the positioning holes 421 on the substrate 420 may also be set to be multiple. Correspondingly, the number of the positioning members may be set to be multiple. The multiple positioning members can respectively pass through the multiple positioning holes 421 and be fixed to the base 100, so that the fixed connection effect between the substrate 420 and the base 100 is more stable and reliable. Other openings may also be formed on the substrate 420, and the openings are surrounded by the multiple positioning holes 421. Positioning members connected to the base 100 can also be passed through the openings, so that the connection effect between the substrate 420 and the base 100 is more reliable.

[0113] In some embodiments, in order to conveniently adjust the relative position between the substrate 420 and the base 100, a positioning groove 120 may be provided on the outer wall of the base 100. One end of the substrate 420 can be embedded in the positioning groove 120. The positioning groove 120 has a notch, and the notch of the positioning groove 120 faces the same direction as the telescopic direction. In this way, the substrate 420 can move into the positioning groove 120 from the notch of the positioning groove 120 or move away from the positioning groove 120, so that the substrate 420 can move in the telescopic direction.

[0114] Specifically, the notch of the positioning groove 120 faces the second direction, and the notch of the positioning groove 120 is flush with the second opening 112 of the base 100. The inner wall of the positioning groove 120 can limit the substrate 420, so that the substrate 420 can only move along the telescopic direction, thereby conveniently adjusting the position of the substrate 420.

[0115] In some embodiments, the limiting component 400 of the present application may further be provided with a driving part 430 and an elastic part. Among them, the driving part 430 is arranged on the substrate 420, and the driving part 430 is connected to the limiting plate 410. The driving part 430 can drive the limiting plate 410 to rotate away from the limiting part 350, so that the limiting part 350 can be separated from the limiting groove 411 of the limiting plate 410. The elastic part is connected to the limiting plate 410 and the substrate 420. When the driving part 430 drives the limiting plate 410 to rotate away from the limiting part 350, the elastic part can be compressed and deformed by the limiting plate 410, so that the elastic part has an elastic restoring force. When the driving part 430 no longer applies a force to drive the limiting plate 410 to rotate away from the limiting part 350, the limiting plate 410 can rotate towards the limiting part 350 under the action of the elastic restoring force of the elastic part, so that the limiting part 350 can be embedded in the limiting groove 411 of the limiting plate 410, thereby making the limiting part 350 and the limiting plate 410 relatively fixed.

[0116] In some embodiments, the driving part 430 of the present application may specifically include a driver 431 and a traction rope 432. Among them, the driver 431 is arranged on the substrate 420, and the driver 431 can be a motor. One end of the traction rope 432 is connected to the output end of the driver 431, and the other end of the traction rope 432 can be connected to the limiting plate 410. The driver 431 is located on the side of the limiting plate 410 facing away from the limiting part 350. When the output end of the driver 431 rotates, the traction rope 432 can pull the limiting plate 410 to move in a direction away from the limiting part 350 and compress the elastic part. At this time, part of the traction rope 432 can be wound around the output end of the driver 431. When the driver 431 is powered off and closed, the restoring deformation force of the elastic part can push the limiting plate 410 towards the limiting part 350, so that the traction rope 432 wound around the output end of the driver 431 is released.

[0117] Based on the above slave hand device, an embodiment of the present application also proposes a surgical robot, including a master hand device and the above slave hand device, and the master hand device is connected to the slave hand device. Among them, the button assembly 500 can be electrically connected to the master hand device.

[0118] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A hand-held device, characterized in that, Comprising: a receiving arm (200); a telescopic arm (300), movably arranged on the receiving arm (200), the telescopic arm (300) being capable of extending or contracting relative to the receiving arm (200); the telescopic arm (300) includes a housing (310) and a support portion (320), and the support portion (320) is arranged inside the housing (310); a button assembly (500), arranged on the support portion (320), an opening is provided at a position on the housing (310) corresponding to the button assembly (500), the button assembly (500) protrudes from the opening, and the button assembly (500) is used to control the relative fixation of the telescopic arm (300) and the receiving arm (200).

2. The slave device according to claim 1, characterized in that The button assembly (500) includes a microswitch (510), a pressing portion (520) and an elastic restoring portion (530), the microswitch (510) is arranged on the support portion (320), the pressing portion (520) is movably connected to the support portion (320), the pressing portion (520) is configured to be movable along a pressing direction, the pressing direction being a direction towards or away from the microswitch (510), and the elastic restoring portion (530) is arranged between the pressing portion (520) and the support portion (320).

3. The slave device according to claim 2, characterized in that, The button assembly (500) further includes a switch base (540), the switch base (540) passes through the support portion (320), the microswitch (510) is arranged on the switch base (540), one end of the elastic restoring portion (530) abuts against the switch base (540), and the pressing portion (520) is movably connected to the switch base (540).

4. The slave device according to claim 3, characterized in that, The button assembly (500) further includes a guiding portion (550), the guiding portion (550) is arranged in the pressing direction, and the pressing portion (520) moves relative to the support portion (320) through the guiding portion (550).

5. The slave device according to claim 4, characterized in that, The switch base (540) is provided with a guiding hole (541), the axial direction of the guiding hole (541) is the movable direction of the pressing portion (520), at least part of the guiding portion (550) is located in the guiding hole (541), and the outer wall of the guiding portion (550) contacts the inner wall of the guiding hole (541).

6. The slave device according to claim 4, wherein The guiding portion (550) is sleeved on the elastic restoring portion (530), so that at least part of the elastic restoring portion (530) is located inside the guiding portion (550).

7. The slave device according to claim 5, wherein The guiding portion (550) has a limiting protrusion (551), the limiting protrusion (551) is inserted into the switch base (540), and the limiting protrusion (551) limits the guiding portion (550) in the circumferential direction of the guiding hole (541).

8. The slave device according to any one of claims 4-7, characterized in that The button assembly (500) further includes a limit post (560). The limit post (560) penetrates through the switch base (540) from the side of the switch base (540) facing away from the guiding portion (550), and the limit post (560) is connected to the guiding portion (550). The limit post (560) is in limit fit with the side of the switch base (540) facing away from the guiding portion (550).

9. The slave device according to any one of claims 1-3, 5-7, characterized in that, The slave hand device further includes a limit assembly (400). The telescopic arm (300) further includes a limiting portion (350). The limit assembly (400) includes a driving portion (430) and a limit plate (410). The driving portion (430) is connected to the limit plate (410). The button assembly (500) is electrically connected to the driving portion (430). The limit plate (410) is provided with a limit groove (411). When the distance between the end of the telescopic arm (300) far from the receiving arm (200) and the receiving arm (200) is the largest, the button assembly (500) controls the driving portion (430) to drive the limit plate (410) to rotate towards the limiting portion (350) so that the limiting portion (350) is embedded in the limit groove (411).

10. A surgical robot, characterized in that, Comprising a master hand device and the slave hand device according to any one of claims 1-9, the master hand device being connected to the slave hand device.

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