Force feedback mechanism, master control arm and surgical robot

Abstract

This application provides a force feedback mechanism, a main control arm, and a surgical robot. The force feedback mechanism is connected to the robotic arm and a gripping handle. A first intermediate member is connected to a first gripping member of the gripping handle; a second intermediate member is connected to a second gripping member of the gripping handle. The first and second intermediate members can open and close relative to each other around a first axis. A first elastic member abuts between the first and second intermediate members. By operating the first and second intermediate members to open and close to different angles, the first elastic member deforms to different degrees to simulate a first contact force. A second elastic structure is located at the end of the robotic arm facing the first axis and between the first and second intermediate members. It includes a housing, a ball head, and a second elastic member. The ball head is movably connected to an opening in the housing. The second elastic member is located inside the housing. By operating the first and second intermediate members to move closer together to apply pressure to the ball head, the second elastic member deforms to different degrees to simulate a second contact force. This improves the stability of the two-stage force feedback and ensures the accuracy and safety of surgical operations.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a force feedback mechanism, a main control arm, and a surgical robot. Background Technology

[0002] With the development of science and medical technology, surgical robots, characterized by their precision, efficiency, and comfort, are widely used in the field of minimally invasive surgery, such as laparoscopic surgical robots. When surgeons operate surgical instruments via the main control arm, they need to perceive the dynamic changes in the contact state between the instruments and tissue in real time. Specifically, a force feedback mechanism can be used to distinguish between two mechanical characteristics: "initial contact with tissue during instrument opening and closing (first stage)" and "deep contact when the instrument grips the tissue (second stage)," thus achieving a two-stage force feedback function.

[0003] In related technologies, the two-stage force feedback function is usually implemented using a double-spring nested structure: the outer spring is responsible for simulating the contact force in the first stage, and when the clamping force of the instrument reaches the set threshold, the inner spring begins to intervene to simulate the contact force in the second stage.

[0004] However, since the inner spring is designed to move within the outer spring, its deformation is easily disturbed, affecting the reliability and stability of the two-stage force feedback. This can lead to the surgeon misjudging tissue characteristics, thereby affecting the precision and safety of the surgical procedure. Utility Model Content

[0005] This application provides a force feedback mechanism, a main control arm, and a surgical robot, which can improve the stability of two-stage force feedback and ensure the accuracy and safety of surgical operations.

[0006] This application embodiment provides a force feedback mechanism connected to a robotic arm and a gripping handle. The force feedback mechanism includes:

[0007] First intermediate component, first clamping component connected to clamping handle;

[0008] The second intermediate component is connected to the second clamping component of the clamping handle, and the first intermediate component and the second intermediate component can open and close relative to each other around the first axis.

[0009] The first elastic element abuts between the first intermediate element and the second intermediate element. By operating the first intermediate element and the second intermediate element to open and close to different angles, the first elastic element deforms to different degrees to simulate the first contact force.

[0010] The second elastic structure, located at the end of the robotic arm facing the first axis and between the first intermediate member and the second intermediate member, includes:

[0011] The casing has an opening;

[0012] The ball head is movably connected to the opening;

[0013] The second elastic element is located inside the housing; by manipulating the first and second intermediate elements to bring them closer together to apply pressure to the ball head, the second elastic element deforms to varying degrees to simulate the second contact force.

[0014] In one feasible implementation, the housing has a first opening and a second opening disposed opposite to each other along the opening and closing direction of the first intermediate member and the second intermediate member; a second elastic structure includes two ball heads, which are respectively movably connected to the first opening and the second opening; and a second elastic member abuts between the two ball heads.

[0015] In one feasible implementation, a second elastic structure includes two shells, two ball heads, and two second elastic members. The two shells are arranged opposite each other along the opening and closing directions of the first intermediate member and the second intermediate member, and the ends of the two shells facing away from each other respectively form a third opening and a fourth opening. The two ball heads are movably connected to the third opening and the fourth opening respectively. The two second elastic members abut against the bottom wall of the corresponding ball head and the shell respectively.

[0016] In one feasible implementation, a second elastic structure is configured to include two ball-head plungers arranged opposite each other in the opening and closing direction, with the ball heads of the two ball-head plungers located on the side facing away from each other.

[0017] In one feasible implementation, there are multiple second elastic structures, which are arranged in a direction parallel to the first axis at the end of the robotic arm facing the first axis.

[0018] In one feasible implementation, the force feedback mechanism further includes a mounting base connected to the end face of the robotic arm facing the first axis, and the mounting base has a mounting cavity for accommodating the second elastic structure.

[0019] In one feasible implementation, the housing is interference-fitted into the mounting cavity; or, the housing is bonded and fixed to the mounting cavity.

[0020] In one feasible implementation, the force feedback mechanism further includes a synchronous transmission assembly, in which the first intermediate member and the second intermediate member rotate synchronously about a first axis via the synchronous transmission assembly to open and close relative to each other.

[0021] In one feasible implementation, a first intermediate component has a first rotating part, a second intermediate component has a second rotating part, and the axes of the first rotating part and the second rotating part are parallel to the first axis.

[0022] The synchronous transmission assembly includes a first tooth spaced circumferentially along the outer side of the first rotating part and a second tooth spaced circumferentially along the outer side of the second rotating part, wherein the first tooth meshes with the second tooth.

[0023] In one feasible implementation, the ratio of the tooth width of the first tooth to the axial dimension of the first rotating part is greater than or equal to a preset value; and the tooth width of the second tooth is the same as the tooth width of the first tooth.

[0024] In one feasible implementation, a first guide is provided on the side of the first intermediate member facing the second intermediate member, and one end of the first elastic member is sleeved on the first guide.

[0025] The second intermediate member has a second guide member on the side facing the first intermediate member, and one end of the first elastic member is sleeved on the second guide member.

[0026] In one feasible implementation, a first groove is provided on the side of the first intermediate member facing the second intermediate member, a first guide member is formed by extending outward from the bottom wall of the first groove, and the end of the first elastic member abuts against the bottom wall of the first groove.

[0027] The second intermediate member has a second groove on the side facing the first intermediate member, the second guide member extends outward from the bottom wall of the second groove, and the end of the first elastic member abuts against the bottom wall of the second groove.

[0028] In one feasible implementation, the first intermediate component is formed with a first pressure surface, and the projection of the first pressure surface at least overlaps with the projection of the ball head in the direction of the second elastic structure pointing towards the first axis.

[0029] The second intermediate component has a second pressure surface, and the projection of the second pressure surface at least overlaps with the projection of the ball head in the direction of the second elastic structure pointing towards the first axis.

[0030] This application embodiment also provides a main control arm, including a clamping handle and the aforementioned force feedback mechanism. The clamping handle includes a first clamping member and a second clamping member. By operating the first clamping member and the second clamping member to open and close relative to each other around a first axis, the first intermediate member and the second intermediate member can be driven to open and close relative to each other around the first axis.

[0031] This application also provides a surgical robot, including a gripping sleeve, a robotic arm, and the aforementioned main control arm, wherein the robotic arm and the main control arm are connected via the gripping sleeve.

[0032] In one feasible implementation, the first clamping member for holding the handle includes a first finger plate frame and a first finger plate, with a first intermediate member and the first finger plate fixedly connected to the first finger plate frame; the second clamping member for holding the handle includes a second finger plate frame and a second finger plate, with the second intermediate member and the second finger plate fixedly connected to opposite sides of the second finger plate frame.

[0033] The clamping sleeve is symmetrically provided with a first receiving groove and a second receiving groove along its own axis. When the first intermediate piece and the second intermediate piece are closed, the first receiving groove is used to accommodate the first intermediate piece and the first finger plate frame, and the second receiving groove is used to accommodate the second intermediate piece and the second finger plate frame.

[0034] In the force feedback mechanism provided in this application embodiment, a first intermediate component and a second intermediate component, a first elastic component and a second elastic structure are introduced. The surgeon operates the first clamping component and the second clamping component to open and close relative to each other, thereby causing the first intermediate component and the second intermediate component to open and close relative to each other. In the first stage, since the first elastic component abuts between the first intermediate component and the second intermediate component, it will be compressed and deformed to have elastic force, and this elastic force will act in reverse to the first clamping component and the second clamping component, so as to be perceived by the surgeon; and since the first contact force between the surgical instrument and the tissue during the operation can affect the deformation of the first elastic component, which can also be perceived by the surgeon, thus realizing the feedback of the first contact force. In the second stage, a second elastic structure, including a shell, a ball head, and a second elastic element, is used. The ball head dynamically engages with the shell opening to form a universal constraint. When the ball head is subjected to pressure, it can swing slightly within the shell opening, transmitting force along the deformation direction of the second elastic element to the second elastic element. Forces in other directions are absorbed by the ball head and shell. This dynamic engagement between the ball head and shell constrains the uneven force distribution on the second elastic element, specifically preventing it from being subjected to force in non-axial directions, ensuring it only bears axial pressure. This improves the deformation stability of the second elastic element, enhances the stability of the second contact force feedback, improves the two-stage force feedback performance of the force feedback mechanism, and ensures the accuracy and safety of the surgical procedure. Attached Figure Description

[0035] Figure 1 This is a partial structural schematic diagram of a surgical robot provided in an embodiment of this application;

[0036] Figure 2 yes Figure 1 The diagram shown is a partial structural schematic of the surgical robot without the clamping sleeve.

[0037] Figure 3 This is a schematic diagram of the force feedback mechanism in the surgical robot provided in the embodiments of this application;

[0038] Figure 4 yes Figure 3 A partial structural diagram of the second elastic structure in the force feedback mechanism shown;

[0039] Figure 5 yes Figure 2 or Figure 3 The diagram shows the structure of the mounting base in the force feedback mechanism. Figure 1 ;

[0040] Figure 6 yes Figure 2 or Figure 3 The diagram shows the structure of the mounting base in the force feedback mechanism. Figure 2 ;

[0041] Figure 7 yes Figure 3 An enlarged structural diagram of point A in the force feedback mechanism shown;

[0042] Figure 8 yes Figure 1 A schematic diagram of the cross-sectional structure of a portion of the surgical robot shown;

[0043] Figure 9 yes Figure 3 The diagram shows the structure of the first intermediate component in the force feedback mechanism.

[0044] Figure 10 yes Figure 3 The diagram shows the structure of the second intermediate component in the force feedback mechanism.

[0045] Figure 11 This is a schematic diagram of the structure of a main control arm provided in an embodiment of this application;

[0046] Figure 12 yes Figure 1 The diagram shows a schematic of the clamping sleeve in a partial surgical robot.

[0047] Explanation of reference numerals in the attached figures:

[0048] 1000 - Surgical robot; 400 - Main control arm; 200 - Gripping sleeve; 300 - Robotic arm; 100 - Force feedback mechanism;

[0049] 21-First clamping member; 22-Second clamping member; 11-First intermediate member; 12-Second intermediate member; 31-First elastic member; 32-Second elastic structure; 321-Housing shell; 322-Ball head; 323-Second elastic member; 33-Mounting base; 332-Connecting hole; 333-Allowing groove;

[0050] 13-First guide member; 14-Second guide member; 113-First groove; 114-Second groove; 11a-First pressure surface; 12a-Second pressure surface; 41-First tooth; 42-Second tooth; 201-First receiving groove; 203-Third mounting hole; 204-Fourth mounting hole; 115-First mounting hole; 116-First mating hole; 125-Second mounting hole; 126-Second mating hole; n-First axis; m-Opening and closing direction. Detailed Implementation

[0051] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0052] In the description of the embodiments of this application, it should be noted that the terms "inner" and "outer," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the embodiments of this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Unless otherwise stated,

[0053] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0054] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0055] With the development of science and medical technology, surgical robots, characterized by their precision, efficiency, and comfort, are widely used in the field of minimally invasive surgery, such as laparoscopic surgical robots. When surgeons operate surgical instruments via the main control arm, they need to perceive the dynamic changes in the contact state between the instruments and tissue in real time. Specifically, a force feedback mechanism can be used to distinguish between two mechanical characteristics: "initial contact with tissue during instrument opening and closing (first stage)" and "deep contact when the instrument grips the tissue (second stage)," thus achieving a two-stage force feedback function.

[0056] In related technologies, the two-stage force feedback function is usually implemented using a double-spring nested structure: the outer spring is responsible for simulating the contact force in the first stage, and when the clamping force of the instrument reaches the set threshold, the inner spring begins to intervene to simulate the contact force in the second stage.

[0057] However, since the inner spring is designed to move within the outer spring, its deformation is easily disturbed, affecting the reliability and stability of the two-stage force feedback. This can lead to the surgeon misjudging tissue characteristics, thereby affecting the precision and safety of the surgical procedure.

[0058] In view of the above problems, embodiments of this application provide a force feedback mechanism, a main control arm, and a surgical robot. The force feedback mechanism introduces a first elastic element and a second elastic structure. The first elastic element achieves contact force feedback in the first stage, and the second elastic structure achieves contact force feedback in the second stage. The second elastic structure includes a second elastic element, a ball head, and a housing. When the force feedback structure is subjected to an external force, the dynamic fit between the ball head and the opening of the housing forms a universal constraint, preventing the second elastic element from being subjected to force in non-axial directions. This ensures that it only bears axial pressure consistent with the opening and closing direction, improving the deformation stability of the second elastic element and enhancing the stability of the two-stage force feedback, thereby ensuring the accuracy and safety of the surgical operation.

[0059] Figure 1 This is a partial structural schematic diagram of a surgical robot provided in an embodiment of this application. Figure 2 yes Figure 1 The diagram shows a partial view of the surgical robot without the gripping sleeve. Figure 1 and Figure 2 As shown, the surgical robot 1000 includes a main control arm 400, a gripping sleeve 200, and a robotic arm 300. The main control arm 400 is connected to the robotic arm 300 via the gripping sleeve 200. Surgical instruments are mounted on the end of the robotic arm 300 (the end furthest from the main control arm 400). When the surgeon operates the main control arm 400, the robotic arm 300 moves synchronously, thereby driving the surgical instruments at its end to perform the surgical operation. For example, the main control arm 400 can be equipped with a gripping handle; by opening and closing the gripping handle, the surgeon can control the movement of the robotic arm 300, enabling the surgical instruments to perform the surgical operation.

[0060] In some embodiments, the surgical instruments may be surgical tools such as scissors or surgical forceps, used for operations such as exploration, suturing, or cutting within human tissue. This application does not limit the type of surgical instruments.

[0061] In some embodiments, the gripping handle includes a first gripping member 21 and a second gripping member 22 connected at one end. The first gripping member 21 and the second gripping member 22 can open and close relative to the connecting end. The main control arm 400 controls the movement of the robotic arm 300 according to the opening and closing operation, thereby enabling the surgical instruments to perform surgical operations.

[0062] Figure 3 This is a schematic diagram of the force feedback mechanism in the surgical robot provided in this application embodiment. In order to enable the surgeon to perceive the dynamic changes in the contact state between the surgical instruments and human tissue in real time when operating the surgical instruments through the main control arm 400, in some embodiments, the main control arm 400 includes a force feedback mechanism 100, which is connected to the robotic arm 300 and the gripping handle, to simulate the contact force between the surgical instruments and human tissue, and to feed back the contact force to the surgeon.

[0063] In some embodiments, the force feedback mechanism 100 includes a first intermediate member 11 and a second intermediate member 12. The first intermediate member 11 is connected to a first clamping member 21 of the clamping handle, and the second intermediate member 12 is connected to a second clamping member 22 of the clamping handle. The first intermediate member 11 and the second intermediate member 12 are capable of opening and closing relative to each other about a first axis n. Accordingly, when the first intermediate member 11 and the second intermediate member 12 open and close relative to each other, the first clamping member 21 and the second clamping member 22 open and close relative to each other synchronously.

[0064] In some embodiments, the first intermediate member 11 and the second intermediate member 12 are respectively connected to the opposite side of the first clamping member 21 and the second clamping member 22, which provides a larger layout space and improves the flexibility of structural configuration.

[0065] In some other embodiments, the first intermediate member 11 and the second intermediate member 12 are respectively connected to the first clamping member 21 and the second clamping member 22 on the side facing each other. In this way, the first intermediate member 11 and the second intermediate member 12 utilize the space between the first clamping member 21 and the second clamping member 22 to reduce the structural size and increase the space utilization rate.

[0066] Combination Figure 2 and Figure 3 In order to simulate the contact force between surgical instruments and human tissue in the first stage, in some embodiments, the force feedback mechanism 100 further includes a first elastic element 31, which abuts between the first intermediate element 11 and the second intermediate element 12. By operating the first intermediate element 11 and the second intermediate element 12 to open and close to different angles, the first elastic element 31 is deformed to different degrees to simulate the contact force between surgical instruments and human tissue in the first stage (hereinafter referred to as the first contact force).

[0067] Here, the first stage can be used to represent the stage where the surgical instrument is located in the surgical area and makes superficial contact with the surgical tissue through opening and closing operations. In this stage, the first contact force is mainly used to distinguish whether the surgical instrument is in contact with the surgical tissue. Therefore, the first elastic element 31 can exhibit at least two elastic force states, which correspond to the first contact force when not in contact with the surgical tissue and when in contact with the surgical tissue, respectively.

[0068] Through the above scheme, the surgeon operates the first clamping member 21 and the second clamping member 22 to open and close relative to each other, causing the first intermediate member 11 and the second intermediate member 12 to open and close relative to each other. In this way, since the first elastic member 31 abuts between the first intermediate member 11 and the second intermediate member 12, when the first intermediate member 11 and the second intermediate member 12 are relatively close, the first elastic member 31 will be compressed and deformed, and this elastic force will act in the opposite direction to the first clamping member 21 and the second clamping member 22, so that it can be perceived by the surgeon. Furthermore, during the process of the surgeon operating the first clamping member 21 and the second clamping member 22 to open and close relative to each other, the surgical instrument may come into contact with the surgical tissue and be subjected to the first contact force of the surgical tissue. The first contact force can affect the deformation of the first elastic member 31, so that it can be perceived by the surgeon, thereby realizing the feedback of the first contact force.

[0069] Combination Figure 2 and Figure 3 To simulate the contact force between surgical instruments and human tissue in the second stage, in some embodiments, the force feedback mechanism further includes a second elastic structure 32. The second elastic structure 32 is located at the end of the robotic arm 300 facing the first axis n and between the first intermediate member 11 and the second intermediate member 12, to simulate the contact force between the surgical instruments and human tissue in the second stage (hereinafter referred to as the second contact force). The second elastic structure 32 includes a housing 321, a ball head 322, and a second elastic member 323 (see...). Figure 5 The housing 321 has an opening (not shown in the figure), the ball head 322 is movably connected to the opening, and the second elastic member 323 is located inside the housing 321. By operating the first intermediate member 11 and the second intermediate member 12 to move closer to each other, pressure is applied to the ball head 322, causing the second elastic member 323 to deform to different degrees, so as to simulate the contact force between the surgical instrument and human tissue in the second stage (hereinafter referred to as the second contact force).

[0070] Here, the second stage can be used to represent the stage where surgical instruments are located in the surgical area and are used to explore, clamp, peel, or cut intraoperative tissue through opening and closing operations. In this stage, the second contact force is mainly used to distinguish and identify the characteristics of intraoperative tissue in order to avoid excessive clamping and damage to the clamped tissue. Therefore, the force feedback performance of the second elastic structure 32 requires high precision to improve the accuracy of intraoperative tissue characteristic judgment, thereby ensuring surgical safety.

[0071] It should be noted that during the entire process of the surgeon operating the clamping handle to complete the surgical operation, the first stage is before the second stage. Therefore, the first elastic element 31 should start to deform before the second elastic structure 32 to provide feedback on the first contact force. Only after the first elastic element 31 deforms to a certain threshold does the second elastic structure 32 intervene to provide feedback on the contact force to provide feedback on the second contact force.

[0072] According to the above scheme, the second elastic structure 32 includes a shell 321, a ball head 322, and a second elastic element 323, which forms a universal constraint through the dynamic cooperation between the ball head 322 and the opening. It is understandable that when the first intermediate member 11 and the second intermediate member 12 are pressed to a smaller angle, the pressure applied by the first intermediate member 11 or the second intermediate member 12 to the ball head 322 has an angle with the deformation direction of the second elastic member 323 (the axial direction of the second elastic member 323). Since the ball head 322 is movably connected to the opening, after the ball head 322 is subjected to pressure, it can swing slightly within the opening, transmitting the pressure along the opening and closing direction m to the second elastic member 323. Forces in other directions are transmitted to be absorbed by the ball head 322 and the shell 321. That is, the dynamic cooperation between the ball head 322 and the shell 321 constrains the uneven force on the second elastic member 323. Specifically, it prevents the second elastic member 323 from being subjected to force in non-axial directions, so that it only bears the pressure in the opening and closing direction m, thereby improving the deformation stability of the second elastic member 323, enhancing the stability of the second contact force feedback, and ensuring the accuracy and safety of the surgical operation.

[0073] According to the force feedback mechanism 100 provided in the embodiments of this application, the force feedback mechanism 100 introduces a first intermediate member 11 and a second intermediate member 12, a first elastic member 31 and a second elastic structure 32. The surgeon operates the first clamping member 21 and the second clamping member 22 to open and close relative to each other, thereby causing the first intermediate member 11 and the second intermediate member 12 to open and close relative to each other. In the first stage, since the first elastic member 31 abuts between the first intermediate member 11 and the second intermediate member 12, it will be compressed and deformed to have elasticity, and this elasticity will act in reverse to the first clamping member 21 and the second clamping member 22, so as to be perceived by the surgeon; and since the first contact force between the surgical instrument and the tissue during the operation can affect the deformation of the first elastic member 31 and thus be perceived by the surgeon, the feedback of the first contact force is realized. In the second stage, the second elastic structure 32, including the housing 321, the ball head 322, and the second elastic member 323, forms a universal constraint through the dynamic cooperation between the ball head 322 and the opening of the housing. When the ball head 322 is subjected to pressure, it can swing slightly within the opening of the housing, transmitting the force along the opening and closing direction m to the second elastic member 323. Forces in other directions are transmitted and absorbed by the ball head 322 and the housing 321. That is, the dynamic cooperation between the ball head 322 and the housing 321 constrains the uneven force on the second elastic member 323, specifically preventing the second elastic member 323 from being subjected to force in non-axial directions, so that it only bears the pressure in the opening and closing direction m, thereby improving the deformation stability of the second elastic member 323, enhancing the stability of the second contact force feedback, improving the two-stage force feedback performance of the force feedback mechanism 100, and ensuring the accuracy and safety of the surgical operation.

[0074] In this embodiment, the size of the second elastic structure 32 is smaller than the preset size in the opening and closing direction m of the first intermediate member 11 and the second intermediate member 12, so that the second elastic structure 32 is compressed only when the first intermediate member 11 and the second intermediate member 12 are opened and closed to the corresponding preset size, thereby reducing the operational difficulty of feedback of the second contact force. The preset size can be configured according to the clamping force of the surgical instrument clamping human tissue. This embodiment does not limit the preset size.

[0075] To improve the stability of the ball head 322 in the shell opening, in some embodiments, the inner wall of the opening can be constructed as a spherical surface, that is, the opening is constructed by one end surface of the shell 321 being recessed inward along the spherical surface to form a spherical fit between the shell opening and the ball head 322, thereby improving the structural stability when the ball head 322 swings to absorb axial force.

[0076] See also Figure 3 In some embodiments, the housing 321 has a first opening (not shown) and a second opening (not shown) opposite each other along the opening and closing direction m of the first intermediate member 11 and the second intermediate member 12; a second elastic structure 32 includes two ball heads 322, which are respectively movably connected to the first opening and the second opening; the second elastic member 323 (see...) Figure 5The first intermediate member 11 and the second intermediate member 12 abut against the two ball heads 322. As the angle between the first intermediate member 11 and the second intermediate member 12 decreases, they respectively compress the two ball heads 322. The ball heads 322 redistribute the pressure, transmitting the force along the deformation direction of the second elastic member 323 to the second elastic member 323, while forces in other directions are absorbed by the ball heads 322 and the housing 321. This ensures that the second elastic member 323 only bears pressure along its own axial direction, thereby improving the deformation stability of the second elastic member 323, enhancing the stability of the second contact force feedback, improving the two-stage force feedback performance of the force feedback mechanism 100, and ensuring the accuracy and safety of the surgical operation.

[0077] To improve the deformation stability of the second elastic element 323, in some embodiments, the second elastic structure 32 is centrally located at the end of the robotic arm 300, that is, the housing 321 extends along the opening and closing direction m, so that the two ball heads 322 and the two second elastic elements 323 are symmetrically distributed about the axis p of the robotic arm 300 at the end of the robotic arm 300, so that the second elastic element 323 is subjected to uniform force at both ends of its own axial direction, thereby improving the uniformity of force distribution.

[0078] Combination Figure 3 In some embodiments, a second elastic structure 32 includes two housings 321, two ball heads 322, and two second elastic members 323. The two housings 321 are arranged opposite each other along the opening and closing direction m, and the ends of the two housings 321 facing away from each other respectively form a third opening (not shown) and a fourth opening (not shown). The two ball heads 322 are movably connected to the third opening and the fourth opening respectively. The two second elastic members 323 abut against the corresponding ball head 322 and the bottom wall of the housing 321 respectively. In this way, as the angle between the first intermediate member 11 and the second intermediate member 12 decreases, the first intermediate member 11 and the second intermediate member 12 respectively squeeze the two ball heads 322. The two ball heads 322 redistribute the pressure they receive, and transmit the force along the opening and closing direction m to the two second elastic members 323 respectively. The force in other directions is absorbed by the ball heads 322 and the shell 321, so that the second elastic member 323 only bears the pressure along its own axis, thereby improving the deformation stability of the second elastic member 323, enhancing the stability of the second contact force feedback, improving the two-stage force feedback performance of the force feedback mechanism 100, and ensuring the accuracy and safety of the surgical operation.

[0079] To improve the deformation stability of the second elastic element 323, in some embodiments, the two housings 321 extend along the opening and closing direction m and are symmetrically distributed about the axis p of the robotic arm 300 at the end of the robotic arm 300, thereby realizing that the two ball heads 322 and the two second elastic elements 323 are symmetrically distributed about the axis p of the robotic arm 300 at the end of the robotic arm 300, improving the balanced force of the two second elastic elements 323 and improving the uniformity of force distribution.

[0080] In some embodiments, the elastic coefficient of the second elastic element 323 is greater than that of the first elastic element 31, so that when the second elastic element 323 is compressed, the simulated second contact force is stronger, thereby enhancing the surgeon's sense of force.

[0081] In some examples, both the first elastic element 31 and the second elastic element 323 are configured as compression springs. In this case, the spring constant of the second elastic element 323 is greater than that of the first elastic element 31, so that when the second elastic element 323 is compressed, the simulated second contact force is stronger, thereby enhancing the operator's sense of force.

[0082] Figure 4 yes Figure 3 The schematic diagram shown is a partial structural representation of the second elastic structure in the force feedback mechanism, illustrating the mating structure of a housing 321, a ball head 322, and an elastic element 323. Combined with... Figure 3 and Figure 4 To simplify the layout of the second elastic structure 32, in some embodiments, a second elastic structure 32 is configured to include two ball-head plungers, which are arranged opposite each other along the opening and closing direction m, with the ball heads 322 of the two ball-head plungers located on opposite sides. In this way, by utilizing the ball-head plunger as a standard component to achieve the functional design of the second elastic structure 32, it is only necessary to configure different models of ball-head plungers according to the structural parameters of the surgical instrument and the force feedback mechanism, thus reducing the design cost and complexity of the second elastic structure 32.

[0083] In order to enable the ball plunger to work with surgical instruments with different loads, in some embodiments, when the load range of the surgical instrument is large, the diameter of the ball plunger is larger; when the load range of the surgical instrument is small, the diameter of the ball plunger is smaller. In this application, the diameter of the ball plunger is not specifically limited.

[0084] To enhance the flexibility of the feedback of the second contact force, in some embodiments, multiple second elastic structures 32 are arranged along a direction parallel to the first axis n at the end of the robotic arm 300 facing the first axis n. In this way, the first intermediate member 11 and the second intermediate member 12 can simultaneously apply pressure to multiple ball heads 322 on corresponding sides, causing multiple second elastic members 323 to undergo elastic deformation, thereby achieving multi-channel transmission of the second contact force. Furthermore, the second contact force is uniformly distributed along a direction parallel to the first axis n, forming a surface force feedback through the first clamping member 21 and the second clamping member 22, making the surgeon perceive the second contact force more evenly and improving the surgeon's operational force sensitivity.

[0085] In some embodiments, multiple housings 321 are arranged side by side at the end of the robotic arm 300 to realize that multiple second elastic structures 32 are arranged at the end of the robotic arm 300 in a direction parallel to the first axis n, so as to reduce the space occupied by the second elastic structures 32 at the end of the robotic arm 300 and make the structure more compact.

[0086] In some examples, the multiple housings 321 can be a one-piece structure to reduce the tolerance between the extension direction and the opening / closing direction m of the housings 321 when the multiple housings 321 are arranged at the end of the robotic arm 300, improve the consistency of the deformation direction of the second elastic element 323, and improve the feedback effect of the second contact force.

[0087] In some embodiments, multiple housings 321 are spaced apart at the end of the robotic arm 300, thereby increasing the force-bearing area of ​​the multiple second elastic elements 323 acting on the first clamping member 21 and the second clamping member 22, and enhancing the operator's sense of force.

[0088] Figure 5 yes Figure 2 or Figure 3 The diagram shows the structure of the mounting base in the force feedback mechanism. Figure 1 ; Figure 6 yes Figure 2 or Figure 3 The diagram shows the structure of the mounting base in the force feedback mechanism. Figure 2 Combining Figure 5 and Figure 6 To facilitate the integration and maintenance of the second elastic structure 32, in some embodiments, the force feedback mechanism 100 further includes a mounting base 33. The mounting base 33 is connected to the end face of the robotic arm 300 facing the first axis n. The mounting base 33 has a mounting cavity 331 for accommodating the second elastic structure 32. In this way, the second elastic structure 32 is independently installed via the mounting base 33, and maintenance or replacement will not affect the structure of the robotic arm 300, reducing maintenance costs. In addition, the mounting cavity 331 can provide positioning constraints for the second elastic structure 32, which facilitates the improvement of the positioning accuracy of the second elastic structure 32, thereby improving the feedback accuracy of the second contact force.

[0089] like Figure 5 As shown, in some embodiments, the force feedback mechanism 100 includes a second elastic structure 32, and the mounting base 33 is provided with a mounting cavity 331, in which the second elastic structure 32 is disposed.

[0090] In some examples, the mounting cavity 331 is a through cavity, the housing 321 is inserted into the through cavity along the extension direction of the through cavity, and the first opening and the second opening are located on both sides of the through cavity along its own extension direction.

[0091] In some examples, a second elastic structure 32 includes two housings 321, two ball heads 322, and two second elastic elements 323. The mounting cavity 331 then includes a first sub-mounting cavity (not shown) and a second sub-mounting cavity (not shown). The first and second sub-mounting cavities are disposed opposite each other on the mounting base 33 along the opening / closing direction m, with their openings facing away from each other. Specifically, the first and second sub-mounting cavities can be constructed by hollowing out the end face of the mounting base 33 along the opening / closing direction m. In this case, the two housings 321 are respectively disposed in the first and second sub-mounting cavities, thereby realizing the second elastic structure 32 disposed in the mounting cavity 331.

[0092] like Figure 6 As shown, in some embodiments, the force feedback mechanism 100 includes a plurality of second elastic structures 32, and the mounting base 33 is provided with a plurality of mounting cavities 331, which are arranged along the direction of the first axis n, and each mounting cavity 331 contains a second elastic structure 32.

[0093] Here, for each mounting cavity 331, the implementation of the second elastic structure 32 disposed in the mounting cavity 331 can refer to the aforementioned technical solution of the second elastic structure 32 disposed in the mounting cavity 331, and will not be repeated here.

[0094] Continue reading Figure 5 and Figure 6 In order to enable the mounting base 33 to be connected to the end of the robotic arm 300, in some embodiments, the mounting base 33 is provided with a connection hole 332, and a fastener is passed through the connection hole 332 and extends into the end of the robotic arm 300 to enable the mounting base 33 to be connected to the end of the robotic arm 300.

[0095] To avoid interference between the fastener and the wall of the mounting cavity 331, in some embodiments, the mounting base 33 is also provided with a clearance groove 333, which is located in the area of ​​the wall of the mounting cavity 331 corresponding to the connecting hole 332. In other words, in the axial direction p of the robotic arm 300, the projection of the clearance groove 333 falls within the projection of the connecting hole 332, thereby avoiding interference between the fastener and the wall of the mounting cavity 331.

[0096] In some embodiments, the clearance groove 333 may be configured such that the mounting cavity 331 is recessed inward along the direction of the first axis n corresponding to the outer wall of the connecting hole 332.

[0097] To enhance the robustness of the connection between the housing 321 and the mounting cavity 331, in some embodiments, the housing 321 is interference-fitted into the mounting cavity 331 to ensure a secure connection. Furthermore, no additional structure for connecting the housing 321 to the mounting cavity 331 is required, simplifying the structure of the housing 321.

[0098] To improve the ease of installing the housing 321 into the mounting cavity 331, in some embodiments, the housing 321 is adhesively fixed inside the mounting cavity 331 to connect the two. Specifically, an adhesive is applied to the outer wall of the housing 321 to bond and fix it to the inner wall of the mounting cavity 331.

[0099] It should be noted that the aforementioned housing 321 is interference-fitted or bonded to the mounting cavity 331, which is only an example of the connection between the housing 321 and the mounting cavity 331. The housing 321 can also be connected to the mounting cavity by other means such as welding or fastener connection. The embodiments of this application do not limit the connection method between the housing 321 and the mounting cavity 331.

[0100] In order to enable the housing 321 to be disposed in the mounting cavity 331, in some embodiments, the outline dimensions of the mounting cavity 331 are matched with the outline dimensions of the housing 321, so that the housing 321 can be installed in the mounting cavity 331, thereby enabling the second elastic structure 32 to be connected to the mounting cavity 331.

[0101] In some embodiments, the cross-sectional dimensions of the mounting cavity 331 are matched with the cross-sectional dimensions of the housing 321 so that the housing 321 can be fitted into the mounting cavity 331.

[0102] In some examples, to achieve an interference fit between the housing 321 and the mounting cavity 331, the cross-sectional dimension of the mounting cavity 331 can be configured to be smaller than that of the housing 321. This allows the housing 321 to be interference-fitted into the mounting cavity 331 using heat assembly or other methods, achieving a stable and secure connection between the two.

[0103] In some examples, to achieve adhesive fixation of the housing 321 to the mounting cavity 331, the cross-sectional dimension of the mounting cavity 331 can be configured to be larger than the cross-sectional dimension of the housing 321. In this way, the housing 321 is inserted into the mounting cavity 331, and the gap between the outer wall of the housing 321 and the inner wall of the mounting cavity 331 is at least partially filled by adhesive, thereby achieving a fixed connection between the housing 321 and the mounting cavity 331.

[0104] In some embodiments, the axial dimension of the mounting cavity 331 matches the axial dimension of the housing 321 so that the wall of the mounting cavity 331 can cover the housing 321 to protect the structure of the housing 321.

[0105] In some examples, the axial dimension of the mounting cavity 331 is smaller than that of the housing 321, thereby reducing the assembly area between the inner wall of the mounting cavity 331 and the outer wall of the housing 321, making it easier to install the housing 321 into the mounting cavity 331 and reducing the assembly difficulty.

[0106] In some examples, the axial dimension of the mounting cavity 331 is equal to or greater than the axial dimension of the housing 321, so that the mounting base 33 can cover a larger area of ​​the housing 321, thereby improving the ability to protect the housing 321 from damage.

[0107] It should be noted that for the mounting cavity 331 and the housing 321, the direction that is consistent with the opening and closing direction m is the axial direction, and the housing 321 is installed into the mounting cavity 321 along the axial direction of the mounting cavity 331.

[0108] Figure 7 yes Figure 3 The diagram shows an enlarged view of point A in the force feedback mechanism. (Combined with...) Figure 3 and Figure 7 To ensure that the first intermediate member 11 and the second intermediate member 12 rotate at the same speed around the first axis n, in some embodiments, the force feedback mechanism 100 further includes a synchronous transmission component. The first intermediate member 11 and the second intermediate member 12 rotate synchronously around the first axis n through the synchronous transmission component to open and close relative to each other. Accordingly, the pressure of the first intermediate member 11 and the second intermediate member 12 acting on the first elastic member 31 and the ball head 322 is dynamically balanced about the axis p of the robotic arm 300, ensuring the uniformity of the deformation of the first elastic member 31 and the second elastic member 323. Thus, the first contact force and the second contact force are evenly transmitted to the first clamping member 21 and the second clamping member 22, and the force feedback distribution perceived by the surgeon is consistent, improving the symmetry and realism of the surgeon's operating force.

[0109] In some embodiments, the synchronous transmission component can be configured as a synchronous pulley structure, a wire pulley structure, a gear synchronous structure, or other synchronous transmission structures. The embodiments of this application do not limit the structure of the synchronous transmission component.

[0110] like Figure 7 As shown, in some embodiments, the synchronous transmission assembly is configured with a first tooth 41 and a second tooth 42 that are matched with each other. The first tooth 41 and the second tooth 42 are respectively disposed on the first intermediate member 11 and the second intermediate member 12. By using the meshing rotation of the first tooth 41 and the second tooth 42, the first intermediate member 11 and the second intermediate member 12 can rotate synchronously around the first axis n.

[0111] The first intermediate component 11 has a first rotating part 111, and the second intermediate component 12 has a second rotating part 112. The axes of the first rotating part 111 and the second rotating part 112 are parallel to the first axis n.

[0112] The synchronous transmission assembly includes first teeth 41 spaced circumferentially along the outer side of the first rotating part 111 and second teeth 42 spaced circumferentially along the outer side of the second rotating part 112, with the first teeth 41 and the second teeth 42 meshing together. In this way, by utilizing the meshing of the cooperating first teeth 41 and second teeth 42, the first intermediate part 11 and the second intermediate part 12 can rotate synchronously around the first axis n, without requiring additional structures to achieve synchronous rotation. This results in a simple structure, smaller footprint, and a more compact design.

[0113] To achieve stable meshing of the first tooth 41 and the second tooth 42, in some embodiments, the ratio of the tooth width of the first tooth 41 to the axial dimension of the first rotating part 111 is greater than or equal to a preset value; and the tooth width of the second tooth 42 is the same as the tooth width of the first tooth 41. In this way, the meshing line of the first tooth 41 and the second tooth 42 is relatively long, which improves the stable meshing of the first tooth 41 and the second tooth 42 during the rotation of the first intermediate member 11 and the second intermediate member 12, thereby enhancing the stability of the structure.

[0114] Here, the tooth width of the first tooth 41 or the second tooth 42 is used to indicate its dimension along the first axis n.

[0115] In some embodiments, the preset value can be 50%, 60%, 62%, 100% or other values. This application does not impose specific limitations on the preset value.

[0116] In some embodiments, the tooth pitch of the first tooth 41 and the second tooth 42 can be determined according to the opening and closing accuracy of the surgical instrument. Specifically, if the opening and closing accuracy of the surgical instrument is high, the tooth pitch can be smaller; if the opening and closing accuracy of the surgical instrument is low, the tooth pitch can be larger. In this application, the tooth pitch of the first tooth 41 and the second tooth 42 is not limited.

[0117] Figure 8 yes Figure 1 The diagram shows a cross-sectional structure of a portion of the surgical robot, excluding the first elastic element 31. Figure 9 yes Figure 3 The diagram shows the structure of the first intermediate component in the force feedback mechanism. Figure 10 yes Figure 3 The diagram shows the structure of the second intermediate component in the force feedback mechanism. Figures 8 to 10As shown, to improve the deformation stability of the first elastic member 31, in some embodiments, a first guide member 13 is provided on the side of the first intermediate member 11 facing the second intermediate member 12, and one end of the first elastic member 31 is sleeved on the first guide member 13; a second guide member 14 is provided on the side of the second intermediate member 12 facing the first intermediate member 11, and one end of the first elastic member 31 is sleeved on the second guide member 14. In this way, the first elastic member 31 is axially connected to the first guide member 13 and the second guide member 14, so that the first guide member 13 and the second guide member 14 radially limit the first elastic member 31, prevent the first elastic member 31 from deforming radially, improve the deformation stability of the first elastic member 31, and ensure the feedback accuracy of the first contact force.

[0118] In some embodiments, the first guide member 13 is constructed as a solid cylindrical structure, and the first elastic member 31 is sleeved on the outside of the first guide member 13, which is convenient to install and helps to ensure that the first elastic member 31 is uniformly and smoothly sleeved on the first guide member 13, and to ensure the uniformity of deformation of the first elastic member 31.

[0119] In some embodiments, the first guide member 13 is constructed as a hollow cylindrical structure. Based on the radial dimension of the first elastic member 31, the first elastic member 31 can be selectively fitted onto the outside or inside of the first guide member 13, which improves the flexibility of the first elastic member 31's configuration. Furthermore, if the first elastic member 31 is fitted inside the first guide member 13, the friction between the inner wall of the first guide member 13 and the outer wall of the first elastic member 31 helps prevent the first elastic member 31 from detaching from the first guide member 13, thus improving structural stability.

[0120] In some embodiments, the implementation of the first elastic member 31 being sleeved on the second guide member 14 can refer to the aforementioned technical solution of the first elastic member 31 being sleeved on the first guide member 13, and will not be repeated here.

[0121] To achieve the radial limiting function of the first guide member 13 and the second guide member 14 on the first elastic member 31, in some embodiments, the first guide member 13 is constructed such that the end face of the first intermediate member 11 facing the second intermediate member 12 extends outward along the opening and closing direction m; similarly, the second guide member 14 is constructed such that the end face of the second intermediate member 12 facing the first intermediate member 11 extends outward along the opening and closing direction m; in this way, when the first intermediate member 11 and the second intermediate member 12 are closed, the extension direction of the first elastic member 31 is parallel to the extension direction of the first guide member 13 and the second guide member 14, which reduces the friction of the edges of the first guide member 13 and the second guide member 14 on the first elastic member 31 after deformation, and improves the feedback accuracy of the first contact force.

[0122] To increase the guiding dimensions of the first guide member 13, the second guide member 14, and the first elastic member 31, and improve the limiting stability, in some embodiments, the first intermediate member 11 has a first groove 113 on the side facing the second intermediate member 12, the first guide member 13 extends outward from the bottom wall of the first groove 113, and the end of the first elastic member 31 abuts against the bottom wall of the first groove 113; the second intermediate member 12 has a second groove 114 on the side facing the first intermediate member 11, the second guide member 14 extends outward from the bottom wall of the second groove 114, and the end of the first elastic member 31 abuts against the bottom wall of the second groove 114. In this way, the extension dimensions of the first guide member 13 and the second guide member 14 are increased, increasing the length of the first elastic member 31 fitted onto the first guide member 13 and the second guide member 14, thereby improving the limiting effect, preventing the first elastic member 31 from dislodging from the first guide member 13 or the second guide member 14, and improving structural stability.

[0123] In some embodiments, the first groove 113 is formed by hollowing out the end face of the first intermediate member 11 toward the second intermediate member 12 in the opening and closing direction m; similarly, the second groove 114 is formed by extending the end face of the second intermediate member 12 toward the first intermediate member 11 in the opening and closing direction m. The embodiments of this application do not limit the formation of the first groove 113 and the second groove 114.

[0124] In order to enable the first intermediate member 11 and the second intermediate member 12 to apply pressure to the ball head 322, in some embodiments, the first intermediate member 11 is formed with a first pressure surface 11a, and the projection of the first pressure surface 11a at least overlaps with the projection of the ball head 322 in the direction of the second elastic structure 32 pointing to the first axis n.

[0125] The second intermediate component 12 has a second pressure surface 12a. In the direction of the second elastic structure 32 pointing towards the first axis n, the projection of the second pressure surface 12a at least overlaps with the projection of the ball head 322. In this way, the first intermediate component 11 forms a point contact with the ball head 322 using the first pressure surface 11a, and the second intermediate component 12 forms a point contact with the ball head 322 using the second pressure surface 12a. The two intermediate components transmit pressure to the ball head 322 through the contact point, which facilitates the analysis of the relationship curve between pressure, elastic force, and second contact force, thereby facilitating the construction of a force feedback chain.

[0126] Here, the direction in which the second elastic structure 32 points toward the first axis n can be understood as being in the direction of the axis p of the robotic arm 300.

[0127] In some embodiments, the force feedback mechanism 100 includes a plurality of second elastic structures 32. In this case, the projection of the first pressure surface 11a on the axial direction p of the robotic arm 300 overlaps at least with the projection of the plurality of ball heads 322 on the corresponding side, thereby enabling the first intermediate member 11 to apply pressure to the plurality of ball heads 322 on the corresponding side.

[0128] Accordingly, in the axial direction of the robotic arm 300, the projection of the second pressure surface 12a overlaps at least with the projection of the multiple ball heads 322 on the corresponding side, thereby enabling the second intermediate member 12 to apply pressure to the multiple ball heads 322 on the corresponding side.

[0129] Next, the working process of the force feedback mechanism 100 will be described in general.

[0130] The first clamping member 21 and the second clamping member 22 are in the position of maximum opening angle in the free state.

[0131] The surgeon presses the first clamping member 21 and the second clamping member 22 to rotate them closer together. The first tooth 41 and the second tooth 42 achieve synchronous rotation of the first clamping member 21 and the second clamping member 22. Correspondingly, the first intermediate member 11 and the second intermediate member 12 rotate synchronously, reducing the opening angle. As the opening angle of the first intermediate member 11 and the second intermediate member 12 decreases, the first elastic member 31 is compressed. The elastic force of the first elastic member 31 simulates the first contact force and is transmitted to the surgeon through the first clamping member 21 and the second clamping member 22. Furthermore, the first elastic member 31 can also be used for repositioning. When the surgeon stops opening and closing the clamping handle, the elasticity of the first elastic member 31 allows the clamping handle to return to its free state.

[0132] As the opening angle of the first intermediate member 11 and the second intermediate member 12 further decreases, the first pressure surface 11a of the first intermediate member 11 and the second pressure surface 12a of the second intermediate member 12 apply pressure to the ball head 322. By utilizing the dynamic cooperation between the ball head 322 and the opening, the second elastic member 323 is compressed along the opening and closing direction m, thereby stabilizing the simulation of the second contact force and transmitting the second contact force to the surgeon through the first clamping member 21 and the second clamping member 22.

[0133] Figure 11 This is a schematic diagram of the structure of a main control arm provided in an embodiment of this application. For example... Figure 11 As shown, based on the same concept, this application embodiment also provides a main control arm 400. The main control arm 400 includes a force feedback mechanism 100 for clamping the handle in any of the aforementioned embodiments. The clamping handle includes a first clamping member 21 and a second clamping member 22. By operating the first clamping member 21 and the second clamping member 22 to open and close relative to each other around the first axis n, the first intermediate member 11 and the second intermediate member 12 can be driven to open and close relative to each other around the first axis n.

[0134] It should be noted that the main control arm 400 is conceived in relation to the aforementioned force feedback mechanism 100, and has the same technical effects as the aforementioned force feedback mechanism 100. Technical features and implementation methods not described in this embodiment can be referred to the technical solution of the aforementioned force feedback mechanism 100, and will not be repeated here.

[0135] Based on the same concept, this application also provides a surgical robot 1000, which includes a clamping sleeve 200, a robotic arm 300 and the aforementioned main control arm 400. The robotic arm 300 and the main control arm 400 are connected through the clamping sleeve 200, thereby enabling the main control arm 400 to drive the robotic arm 300 to move according to the received external operation.

[0136] It should be noted that the surgical robot 1000 is conceived in relation to the aforementioned force feedback mechanism 100, and has the same technical effects as the aforementioned force feedback mechanism 100. Technical features and implementation methods not described in this embodiment can be referred to the technical solution of the aforementioned force feedback mechanism 100, and will not be repeated here.

[0137] Figure 12 yes Figure 1 The diagram shows a schematic of the clamping sleeve in a partial surgical robot. (See attached diagram.) Figure 8 , Figure 9 and Figure 12 As shown, in order to make the clamping handle retractable into the clamping sleeve and make the structure more compact, in some embodiments, the first clamping member 21 includes a first finger plate frame 211 and a first finger plate 212, and the first intermediate member 11 and the first finger plate 212 are fixedly connected to the first finger plate frame 211.

[0138] The second clamping member 22 for clamping the handle includes a second finger plate frame 221 and a second finger plate 222, and the second intermediate member 12 and the second finger plate 222 are fixedly connected to the second finger plate frame 221.

[0139] The clamping sleeve 200 is symmetrically provided with a first receiving groove 201 and a second receiving groove (not shown) along its own axial direction. When the first intermediate member 11 and the second intermediate member 12 are closed, the first receiving groove 201 is used to accommodate the first intermediate member 11 and the first finger plate frame 211, and the second receiving groove is used to accommodate the second intermediate member 12 and the second finger plate frame 221. The clamping handle can be retracted into the clamping sleeve 200, making the structure more compact and easy to store. At the same time, the clamping handle can be retracted into the clamping sleeve 200, which can prevent damage to the clamping handle during the movement of the surgical robot 1000, thereby improving the safety of the equipment.

[0140] like Figure 9 and Figure 12As shown, in order to connect the first intermediate component 11 with the first finger plate frame 211, in some embodiments, the first intermediate component 11 is provided with a first mounting hole 115, and the connection between the two is achieved by fasteners passing through the first mounting hole 115 and the first finger plate frame 211.

[0141] In order to connect the first intermediate part 11 with the clamping sleeve 200, in some embodiments, the first intermediate part 11 is provided with a first mating hole 116, and the clamping sleeve 200 is provided with a third mounting hole 203 that matches the first mating hole 116. The first intermediate part 11 is connected with the clamping sleeve 200 by fastener 51 passing through the first mating hole 116 and the third mounting hole 203.

[0142] like Figure 10 and Figure 12 As shown, in order to connect the second intermediate component 12 with the second finger plate frame 221, in some embodiments, the second intermediate component is provided with a second mounting hole 125, and the connection between the two is achieved by fasteners passing through the second mounting hole 125 and the second finger plate frame 221.

[0143] In order to connect the second intermediate part 12 with the clamping sleeve 200, in some embodiments, the second intermediate part 12 is provided with a second mating hole 126, and the clamping sleeve 200 is provided with a fourth mounting hole 204 that matches the second mating hole 126. The connection between the second intermediate part 12 and the clamping sleeve 200 is achieved by fastener 52 passing through the second mating hole 126 and the fourth mounting hole 204.

[0144] To connect the robotic arm 300 to the clamping sleeve 200, a portion of the robotic arm 300 is fitted inside the clamping sleeve 200 to achieve the connection between the two. Specifically, the robotic arm 300 may include an inner through shaft, which is fitted inside the clamping sleeve 200. Correspondingly, a second elastic structure 32 is provided at the end of the inner through shaft facing the first axis n.

[0145] It is readily understood that, based on the several embodiments provided in this application, those skilled in the art can combine, split, or reorganize the embodiments of this application to obtain other embodiments, none of which exceed the protection scope of this application.

[0146] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A force feedback mechanism, connected to a robotic arm and a gripping handle, characterized in that, The force feedback mechanism includes: The first intermediate component is a first clamping component connected to the clamping handle; The second intermediate component is a second clamping component connected to the clamping handle, and the first intermediate component and the second intermediate component are capable of opening and closing relative to each other around the first axis; The first elastic element abuts between the first intermediate element and the second intermediate element. By operating the first intermediate element and the second intermediate element to open and close to different angles, the first elastic element deforms to different degrees to simulate the first contact force. A second elastic structure, disposed at the end of the robotic arm facing the first axis and located between the first intermediate member and the second intermediate member, includes: The casing has an opening; The ball head is movably connected to the opening; The second elastic element is located inside the housing; by manipulating the first intermediate element and the second intermediate element to bring them closer together to apply pressure to the ball head, the second elastic element deforms to varying degrees to simulate a second contact force.

2. The force feedback mechanism according to claim 1, characterized in that, The housing is provided with a first opening and a second opening opposite to each other along the opening and closing directions of the first intermediate member and the second intermediate member; a second elastic structure includes two ball heads, which are respectively movably connected to the first opening and the second opening; the second elastic member abuts between the two ball heads.

3. The force feedback mechanism according to claim 1, characterized in that, A second elastic structure includes two said housings, two said ball heads and two second elastic members, the two said housings are arranged opposite each other along the opening and closing directions of the first intermediate member and the second intermediate member, and the ends of the two said housings facing away from each other respectively form a third opening and a fourth opening; The two ball heads are movably connected to the third opening and the fourth opening, respectively; the two second elastic members abut against the corresponding ball heads and the bottom wall of the housing, respectively.

4. The force feedback mechanism according to claim 3, characterized in that, One of the second elastic structures is configured to include two ball-head plungers, which are disposed opposite each other along the opening and closing direction, and the ball heads of the two ball-head plungers are located on the side facing away from each other.

5. The force feedback mechanism according to any one of claims 1 to 4, characterized in that, The number of the second elastic structures is multiple, and the multiple second elastic structures are arranged in a direction parallel to the first axis at the end of the robotic arm facing the first axis.

6. The force feedback mechanism according to any one of claims 1 to 4, characterized in that, The force feedback mechanism further includes a mounting base connected to the end face of the robotic arm facing the first axis. The mounting base is provided with a mounting cavity for accommodating the second elastic structure.

7. The force feedback mechanism according to claim 6, characterized in that, The housing is interference-fitted into the mounting cavity; or... The housing is bonded and fixed to the mounting cavity.

8. The force feedback mechanism according to any one of claims 1 to 4, characterized in that, The force feedback mechanism further includes a synchronous transmission assembly, through which the first intermediate component and the second intermediate component rotate synchronously around the first axis to open and close relative to each other.

9. The force feedback mechanism according to claim 8, characterized in that, The first intermediate component has a first rotating part, and the second intermediate component has a second rotating part. The axes of the first rotating part and the second rotating part are parallel to the first axis. The synchronous transmission assembly includes a first tooth spaced circumferentially along the outer side of the first rotating part and a second tooth spaced circumferentially along the outer side of the second rotating part, wherein the first tooth meshes with the second tooth.

10. The force feedback mechanism according to claim 9, characterized in that, The ratio of the tooth width of the first tooth to the axial dimension of the first rotating part is greater than or equal to a preset value; and the tooth width of the second tooth is the same as the tooth width of the first tooth.

11. The force feedback mechanism according to any one of claims 1 to 4, characterized in that, The first intermediate member has a first guide member on the side facing the second intermediate member, and one end of the first elastic member is sleeved on the first guide member; The second intermediate member has a second guide member on the side facing the first intermediate member, and one end of the first elastic member is sleeved on the second guide member.

12. The force feedback mechanism according to claim 11, characterized in that, The first intermediate member has a first groove on the side facing the second intermediate member, the first guide member extends outward from the bottom wall of the first groove, and the end of the first elastic member abuts against the bottom wall of the first groove. The second intermediate member has a second groove on the side facing the first intermediate member, the second guide member extends outward from the bottom wall of the second groove, and the end of the first elastic member abuts against the bottom wall of the second groove.

13. The force feedback mechanism according to any one of claims 1 to 4, characterized in that, The first intermediate component has a first pressure surface, and in the direction of the second elastic structure pointing to the first axis, the projection of the first pressure surface at least overlaps with the projection of the ball head. The second intermediate member has a second pressure surface, and in the direction of the second elastic structure pointing towards the first axis, the projection of the second pressure surface at least overlaps with the projection of the ball head.

14. A master control arm, characterized in that, The device includes a clamping handle and a force feedback mechanism according to any one of claims 1 to 13. The clamping handle includes a first clamping member and a second clamping member. By operating the first clamping member and the second clamping member to open and close relative to each other around a first axis, the first intermediate member and the second intermediate member can be driven to open and close relative to each other around the first axis.

15. A surgical robot, characterized in that, It includes a clamping sleeve, a robotic arm, and the main control arm as described in claim 14, wherein the robotic arm and the main control arm are connected via the clamping sleeve.

16. The surgical robot according to claim 15, characterized in that, The first clamping member includes a first finger plate frame and a first finger plate, and the first intermediate member and the first finger plate are fixedly connected to the first finger plate frame; The second clamping member of the clamping handle includes a second finger plate frame and a second finger plate, and the second intermediate member and the second finger plate are fixedly connected to the second finger plate frame; The clamping sleeve is symmetrically provided with a first receiving groove and a second receiving groove along its own axis. When the first intermediate piece and the second intermediate piece are closed, the first receiving groove is used to accommodate the first intermediate piece and the first finger plate frame, and the second receiving groove is used to accommodate the second intermediate piece and the second finger plate frame.

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