A remote operation master hand clamping mechanism

Abstract

The present invention discloses a remote operation master hand clamping mechanism, which comprises: a master hand housing, a clamping mechanism, a linkage mechanism and a non-contact sensor assembly. The clamping mechanism includes a clamping end and a connecting end. The clamping end extends towards the outside of the master hand housing. The connecting end is hinged to the master hand housing at a first position. The clamping end is hinged to one end of the linkage mechanism at a second position spaced apart from the first position. The other end of the linkage mechanism is a moving end, and the moving end is located inside the master hand housing. The non-contact sensor assembly includes a non-contact sensor and a sensor sensing member arranged at intervals. The non-contact sensor is fixedly arranged inside the master hand housing, and the sensor sensing member is located inside the master hand housing and is connected to the moving end of the linkage mechanism. By using the non-contact sensor assembly, the service life, accuracy and reliability of the remote operation master hand clamping mechanism are improved.

Description

Technical Field

[0001] The invention belongs to the field of medical instruments, and in particular relates to a teleoperated master hand clamping mechanism for a surgical robot. Background Art

[0002] Robots are high-end, intelligent equipment products. Industrial robots and medical robots that require higher accuracy and precision are mostly master-slave teleoperation structures, that is, the master operator is operated by a person, and the movement of the slave mechanism is controlled by remote communication and computers. For medical robots, remote teleoperation reduces the possibility of patient infection, avoids adverse consequences caused by doctors' misoperation (such as dizziness, fatigue, emotions, etc.), and reduces the accuracy and precision of the operation.

[0003] The master hand clamping mechanism is an important component of the robot, used to control the clamping action of the remote operation system. The clamping mechanism is electrically connected to the robot execution end, and the robot execution end is used to perform the clamping action. By detecting the position and posture of the master manipulator's clamping mechanism in spatial motion, and then mapping the position and posture of the master manipulator to the slave actuator through kinematic calculation, the slave actuator can reproduce the human hand movement in real time to complete the corresponding operation. At present, in order to measure the displacement of the remote-operated master hand clamping mechanism, a contact position sensor is usually used. The movement of the driver directly drives the change of the position sensor resistance, thereby realizing the movement of the slave actuator. Therefore, it is widely used in industrial robots, medical robots and other fields.

[0004] The existing teleoperated master hand clamping mechanism generally adopts a rotation center set at the symmetrical center position of the master hand. This setting method makes the master hand clamping mechanism more prone to errors during movement, reducing the accuracy of the slave end actuator. In addition, the contact position sensor is directly pushed, pulled or rotated by the driver. Due to the mechanical structure of the contact position sensor and other reasons, there will be a certain service life. In actual use, the teleoperated master hand is frequently operated, which can easily cause serious wear of the sensor. After the sensor is replaced, it is easy to cause a decrease in accuracy, causing the slave end actuator to misoperate.

[0005] Therefore, it is necessary to improve the existing teleoperation master hand clamping mechanism to overcome the above problems. Summary of the invention

[0006] To overcome the above problems in the prior art, the present invention provides a teleoperation master hand clamping mechanism. By setting two rotation centers, the movement of the master hand clamping mechanism is realized, making the structural arrangement simpler, reducing the possible errors during operation, and making the fingers more relaxed when clamping. In addition, the present invention adopts a non-contact sensor, and transfers the movement process of the teleoperation master hand clamping mechanism into an electrical signal through an optoelectronic position sensor. During the process, the master hand clamping mechanism does not come into contact with the sensor, ensuring the service life of the teleoperation master hand clamping mechanism, with high precision, simple principle, easy to implement, and thus having high reliability.

[0007] In a first aspect, the present invention provides a teleoperation master hand clamping mechanism, including a master hand housing, a clamping mechanism, a linkage mechanism, and a non-contact sensor assembly. The clamping mechanism includes a clamping end and a connection end. The clamping end extends towards the outside of the master hand housing. The connection end is hinged to the master hand housing at a first position. The clamping end is hinged to the linkage mechanism at a second position spaced apart from the first position. The other end of the linkage mechanism is a moving end, and the moving end is located inside the master hand housing.

[0008] The non-contact sensor assembly includes a non-contact sensor and a sensor sensing member arranged at intervals. The non-contact sensor is fixedly arranged inside the master hand housing. The sensor sensing member is located inside the master hand housing and is connected to the moving end of the linkage mechanism.

[0009] In a preferred embodiment, the clamping mechanism includes a first clamping mechanism and a second clamping mechanism arranged on both sides of the master hand housing. The connection ends of the first clamping mechanism and the second clamping mechanism are respectively hinged to the master hand housing at a first rotation center and a second rotation center. The first rotation center and the second rotation center are arranged at intervals.

[0010] The linkage mechanism includes a first link and a second link.

[0011] One end of the first link is hinged to the first clamping mechanism. One end of the second link is hinged to the second clamping mechanism. And the first link and the second link are located in different planes.

[0012] The other ends of the first link and the second link form the moving end, and the sensor sensing member is connected to the moving end.

[0013] In an embodiment, the first clamping mechanism and the second clamping mechanism are symmetrically arranged along the center line of the master hand housing.

[0014] The rotation of the first clamping mechanism and the second clamping mechanism drives the sensor sensing member to move closer to or away from the non-contact sensor along the direction of the center line of the master hand housing.

[0015] Using the above structural configuration, when the operator drives the clamping mechanism to rotate relative to the master hand housing, the link mechanism is driven to move along the center line direction of the master hand housing, thereby driving the sensor sensing member to approach or move away from the non-contact sensor assembly. In this way, by converting the movement of the clamping mechanism into the displacement change between the sensor sensing member and the non-contact sensor, and using the non-contact sensor to convert the displacement signal change into an electrical signal change, the movement of the slave end actuator is controlled to realize the real-time reproduction of the opening and closing of the slave end actuator through the opening and closing of the clamping mechanism.

[0016] Preferably, in the present invention, the remote operation master hand clamping mechanism further includes at least one guide rod; the master hand housing is a closed housing with an accommodation cavity inside, the master hand housing includes a connecting member, and the connecting end of the clamping mechanism is hinged to the connecting member;

[0017] At least one guide hole is provided on the connecting member, one end of the guide rod is slidably arranged in the guide hole, and the other end is fixedly connected to the sensor sensing member.

[0018] Preferably, the connecting end of the first clamping mechanism protrudes to form a first stop portion along the hinge axis direction of the first rotation center, and a first limiting surface adapted to the first stop portion is provided on the first link; the connecting end of the second clamping mechanism protrudes to form a second stop portion along the hinge axis direction of the second rotation center, and a second limiting surface adapted to the second stop portion is provided on the second link; through the cooperation of the first limiting step and the first limiting surface, and the cooperation of the second limiting step and the second limiting surface, the amplitude of the opening of the clamping mechanism is limited, so as to avoid the over-large opening and closing angle of the remote operation master hand clamping mechanism, resulting in over-large movement of the slave end actuator and causing potential safety hazards.

[0019] Preferably, third limiting surfaces and fourth limiting surfaces are respectively arranged on the connecting ends of the first clamping mechanism and the second clamping mechanism on the opposite side surfaces thereof. When the first clamping mechanism and the second clamping mechanism are closed, the third limiting surfaces and the fourth limiting surfaces abut against each other. Preferably, the third limiting surfaces and the fourth limiting surfaces are located at the proximal parts of the opposite side surfaces of the connecting ends of the first clamping mechanism and the second clamping mechanism. Preferably, there is a gap between the distal ends of the connecting ends of the first clamping mechanism and the second clamping mechanism on the opposite side surfaces thereof. By arranging the third limiting surfaces and the fourth limiting surfaces at the proximal parts of the opposite side surfaces of the connecting ends of the two clamping mechanisms and arranging a gap, such as an arc segment, between the distal parts, the distal parts are prevented from limiting the closing angle when the clamping mechanisms are closed.

[0020] Preferably, the connecting end of the first clamping mechanism is connected to the clamping end at an angle, and the connecting end of the second clamping mechanism is connected to the clamping end at an angle.

[0021] Preferably, the remote operation master hand clamping mechanism further includes an elastic member, and two ends of the elastic member are respectively connected to the master hand housing and the moving end. Preferably, the elastic member is a spring.

[0022] With the above structural configuration, when the first clamping mechanism and the second clamping mechanism rotate relative to the master hand housing to achieve a clamping action, the moving end of the link mechanism is driven, thereby driving the sensor sensing member to move close to the non-contact sensor, so that the elastic member is stretched under force. When the acting force on the clamping mechanism is eliminated, the elastic member contracts under the action of the restoring force, thereby driving the sensor sensing member to move away from the non-contact sensor, and the first clamping end and the second clamping end return to the initial positions.

[0023] In the present invention, the non-contact sensor assembly can adopt any non-contact sensor suitable for sensing changes in physical quantities (for example, displacement changes) in the art, and is preferably selected from an optoelectronic position sensor assembly or an electromagnetic sensor assembly. More preferably, the non-contact sensor assembly is an optoelectronic position sensor assembly. By adopting the non-contact sensor assembly, wear of the sensor caused by frequent remote operation is avoided, and the service life of the remote operation master hand clamping mechanism is prolonged.

[0024] The non-contact sensor assembly is the photoelectric position sensor assembly, the non-contact sensor is a photoelectric sensor, the sensor sensing element is a photoelectric sensor sensing element, and the photoelectric position sensor assembly further includes a light signal stopper, wherein the photoelectric sensor is spaced apart from the moving end of the link mechanism; the light signal stopper is fixedly arranged in the main hand housing and is located between the photoelectric sensor and the photoelectric sensor sensing element; at least one transmission channel is provided on the light signal stopper, and the transmission channel is arranged to pass the light signal emitted by the photoelectric sensor;

[0025] Preferably, the photoelectric sensor includes at least one spaced-apart reflective photoelectric sensor chip, and the reflective photoelectric sensor chip is arranged to emit the light signal. Preferably, the photoelectric sensor includes two reflective photoelectric sensor chips that can work independently at the same time for mutual verification and redundancy to ensure the reliability of the movement of the remote operation master hand clamping mechanism during the operation.

[0026] Preferably, the photoelectric sensor sensing element is a light reflection slider, and the light reflection slider is arranged to reflect the light signal; the photoelectric position sensor assembly is configured to emit a light signal by the photoelectric sensor, the photoelectric sensor sensing element reflects the light signal to generate the first signal, and the photoelectric sensor receives the first signal and converts it into an electrically-signal with a linear change (i.e., the second signal) and sends it to the surgical robot control system to indicate the relative position change between the photoelectric sensor and the photoelectric sensor sensing element, thereby controlling the operation and movement of the slave end actuator, such as the change of the angle of the surgical clamp, etc.

[0027] In a specific embodiment, the light signal stopper may be provided with two channels, and the two channels are separated by a baffle. Preferably, the light signal stopper is made of an elastic material to avoid abrasion between the light reflection slider and the photoelectric sensor circuit board.

[0028] In a preferred embodiment, the remote operation master hand clamping mechanism further includes a safety switch arranged on the installation part, and the safety switch is arranged to be triggered by the operator's action. The safety switch is used to cut off the working state of the remote operation master hand clamping mechanism when being triggered (for example, the working state may be the remote operation of the master hand clamping mechanism on the slave end actuator).

[0029] Preferably, the safety switch can be one of a push-button switch, a human body detection trigger switch, or a toggle switch, and is triggered by touching, pressing, or toggling. In the working state (i.e., the master hand clamping mechanism is remotely operated and matched with the slave end actuator), the operator can control the first clamping mechanism and the second clamping mechanism, and control the opening and closing of the slave end surgical forceps by pressing the clamping mechanism with a finger. When the operator's hand triggers the safety switch to work, the remote operation between the master hand clamping mechanism and the slave end actuator is disconnected, that is, the connection between the clamping mechanism and the slave end surgical forceps is disconnected. By setting the safety switch, it is convenient for the operator to switch between different surgical operation arms, and it can also avoid the movement of the slave end surgical forceps caused by the operator accidentally actuating the clamping mechanism during the operation, thus causing potential safety hazards.

[0030] In one embodiment, the clamping ends of the first clamping mechanism and the second clamping mechanism are arc-shaped at the ends facing away from the master hand housing, and the concave part of the arc is convenient for the operator's fingers to hold. Preferably, finger sleeves are further provided at the ends of the clamping ends of the first clamping mechanism and the second clamping mechanism. By providing the finger sleeves, the operator's fingers feel more comfortable when operating the clamping mechanism. More preferably, the finger sleeves are made of an elastic material.

[0031] In a second aspect, the present invention provides a surgical robot system, which includes a control system, the remote operation master hand clamping mechanism of the present invention, and a slave end actuator, wherein the control system is electrically connected to the non-contact sensor of the remote operation master hand clamping mechanism. When the clamping end of the clamping mechanism is stressed, it rotates in the direction close to the master hand housing, driving the moving end of the link mechanism to move. When the sensor sensing member approaches or moves away from the non-contact sensor along with the moving end of the link mechanism, a first signal regarding displacement change is generated. The non-contact sensor receives the first signal and converts it into a second signal regarding position change and sends it to the control system. At the same time, the control system is configured to control the operation of the slave end actuator according to the position change information included in the second signal when receiving the second signal sent from the non-contact sensor.

[0032] In a specific embodiment, the control system can obtain the relative distance between the non-contact sensor and the sensor sensing member by processing the second signal. Further, the control system is configured to disconnect the connection with the non-contact sensor when the relative distance between the non-contact sensor and the sensor sensing member is greater than a preset value stored in the control system or input and set by the user, thereby cutting off the control of the master hand clamping mechanism over the slave end actuator.

[0033] In another specific embodiment, the control system is also electrically connected to the safety switch of the teleoperation master hand clamping mechanism. In the working state, that is, when the teleoperation master hand clamping mechanism performs teleoperation on the slave end actuator, when the operator turns on the safety switch, the safety switch sends a safety signal to the control system, and the control system is configured to interrupt this working state in response to the safety signal, that is, disconnect the teleoperation of the master hand clamping mechanism on the slave end actuator.

[0034] Advantages of the present invention

[0035] By setting two rotation centers, the present invention realizes the movement of the master hand clamping mechanism, makes the structural arrangement simpler, reduces the possible errors in the operation process, and makes the fingers more relaxed when clamping. In addition, the present invention adopts a non-contact sensor, and transfers the movement displacement of the teleoperation master hand clamping mechanism into a stable and accurate electrical signal change through the optoelectronic position sensor assembly, thereby driving the movement of the slave end actuator. During the process, the master hand clamping mechanism does not come into contact with the sensor, ensuring the service life of the teleoperation master hand clamping mechanism, high precision, simple principle, easy to implement, and thus having high reliability and safety. In addition, by placing the optoelectronic sensor in a closed cavity, compared with non-contact sensors such as electromagnetic induction, it has strong anti-interference ability. Brief description of the drawings

[0036] Figure 1 is a three-dimensional structural schematic diagram of an embodiment of the teleoperation master hand clamping mechanism of the present invention;

[0037] Figure 2 is Figure 1 a partial structural schematic diagram of the teleoperation master hand clamping mechanism shown in [Figure] when it is opened;

[0038] Figure 3 is Figure 1 a partial structural schematic diagram of the teleoperation master hand clamping mechanism shown in [Figure] when it is closed;

[0039] Figure 4 is a partial three-dimensional structural schematic diagram of the teleoperation master hand clamping mechanism according to the present invention;

[0040] Figure 5 is another partial three-dimensional structural schematic diagram of the teleoperation master hand clamping mechanism according to the present invention;

[0041] Figure 6 is a three-dimensional structural schematic diagram of the hand clamping mechanism and the link mechanism according to the present invention;

[0042] Figure 7 is a structural schematic diagram of the optical signal blocking block in an embodiment of the teleoperation master hand clamping mechanism according to the present invention.

[0043] The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. Those skilled in the art should understand that the embodiments or examples described below in conjunction with the accompanying drawings are only used to illustrate the best implementation mode of the present invention, rather than limiting the scope of the present invention to these embodiments. The present invention can be variously improved and changed on the basis of the following embodiments. These improvements and changes are all within the scope of the present invention. Among the various embodiments shown in the drawings of the present invention, like reference numerals indicate like components. Detailed Embodiments

[0044] Definitions

[0045] Distal or far end: In this specification, when referring to "distal or far end", this term means the side or end relatively far from the operator.

[0046] Proximal or near end: In this specification, when referring to "proximal or near end", this term means the side or end relatively close to the operator.

[0047] Front and rear: In this specification, as described above, when referring to "front" and "rear", both refer to relative directions, where it is defined that the side relatively close to the object to be operated is the front, and the side relatively far from the object to be operated is the rear.

[0048] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0049] Figures 1 to 3 The three-dimensional structural schematic diagram and overall plan view of an embodiment of the teleoperation master hand clamping mechanism of the present invention are respectively shown. As can be seen from the figure in this embodiment, the teleoperation master hand clamping mechanism of the present invention includes: a master hand housing 1, a clamping mechanism 2, a link mechanism, and a non-contact sensor assembly. Among them, the clamping mechanism 2 includes a clamping end and a connecting end. The clamping end extends towards the outside of the master hand housing 1. The connecting end is hinged to the master hand housing 1 at a first position. The clamping end is hinged to one end of the link mechanism at a second position spaced apart from the first position. The other end of the link mechanism is a moving end, and the moving end is located inside the master hand housing 1. The non-contact sensor assembly includes a non-contact sensor and a sensor sensing member arranged at intervals. The non-contact sensor is fixedly arranged inside the master hand housing 1, and the sensor sensing member is located inside the master hand housing 1 and is connected to the moving end of the link mechanism.

[0050] Preferably, there can be two clamping mechanisms 2, which are respectively arranged on both sides of the center line of the master hand housing 1, and can be symmetrically or asymmetrically arranged. When the clamping ends of the two clamping mechanisms 2 are subjected to a force, they rotate relative to the master hand housing 1. Preferably, the clamping end and the connecting end of the clamping mechanism 2 are fixedly connected or integrally formed, and they extend outward and inward from the master hand housing 1 respectively, and there is an included angle between the clamping end and the connecting end, so that when the clamping end receives a force, it rotates towards the direction close to the master hand housing 1, drives the connecting end to move through the clamping end, drives the link mechanism to move through the connecting end, and thus drives the sensor sensing member fixedly connected to the link mechanism to move towards or away from the non-contact sensor. More preferably, the included angle between the clamping end and the connecting end is an obtuse angle, so as to adapt to the shape of the tiger's mouth of the hand, and it is more convenient for the operator to comfortably hold the clamping mechanism of the remote operation master hand.

[0051] As can be seen Figure 2 from Figure 3 and

[0052] It should be understood that, however, the clamping mechanism 2 can be set to one. The clamping end and the connecting end of the clamping mechanism 2 extend outward and inward from the master hand housing 1 respectively, and there is an included angle between the clamping end and the connecting end, so that when the clamping end is subjected to a force towards the master hand housing 1, it rotates towards the direction close to the master hand housing 1, drives the connecting end to pivot towards the proximal end relative to the master hand housing 1 through the clamping end, drives the link mechanism to move towards the distal end through the clamping end, and thus drives the sensor sensing member fixedly connected to the link mechanism to move towards the non-contact sensor.

[0053] When the operator drives the clamping mechanism 2 to rotate close to the master hand housing 1, it drives the link mechanism to move, and thus drives the sensor sensing member to approach or move away from the non-contact sensor. In this way, by converting the movement of the clamping mechanism 2 into the displacement change between the sensor sensing member and the non-contact sensor, and using the non-contact sensor to convert the displacement signal change into an electrical signal change, the movement of the slave end actuator is controlled, so as to realize the real-time reproduction of the opening and closing of the slave end actuator through the opening and closing of the clamping mechanism 2. And by adopting the non-contact sensor assembly, the wear of the sensor assembly can be avoided when the remote operation master hand clamping mechanism is frequently operated, so as to increase the service life of the remote operation master hand clamping mechanism.

[0054] As Figure 2 and Figure 3In the teleoperation master hand clamping mechanism shown, the clamping mechanism 2 includes a first clamping mechanism 21 and a second clamping mechanism 22 disposed on both sides of the master hand housing 1. The connecting ends of the first clamping mechanism 21 and the second clamping mechanism 22 are hinged to the master hand housing 1 at a first rotation center I and a second rotation center II respectively, and the first rotation center I and the second rotation center II are spaced apart. The linkage mechanism includes a first link 3 and a second link 4. One end of the first link 3 is hinged to the first clamping mechanism 21, and one end of the second link 4 is hinged to the second clamping mechanism 22. The first link 3 and the second link 4 are located in different planes, and the other ends of the first link 3 and the second link 4 form a moving end. It can be understood that the moving ends of the first link 3 and the second link 4 can be respectively hinged to different hinge points, or the moving ends of the first link 3 and the second link 4 are hinged to the same hinge point, and the moving end is connected to the sensor sensing member. Specifically, the first clamping mechanism 21 and the second clamping mechanism 22 are disposed on both sides of the master hand housing 1 and are located in the same vertical plane, and they can be symmetrically or asymmetrically arranged. The first link 3 and the second link 4 are respectively located on both sides of the vertical plane. In addition, the first link 3 and the second link 4 can be arranged in different vertical planes on the same side of the vertical plane where the first clamping mechanism 21 and the second clamping mechanism 22 are located. When the first clamping mechanism 21 and the second clamping mechanism 22 are symmetrically arranged along the center line of the master hand housing 1, the moving end of the linkage mechanism moves along the center line direction. When the first clamping mechanism 21 and the second clamping mechanism 22 are asymmetrically arranged, the moving end of the linkage mechanism can move in a specific direction. Under different settings, the installation position of the non-contact sensor changes accordingly to satisfy the sensor sensing member approaching or moving away from the non-contact sensor driven by the moving end. However, it should be understood that when only one clamping mechanism 2 is provided, the linkage mechanism only includes the first link 3 or the second link 4. One end forms a connecting end to be hinged to the connecting portion of the clamping mechanism 2, and the other end forms a moving end.

[0055] More preferably, as Figure 5 and Figure 6As shown, the first clamping mechanism 21 and the second clamping mechanism 22 are symmetrically arranged along the center line of the master hand housing 1. When the first clamping mechanism 21 and the second clamping mechanism 22 rotate, they drive the sensor sensing part to approach or move away from the non-contact sensor along the direction of the center line of the master hand housing 1. Specifically, the first clamping mechanism 21 includes a first clamping end 211 and a first connection end 212, and the second clamping mechanism 22 includes a second clamping end 221 and a second connection end 222. The two are symmetrically arranged on both sides of the master hand housing 1 and are located in the same vertical plane. The first connecting rod 3 and the second connecting rod 4 are respectively located on both sides of the vertical plane. The first connection end 212 is hinged to the master hand housing 1 to form a first rotation center Ⅰ; the second connection end 222 is hinged to the master hand housing 1 to form a second rotation center Ⅱ. By arranging two rotation centers, the first and the second, at intervals on both sides of the center line of the master hand housing 1 instead of arranging a single rotation center on the center line of the master hand housing 1 in the traditional way, the phenomenon that the master hand housing 1 moves backward during the clamping operation is avoided, thereby reducing the possible errors during the operation process and realizing more precise motion control of the slave end actuator.

[0056] Preferably, as Figure 2 to and Figure 4 shown, the remote operation master hand clamping mechanism further includes at least one guide rod 5. The master hand housing 1 is a closed housing with an accommodation cavity inside. A connecting member 101 is fixedly provided inside the master hand housing 1. The connection end of the clamping mechanism 2 is hinged to the connecting member 101. The connecting member 101 is provided with at least one guide hole. One end of the guide rod 5 is slidably arranged in the guide hole, and the other end is fixedly connected to the sensor sensing part. Specifically, the connecting member 101 is fixedly arranged at the distal end of the master hand housing 1. The connecting member 101 can be provided with one guide hole, and the guide rod 5 can be one. One end of the guide rod 5 can be slidably arranged in the guide hole, and the other end of the guide rod 5 is fixedly connected to the sensor sensing part. Due to the guiding action of the guide rod 5, when the operator drives the clamping mechanism 2 to rotate, the sensor sensing part moves more stably along with the movement of the linkage mechanism, and the situation of left and right shaking can be avoided, thereby improving the reliability of the remote operation master hand clamping mechanism. More preferably, the connecting member 101 can be provided with a pair of guide holes, and the guide rod 5 can be two and are respectively slidably arranged in the respective guide holes. By arranging a pair of guide rods 5, the stability and reliability during the movement process can be better improved.

[0057] Preferably, as Figure 2 and Figure 3As shown in the figure, the remote operation master hand clamping mechanism further includes an elastic member 9. Both ends of the elastic member 9 are respectively connected to the master hand housing 1 and the moving end of the link mechanism. Specifically, the sensor sensing member is fixedly arranged at the moving end of the link mechanism. One end of the elastic member 9 is fixedly connected to the sensor sensing member, and the other end of the elastic member 9 is connected to the master hand housing 1. The elastic member 9 can be a spring or other elastic components. Through the mutual cooperation of the link mechanism and the spring, the operator can have a more tactile feeling of the clamping resistance when clamping the first clamping mechanism 21 and the second clamping mechanism 22, and has a sense of presence similar to that of the surgical site.

[0058] With the above structural configuration, when the first clamping mechanism 21 and the second clamping mechanism 22 rotate relative to the master hand housing 1 to achieve the clamping action, it drives the moving end of the link mechanism, thereby driving the sensor sensing member to move closer to the non-contact sensor, so that the elastic member 9 is stretched under force. When the force applied to the clamping mechanism 2 is eliminated, the elastic member 9 contracts under the action of the restoring force, thereby driving the sensor sensing member to move away from the non-contact sensor, and the first clamping end 211 and the second clamping end 221 return to the initial position.

[0059] Preferably, as Figures 3 to 6 shown, the connecting end of the first clamping mechanism 21 protrudes along the hinge axis direction of the first rotation center Ⅰ to form a first stop portion 213. A first limiting surface 33 adapted to the first stop portion 213 is provided on the first link 3. The connecting end of the second clamping mechanism 22 protrudes along the hinge axis direction of the second rotation center Ⅱ to form a second stop portion 223. A second limiting surface 43 adapted to the second stop portion 223 is provided on the second link 4. Specifically, the first link 3 includes a first hinge portion 31 and a first moving portion 32. The first hinge portion is hinged to the first clamping mechanism 21, and the first limiting surface 33 is provided on the transition section between the first hinge portion 31 and the first moving portion 32. The second link 4 has a second hinge portion 41 and a second moving portion 42. The second hinge portion 41 is hinged to the second clamping mechanism 22, and the second limiting surface 43 is provided on the transition section between the second hinge portion 41 and the second moving portion 42. Through the cooperation of the first stop portion 213 and the first limiting surface 33, and the cooperation of the second stop portion 223 and the second limiting surface 43, the opening amplitude of the clamping mechanism 2 is restricted, so as to avoid the over-large opening and closing angle of the remote operation master hand clamping mechanism, which may cause the over-large movement of the slave end actuator and pose a safety hazard.

[0060] Preferably, the connecting end of the first clamping mechanism 21 and the connecting end of the second clamping mechanism 22 are respectively provided with a third limiting surface 214 and a fourth limiting surface 224 on the sides opposite to each other, and the third limiting surface 214 and the fourth limiting surface 224 abut against each other when the first clamping mechanism 21 and the second clamping mechanism 22 are closed. Preferably, the third limiting surface 214 and the fourth limiting surface 224 are located at the proximal end portion of the sides opposite to each other of the connecting ends of the first clamping mechanism 21 and the second clamping mechanism 22, and a gap is provided between the connecting ends of the first clamping mechanism 21 and the connecting ends of the second clamping mechanism 22 at the distal ends of the opposite sides. It is known to those skilled in the art that by providing the third limiting surface 214 and the fourth limiting surface 224 at the sides opposite to each other and at the proximal end portion of the connecting ends of the two clamping mechanisms 2, and providing a gap, such as an arc segment, between the distal end portions, the proximal end portion of the clamping mechanism 2 is prevented from limiting the closing angle when the clamping mechanism 2 is closed.

[0061] Preferably, when the distance between the non-contact sensor and the sensor sensing element is greater than a preset value, the non-contact sensor is disconnected from the control system, thereby losing control of the slave-end actuator to prevent the clamping force of the slave-end actuator from being too large and causing tissue damage.

[0062] In one embodiment, when the sensor sensing element is driven by the clamping mechanism 2 to move, a first signal is generated. The non-contact sensor receives the first signal from the sensor sensing element and converts it into a second signal regarding the position change. The second signal is then transmitted to the control system for controlling the operation and movement of the slave actuator, such as changes in the angle of the surgical clamp.

[0063] As described above, in the present invention, the non-contact sensor assembly can adopt any non-contact sensor suitable for sensing displacement changes in the art, for example, a photoelectric sensor or an electromagnetic sensor, preferably a photoelectric sensor. It can be understood that in the present invention, the non-contact sensor assembly can also be an electromagnetic sensor assembly. In this case, the non-contact sensor is an electromagnetic sensor, and the sensor induction element is an electromagnetic sensor induction element. The electromagnetic sensor induction element senses the magnetic signal emitted by the electromagnetic sensor, thereby sending the received magnetic signal to the electromagnetic sensor, thereby converting it into an electrical signal. Through the cooperation between the electromagnetic sensor and the electromagnetic sensor induction element, the motion displacement of the remote-controlled master hand clamping mechanism is transferred into an electrical signal change through the electromagnetic sensor assembly, thereby driving the movement of the slave end actuator. During the process, the master hand clamping mechanism 2 does not contact the sensor, thereby ensuring the service life of the remote-controlled master hand clamping mechanism.

[0064] Figure 4 , Figure 5 and Figure 7 A specific embodiment of the non-contact sensor assembly is shown in FIG.Figure 2 The non-contact sensor assembly shown in the figure is a photoelectric position sensor assembly. The non-contact sensor is a photoelectric sensor, the sensor sensing element is the photoelectric sensor sensing element 7, and the photoelectric position sensor assembly further includes an optical signal stopper 8. Among them, the photoelectric sensor is fixed in the master hand housing 1 and is arranged at one end far from the link mechanism. The optical signal stopper 8 is fixedly arranged in the master hand housing 1 and is located between the photoelectric sensor and the photoelectric sensor sensing element 7. At least one transmission channel 81 is provided on the optical signal stopper 8, and the transmission channel 81 is arranged to pass the optical signal emitted by the photoelectric sensor. The photoelectric sensor includes at least one reflective photoelectric sensor chip, and the reflective photoelectric sensor chip is arranged to emit an optical signal. The photoelectric sensor sensing element 7 is fixedly connected to the moving end of the link mechanism. Specifically, the photoelectric sensor is a photoelectric sensor circuit board, which may include one or two reflective photoelectric sensor chips, and the number of transmission channels 81 provided on the optical signal stopper 8 is consistent with the number of reflective photoelectric sensor chips. Preferably, the photoelectric sensor includes two reflective photoelectric sensor chips that can work independently at the same time, so as to be used for mutual verification and redundancy to ensure the reliability of the movement of the remote operation master hand clamping mechanism during the operation. Through the photoelectric sensor and the photoelectric sensor sensing element 7, the movement displacement of the remote operation master hand clamping mechanism is transferred into a linear electrical signal change through the photoelectric sensor assembly, thereby driving the movement of the slave end actuator. During the process, the master hand clamping mechanism 2 does not come into contact with the sensor, ensuring the service life of the remote operation master hand clamping mechanism, high precision, simple principle, easy to implement, and thus having high reliability and safety.

[0065] Specifically, the photoelectric position sensor assembly is configured to emit an optical signal by the photoelectric sensor, the photoelectric sensor sensing element 7 reflects the optical signal to generate the first signal, and the photoelectric sensor receives the first signal and converts it into an electrically signal with a linear change (i.e., the second signal) for indicating the relative position change between the photoelectric sensor and the photoelectric sensor sensing element 7.

[0066] Preferably, the optical signal stopper 8 is provided with two transmission channels 81 (see Figure 7 ), and the two transmission channels 81 are separated by a baffle 82. The setting of the two transmission channels 81 is to prevent the optical signals emitted by the two photoelectric sensor chips from interfering with each other. In Figure 3 ​The photoelectric sensor sensing element 7 shown in the figure is a light reflection slider, and the light reflection slider is configured to reflect the light signal. During operation, the light signals emitted by two photoelectric sensor chips on the circuit board of the photoelectric sensor respectively pass through two transmission channels 81, irradiate onto the light reflection slider, and then the light signals reflected back by the light reflection slider are received by the photoelectric sensor chips. Since the link mechanism drives the light reflection slider to move, the distance between the light reflection slider and the photoelectric sensor chips is changed. The photoelectric sensor chips convert the detected distance change into an electrically-signal with a linear change, and then transmit it to the control system through a voltage amplification circuit, thereby controlling the change in the angle of the end surgical actuator, that is, the surgical clamp, thus greatly improving the precision of surgical operation. Preferably, the light signal stopper 8 is made of an elastic material to avoid abrasion between the light reflection slider and the circuit board of the photoelectric sensor.

[0067] As Figure 1 shown in the figure, specifically, the master hand housing 1 is a closed housing with an accommodation cavity inside. The non-contact sensor assembly (for example, the photoelectric sensor, the light signal stopper 8, and the light reflection slider) and the moving end of the link mechanism are both located in the accommodation cavity of the master hand housing 1. By arranging the non-contact sensor assembly inside the closed housing of the master hand housing 1, interference from external light signals can be avoided, making the system have a strong anti-interference ability. A support portion is formed at the distal end of the master hand housing 1, which is used to abut against the palm or the web of the hand of the operator when the operator presses the clamping mechanism 2, thereby forming a support for the hand to relieve hand fatigue.

[0068] As Figure 1 shown in the figure, in a preferred embodiment, the remote operation master hand clamping mechanism of the present invention further includes a safety switch 10, and the safety switch 10 is configured to be triggered by the action of the operator. Preferably, the safety switch 10 can also be one of a push-button switch, a human body detection trigger switch, or a toggle switch, and is triggered by pressing, touching, or toggling. As shown in the figure, the safety switch 10 is arranged on the master hand housing 1. In the working state, that is, when the master hand clamping mechanism 2 is remotely operated and matched with the slave end actuator, the thumb and middle finger of the operator respectively press the first clamping end 211 and the second clamping end 221, and the clamping mechanism 2 is controlled by pressing with the fingers, thereby controlling the opening and closing of the slave end surgical clamp. When the hand of the operator acts on the safety switch 10, for example, the hand can act on the safety switch 10 in ways such as abutting, touching, pressing, or toggling, thereby triggering the safety switch 10 to work. At this time, the remote operation between the master hand clamping mechanism 2 and the slave end actuator is disconnected, that is, the connection between the clamping mechanism 2 and the slave end surgical clamp is disconnected. By arranging the safety switch 10, it is convenient for the operator to switch between different surgical operation arms, and it can also avoid the movement of the slave end surgical clamp caused by the accidental operation of the operator actuating the clamping mechanism 2 during the operation, thus causing potential safety hazards.

[0069] The remote operation master hand clamping mechanism preferably further includes a slider guiding part (not shown in the figure). The slider guiding part is fixedly arranged in the master hand housing 1, and the light reflection slider is slidably arranged on the slider guiding part.

[0070] Preferably, the contact surfaces of the slider guiding part and the light reflection slider are adapted to each other. The slider guiding part is provided with a sliding groove adapted to the shape of the contact surface of the light reflection slider, and the link mechanism drives the light reflection slider to slide along the sliding groove. For example, the light reflection slider is in the shape of a cylinder and has a circular cross-section. Correspondingly, the slider guiding part is arranged below the light reflection slider, and its top is provided with an arc-shaped sliding groove adapted to the shape of the contact surface of the light reflection slider. The setting of the arc-shaped sliding groove limits the light reflection slider and reduces the friction when the light reflection slider moves.

[0071] In addition, as Figure 1 and Figure 6 shown, the clamping ends of the first clamping end 211 and the second clamping end 221 can be arc-shaped at the end away from the master hand housing 1, and the concave part of the arc surface is convenient for the operator's fingers to hold. Preferably, the ends of the first clamping end 211 and the second clamping end 221 can also be provided with finger sleeves 11. By providing the finger sleeves 11, the operator's fingers feel more comfortable when operating the clamping mechanism 2. Preferably, the finger sleeves 11 are made of an elastic material, for example, a fiber material or a rubber material with high elasticity can be used.

[0072] This embodiment provides a surgical robot system, which includes a control system, and the remote operation master hand clamping mechanism and the slave end execution mechanism in any of the above embodiments. The control system is electrically connected to the non-contact sensor of the remote operation master hand clamping mechanism. When the clamping end of the clamping mechanism 2 is stressed, it rotates towards the direction close to the master hand housing 1, thereby driving the moving end of the link mechanism to move. When the sensor sensing part approaches or moves away from the non-contact sensor along with the moving end of the link mechanism, a first signal regarding the displacement change is generated. The non-contact sensor receives the first signal and converts it into a second signal regarding the position change and sends it to the control system. The control system is configured to, when receiving the second signal sent from the non-contact sensor, control the operation of the slave end execution mechanism according to the position change information included in the second signal.

[0073] Next, the signal control process of the remote operation master hand clamping mechanism of the present invention will be described in conjunction with the specific embodiments shown in the attached Figures 1 - 7 figures.

[0074] In the working state, the circuit board of the photoelectric sensor emits optical signals. The optical signals emitted by two photoelectric sensor chips on the circuit board of the photoelectric sensor respectively pass through two channels and irradiate onto the light reflection slider. The light reflection slider reflects the optical signals to generate a first signal, and the photoelectric sensor chip receives the first signal and converts it into an electrically signal with a linear change (i.e., the second signal). When the operator operates the clamping mechanism 2 to drive the light reflection slider to move, the distance between the light reflection slider and the photoelectric sensor chip changes. At this time, the second signal can indicate the relative position change between the photoelectric sensor chip and the light reflection slider. Then the second signal is sent to the control system of the surgical robot through the preamplifier circuit. At the same time, the control system is configured to control the angular change of the slave end actuator such as a surgical actuator (such as a surgical clamp) according to the position change information contained in the second signal when receiving the second signal.

[0075] Specifically, the control system can obtain the relative distance between the photoelectric sensor chip and the light reflection slider by processing the second signal. Further, the control system is configured to disconnect the connection with the circuit board of the photoelectric position sensor when the relative distance between the photoelectric sensor chip and the light reflection slider is greater than a preset value stored in the control system or set by the user input, so as to cut off the control of the master hand clamping mechanism 2 on the slave end actuator.

[0076] Preferably, the control system is also electrically connected to the safety switch 10 of the teleoperation master hand clamping mechanism. In the working state, that is, when the teleoperation master hand clamping mechanism is used to perform teleoperation on the slave end actuator, when the operator triggers the safety switch 10, it is detected that the control system interrupts the working state when the operator triggers the safety switch 10 in the working state, that is, the teleoperation of the master hand clamping mechanism 2 on the slave end actuator is disconnected.

[0077] Although specific embodiments of the present invention have been illustrated and described, it is obvious to those skilled in the art that various other changes and modifications can be made without departing from the essence and scope of the present invention. Therefore, all such changes and modifications within the scope of the present invention are included in the appended claims.

Claims

1. A teleoperation master hand clamping mechanism, characterized in that, Comprising: A main hand housing (1), a clamping mechanism (2), a linkage mechanism, and a non-contact sensor assembly, where the clamping mechanism (2) includes a clamping end and a connecting end, the clamping end extends towards the outside of the main hand housing (1), the connecting end is hinged to the main hand housing (1) at a first position, the clamping end is hinged to one end of the linkage mechanism at a second position spaced from the first position, the other end of the linkage mechanism is a moving end, and the moving end is located inside the main hand housing (1); the non-contact sensor assembly includes a non-contact sensor and a sensor sensing member arranged at intervals, the non-contact sensor is fixedly arranged inside the main hand housing (1), and the sensor sensing member is located inside the main hand housing (1) and connected to the moving end of the linkage mechanism; the clamping mechanism (2) includes a first clamping mechanism (21) and a second clamping mechanism (22) arranged on both sides of the center line of the main hand housing (1), the connecting ends of the first clamping mechanism (21) and the second clamping mechanism (22) are respectively hinged to the main hand housing (1) at a first rotation center (Ⅰ) and a second rotation center (Ⅱ), and the first rotation center (Ⅰ) and the second rotation center (Ⅱ) are arranged at intervals; the linkage mechanism includes a first link (3) and a second link (4); the first link (3) includes a first hinge portion (31), a first transition section, and a first moving portion (32), the first transition section is located between the first hinge portion (31) and the first moving portion (32), and the first transition section has a set angle with the first hinge portion (31) and the first moving portion (32) respectively, the second link (4) includes a second hinge portion (41), a second transition section, and a second moving portion (42), the second transition section is located between the second hinge portion (41) and the second moving portion (42), and the second transition section has a set angle with the second hinge portion (41) and the second moving portion (42) respectively; the first hinge portion (31) of the first link (3) is hinged to the first clamping mechanism (21), and the second hinge portion (41) of the second link (4) is hinged to the second clamping mechanism (22); and the first link (3) and the second link (4) are located in different planes; the first moving portion (32) of the first link (3) and the second moving portion (42) of the second link (4) form the moving end, and the sensor sensing member is connected to the moving end; the connecting end of the first clamping mechanism (21) protrudes along the hinge axis direction of the first rotation center (Ⅰ) to form a first stop portion (213), and a first limiting surface (33) adapted to the first stop portion (213) is arranged on the first link (3); the connecting end of the second clamping mechanism (22) protrudes along the hinge axis direction of the second rotation center (Ⅱ) to form a second stop portion (223), and a second limiting surface (43) adapted to the second stop portion (223) is arranged on the second link (4).

2. The teleoperation master hand clamping mechanism according to claim 1, wherein The first clamping mechanism (21) and the second clamping mechanism (22) are symmetrically arranged along the center line of the master hand housing (1); The rotation of the first clamping mechanism (21) and the second clamping mechanism (22) drives the sensor sensing member to move closer to or away from the non-contact sensor along the direction of the center line of the master hand housing (1).

3. The teleoperation master hand clamping mechanism according to claim 1, characterized in that, It further includes at least one guide rod (5); The master hand housing (1) is a closed housing with an accommodation cavity inside. The master hand housing (1) includes a connecting member (101), and the connecting end of the clamping mechanism (2) is hinged to the connecting member (101); At least one guide hole is provided on the connecting member (101), one end of the guide rod (5) is slidably arranged in the guide hole, and the other end is fixedly connected to the sensor sensing member.

4. The teleoperation master hand clamping mechanism according to claim 1, wherein The connecting ends of the first clamping mechanism (21) and the second clamping mechanism (22) are respectively provided with a third limiting surface (214) and a fourth limiting surface (224) on the opposite side surfaces. The third limiting surface (214) and the fourth limiting surface (224) abut against each other when the first clamping mechanism (21) and the second clamping mechanism (22) are closed.

5. The teleoperation master hand clamping mechanism according to claim 4, wherein, The third limiting surface (214) and the fourth limiting surface (224) are located at the proximal part of the opposite side surfaces of the connecting ends of the first clamping mechanism (21) and the second clamping mechanism (22), and there is a gap between the distal ends of the opposite side surfaces of the connecting ends of the first clamping mechanism (21) and the second clamping mechanism (22).

6. The teleoperation master hand clamping mechanism according to claim 1, wherein, The connecting end of the first clamping mechanism (21) is connected to the clamping end at an angle, and the connecting end of the second clamping mechanism (22) is connected to the clamping end at an angle.

7. The teleoperation master hand clamping mechanism according to claim 1, wherein It further includes an elastic member (9), and both ends of the elastic member (9) are respectively connected to the master hand housing (1) and the moving end.

8. The teleoperation master hand clamping mechanism according to claim 7, characterized in that, The elastic member (9) is a spring.

9. The teleoperation master hand clamping mechanism according to claim 1, characterized in that, The non-contact sensor assembly is selected from a photoelectric position sensor assembly or an electromagnetic sensor assembly.

10. The teleoperation master hand clamping mechanism according to claim 9, characterized in that, The non-contact sensor assembly is the photoelectric position sensor assembly, the non-contact sensor is a photoelectric sensor, the sensor sensing member is a photoelectric sensor sensing member (7), and the photoelectric position sensor assembly further includes an optical signal blocking block (8), where The photoelectric sensor is spaced apart from the moving end of the link mechanism; the optical signal blocking block (8) is fixedly arranged in the master hand housing (1) and is located between the photoelectric sensor and the photoelectric sensor sensing member (7); At least one transmission channel (81) is provided on the optical signal blocking block (8), and the transmission channel (81) is arranged to pass the optical signal emitted by the photoelectric sensor.

11. The teleoperation master hand clamping mechanism according to claim 10, characterized in that, The photoelectric sensor includes at least one spaced-apart reflective photoelectric sensor chip, and the reflective photoelectric sensor chip is arranged to emit the optical signal.

12. The teleoperation master hand clamping mechanism according to claim 10, characterized in that, The photoelectric sensor sensing member (7) is a light reflection slider, the light reflection slider is fixedly connected to the link mechanism, and the light reflection slider is arranged to reflect the optical signal.

13. The teleoperation master hand clamping mechanism according to claim 10, wherein The optical signal blocking block (8) is made of an elastic material.

14. The teleoperation master hand clamping mechanism according to claim 1, wherein It further includes a safety switch (10) provided on the main hand housing (1), and the safety switch (10) is configured to be triggered by the operation of the operator.

15. The teleoperation master hand clamping mechanism according to claim 14, characterized in that, The safety switch (10) can be one of a push-button switch, a human body detection trigger switch, or a toggle switch.

16. The teleoperation master hand clamping mechanism according to claim 1, characterized in that, The clamping ends of the first clamping mechanism (21) and the second clamping mechanism (22) are arc-shaped at the ends facing away from the main hand housing (1).

17. The remote operation master hand clamping mechanism according to claim 1, characterized in that, Finger sleeves (11) are further provided at the ends of the clamping ends of the first clamping mechanism (21) and the second clamping mechanism (22).

18. The teleoperation master hand clamping mechanism according to claim 17, characterized in that, The finger sleeves (11) are made of an elastic material.

19. A surgical robot system, characterized in that, It includes a control system, a teleoperated master hand clamping mechanism according to any one of claims 1-18, and a slave end actuator, wherein The control system is electrically connected to the non-contact sensor of the teleoperated master hand clamping mechanism; When the clamping end of the clamping mechanism (2) is stressed, it rotates in the direction close to the main hand housing (1), driving the moving end of the link mechanism to move. When the sensor sensing member approaches or moves away from the non-contact sensor along with the moving end of the link mechanism, a first signal regarding displacement change is generated. The non-contact sensor receives the first signal and converts it into a second signal regarding position change and sends it to the control system; The control system is configured to, when receiving the second signal sent from the non-contact sensor, control the operation of the slave end actuator according to the position change information included in the second signal.

20. The surgical robot system according to claim 19, wherein The control system is configured to be able to obtain the relative distance between the non-contact sensor and the sensor sensing member by processing the second signal; and the control system is configured to, when the relative distance between the non-contact sensor and the sensor sensing member is greater than a preset value stored in the control system or set by the user input, disconnect the connection with the non-contact sensor, thereby cutting off the control of the teleoperated master hand clamping mechanism over the slave end actuator; Alternatively, the control system is configured to be electrically connected to the safety switch (10) of the teleoperated master hand clamping mechanism, and the control system is configured to interrupt the working state when it detects that the operator triggers the safety switch (10) in the working state, and the working state is configured to be a state of implementing teleoperation on the slave end actuator through the teleoperated master hand clamping mechanism.

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