A teleoperation 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 link mechanism and a non-contact sensor assembly. The link mechanism is located inside the master hand housing. The clamping mechanism includes a clamping part and a connecting part which are connected to each other. The connection part between the clamping part and the connecting part is hinged to the master hand housing. The connecting part of the clamping mechanism is hinged to one end of the link mechanism. The other end of the link mechanism is a moving end. The non-contact sensor assembly includes a non-contact sensor and a sensor sensing element which are arranged at intervals. The non-contact sensor is fixedly arranged inside the master hand housing. The sensor sensing element is located inside the master hand housing and is connected to the moving end of the link mechanism. The clamping part extends towards the outside of the master hand housing, and the connecting part extends towards the inside of the master hand housing. 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, which 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, 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, which includes: a master hand housing, a clamping mechanism, a link mechanism, and a non-contact sensor assembly, wherein the link mechanism is located inside the master hand housing; the clamping mechanism includes a clamping part and a connecting part connected to each other, the connection part between the clamping part and the connecting part is hinged to the master hand housing, the connecting part of the clamping mechanism is hinged to one end of the link mechanism, and the other end of the link mechanism is a moving end; the non-contact sensor assembly includes a non-contact sensor and a sensor sensing element arranged at intervals, the non-contact sensor is fixedly arranged inside the master hand housing, and the sensor sensing element is located inside the master hand housing and connected to the moving end of the link mechanism; the clamping part extends towards the outside of the master hand housing, and the connecting part extends towards the inside of the master hand housing.

[0008] 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 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, and the first rotation center and the second rotation center are arranged at intervals; the link mechanism includes a third link and a fourth link; one end of the third link is hinged to the connecting part of the second clamping mechanism, and one end of the fourth link is hinged to the connecting part of the first clamping mechanism; the other ends of the third link and the fourth link are hinged to each other to form the moving end.

[0009] In an embodiment, the first clamping mechanism and the second clamping mechanism are symmetrically arranged along the center line of the master hand housing; the moving end of the link mechanism is located on the center line of the master hand housing, and when the clamping mechanism rotates, it drives the sensor sensing element to approach or move away from the non-contact sensor along the direction of the center line of the master hand housing.

[0010] 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 central axis 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.

[0011] In the present invention, the lengths of the connecting portions of the first clamping mechanism and the second clamping mechanism are both greater than the distances from the first rotation center and the second rotation center to the central axis of the master hand housing. One ends of the connecting portions of the first clamping mechanism and the second clamping mechanism are cross-distributed and are respectively hinged to one ends of the fourth link and the third link to form a first hinge point and a second hinge point.

[0012] In an embodiment, the lengths of the connecting portions of the first clamping mechanism and the second clamping mechanism are both less than the distances from the first rotation center and the second rotation center to the central axis of the master hand housing. One ends of the connecting portions of the first clamping mechanism and the second clamping mechanism are arranged at intervals, and one ends of the first connecting portion and the second connecting portion are respectively hinged to one ends of the fourth link and the third link to form a first hinge point and a second hinge point.

[0013] In a specific embodiment, the link mechanism further includes an elastic member, and two ends of the elastic member are respectively connected to the connecting portions of the first clamping mechanism and the second clamping mechanism; preferably, the elastic member is a tension spring.

[0014] With the above structural configuration, when the first clamping mechanism and the second clamping mechanism rotate relative to the master hand housing to achieve the clamping action, the first hinge point and the second hinge point are driven to move away from each other, so that the tension spring is stretched under force, and the third link and the fourth link are driven to move in a direction away from the non-contact sensor. When the force acting on the clamping mechanism is eliminated, the tension spring contracts under the action of the restoring force, driving the first hinge point and the second hinge point to approach each other, thereby driving the third link and the fourth link to move in a direction close to the non-contact sensor, and the first clamping mechanism and the second clamping mechanism return to the initial position. 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 excessive clamping force of the slave end actuator from causing tissue damage. By providing two rotation centers, the first and the second, on both sides of the center line of the master hand housing instead of a single rotation center on the center line of the master hand housing in the traditional way, the phenomenon of the master hand housing moving backward can be avoided, thereby reducing the possible errors in the operation process and achieving more precise motion control of the slave end actuator. Moreover, through the mutual cooperation of the clamping mechanism, the link and the tension spring, the layout of the tension spring structure and the assembly process are simpler, and it is easier for the operator to clamp the first clamping mechanism and the second clamping mechanism.

[0015] In the present invention, the non-contact sensor assembly can adopt any non-contact sensor suitable for sensing changes in physical quantities (such as displacement changes) in the art, 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 teleoperation can be avoided, and the service life of the clamping mechanism of the teleoperation master hand can be extended.

[0016] In a preferred embodiment, the non-contact sensor assembly is an optoelectronic position sensor assembly, the non-contact sensor is an optoelectronic sensor, the sensor sensing element is an optoelectronic sensor sensing element, and the optoelectronic position sensor assembly further includes an optical signal blocking block, wherein the optoelectronic sensor is spaced apart from the distal end of the link mechanism; the optical signal blocking block is fixedly arranged in the master hand housing and is located between the optoelectronic sensor and the optoelectronic sensor sensing element;

[0017] At least one transmission channel is provided on the optical signal blocking block, and the transmission channel is arranged to pass the optical signal emitted by the optoelectronic sensor; preferably, the optoelectronic sensor includes at least one reflective optoelectronic sensor chip, and the reflective optoelectronic sensor chip is arranged to emit the optical signal;

[0018] A transmission channel for the optical signal emitted by the photoelectric sensor is formed between the photoelectric sensor and the photoelectric sensor sensing member; the photoelectric sensor sensing member is fixedly connected to the moving end of the link mechanism as described above (for example, fixedly connected to the third connection position). 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.

[0019] Preferably, the photoelectric sensor sensing member is a light-reflecting slider, and the light-reflecting slider is arranged to reflect the optical signal.

[0020] Specifically, the photoelectric position sensor assembly is configured to emit an optical signal by the photoelectric sensor, the photoelectric sensor sensing member 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) and sends it to the surgical robot control system to indicate the relative position change between the photoelectric sensor and the photoelectric sensor sensing member, thereby controlling the operation and movement of the slave end actuator, such as the change of the angle of the surgical clamp.

[0021] In a specific embodiment, the optical signal stopper may be provided with two channels, and the two channels are separated by a baffle. Preferably, the optical signal stopper is made of an elastic material to avoid abrasion with the light-reflecting slider and the photoelectric sensor circuit board.

[0022] In a preferred embodiment, the remote operation master hand clamping mechanism may further include a slider guide member, the slider guide member is fixedly arranged in the installation part, and the sensor sensing member is slidably arranged on the slider guide member.

[0023] Preferably, the contact surfaces between the slider guide member and the sensor sensing member are mutually adapted to each other. More preferably, the slider guide member is provided with a sliding groove adapted to the shape of the contact surface of the sensor sensing member, and the link mechanism drives the sensor sensing member to slide along the sliding groove. For example, the sensor sensing member can be of any required shape according to application needs, such as a rectangular cross-section, a circular cross-section, an oval cross-section, etc. Correspondingly, the slider guide member can be arranged below the sensor sensing member, and its top is provided with a sliding groove adapted to the shape of the contact surface of the sensor sensing member. The setting of the arc-shaped groove limits the sensor sensing member and reduces the friction when the sensor sensing member moves.

[0024] In one embodiment, the master hand housing includes a mounting portion and a supporting portion. Specifically, the proximal end of the mounting portion is connected to the supporting portion, and the distal end is a free end for externally connecting a motor, and the motor drives the entire master hand housing to rotate. The mounting portion may be a closed housing with an accommodation cavity inside, and the non-contact sensor assembly and the linkage mechanism are both located in the accommodation cavity of the mounting portion. By disposing the non-contact sensor assembly inside the closed housing of the mounting portion, interference from external optical signals is avoided, so that the system has strong anti-interference ability. The function of the supporting portion is that when the operator presses the clamping mechanism, it abuts against the palm or the tiger's mouth of the operator's hand, thereby forming a support for the hand to relieve hand fatigue.

[0025] In a preferred embodiment, the remote operation master hand clamping mechanism further includes a safety switch disposed on the mounting portion, and the safety switch is configured to be triggered by the operator's action and is used to cut off the working state of the remote operation master hand clamping mechanism when triggered (for example, the working state may be the remote operation of the master hand clamping mechanism on the slave end actuator).

[0026] Preferably, the safety switch may be one of a push-button switch, a human body detection trigger switch, or a toggle switch, and is triggered by touching or pressing or toggling. In the working state (that is, when the master hand clamping mechanism is remotely operated in matching with the slave end actuator), the operator can control the first clamping mechanism and the second clamping mechanism, and by pressing the clamping mechanism with fingers, the opening and closing of the slave end surgical clamp are controlled. 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 clamp is disconnected. By providing the safety switch, it is convenient for the operator to switch between different surgical operation arms, and it can also prevent the slave end surgical clamp from moving due to the operator's accidental actuation of the clamping mechanism during the operation, thus causing a safety hazard.

[0027] In one embodiment, the clamping portions of the first clamping mechanism and the second clamping mechanism are arc-shaped at the ends facing away from the mounting portion, and the concave portions of the arc are convenient for the operator's fingers to hold. Preferably, finger sleeves are further provided at the clamping ends of the clamping portions 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.

[0028] 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 execution mechanism. Wherein, the control system is electrically connected to the non-contact sensor of the remote operation master hand clamping mechanism. When the clamping part of the clamping mechanism is stressed, it rotates towards the direction close to the master hand housing, driving the moving end of the link mechanism to move. When the sensor sensing element 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, converts it into a second signal regarding position change, and sends it to the control system. Meanwhile, the control system is configured to control the operation of the slave end execution mechanism according to the position change information included in the second signal when receiving the second signal sent from the non-contact sensor.

[0029] In a specific embodiment, the control system can obtain the relative distance between the non-contact sensor and the sensor sensing element 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 element is greater than a preset value stored in the control system or set by the user input, thereby cutting off the control of the master hand clamping mechanism over the slave end execution mechanism.

[0030] In another specific embodiment, the control system is also electrically connected to the safety switch of the remote operation master hand clamping mechanism. In the working state, that is, when performing remote operation on the slave end execution mechanism through the remote operation master hand clamping mechanism, when the operator turns on the safety switch, the safety switch sends a safety signal to the control system. The control system is configured to interrupt this working state in response to the safety signal, that is, to disconnect the remote operation of the master hand clamping mechanism over the slave end execution mechanism.

[0031] Advantages of the present invention

[0032] By setting two rotation centers, the present invention realizes the movement of the master hand clamping mechanism, making the structural arrangement simpler, reducing the possible errors during the operation, and making the fingers more relaxed when clamping. In addition, the present invention adopts a non-contact sensor, which transfers the movement displacement of the remote operation master hand clamping mechanism into a stable and accurate electrical signal change through the photoelectric position sensor assembly, thereby driving the movement of the slave end execution mechanism. During the process, the master hand clamping mechanism does not come into contact with the sensor, ensuring the service life of the remote operation master hand clamping mechanism, with high precision, simple principle, easy to implement, and thus having high reliability and safety. In addition, placing the photoelectric sensor in a closed cavity has strong anti-interference ability compared with non-contact sensors such as electromagnetic induction. Description of the drawings

[0033] Figure 1 It is a schematic perspective view of an embodiment of the remote operation master hand clamping mechanism of the present invention.

[0034] Figure 2 is Figure 1 The overall plan view of the remote operation master hand clamping mechanism shown in [reference], where the master hand housing is cut open to show its internal structure.

[0035] Figure 3 is Figure 1 The structure within the installation part of the remote operation master hand clamping mechanism shown in [reference] and the schematic diagram of the clamping mechanism.

[0036] Figure 4 It is a schematic diagram of an embodiment of the optical signal stopper within the remote operation master hand clamping mechanism according to the present invention.

[0037] Figure 5 It is a schematic diagram of another embodiment of the remote operation master hand clamping mechanism of the present invention.

[0038] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that the embodiments or examples described below with reference to the accompanying drawings are only used to illustrate the best implementation mode of realizing 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, similar reference numerals indicate similar components. Detailed implementation mode

[0039] Definition

[0040] Distal or far end: In this specification, when referring to "distal or far end", this term refers to the side or end relatively far from the operator.

[0041] Proximal or near end: In this specification, when referring to "proximal or near end", this term refers to the side or end relatively close to the operator.

[0042] Front and back: In this specification, as described above, when referring to "front" and "back", both are relative directions, where it is stipulated 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 back.

[0043] The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0044] Figure 1 and Figure 2A perspective structural view and an 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 6, a clamping mechanism 4, a link mechanism, and a non-contact sensor assembly. The link mechanism is located inside the master hand housing 6 (see Figure 2 ), so as to avoid interference of external environmental conditions on the non-contact sensor assembly. The clamping mechanism 4 includes a clamping part and a connecting part connected to each other. The connection part between the clamping part and the connecting part is hinged to the master hand housing 6. The connecting part of the clamping mechanism 4 is hinged to one end of the link mechanism, and the other end of the link mechanism is a moving end. The clamping part extends towards the outside of the master hand housing 6, and the connecting part extends towards the inside of the master hand housing 6.

[0045] In the illustrated preferred embodiment, there are two clamping mechanisms 4, which are respectively arranged on both sides of the master hand housing 6, and can be symmetrically arranged or asymmetrically arranged. The clamping parts of the two clamping mechanisms 4 rotate relative to the master hand housing 6 when subjected to a force. However, it should be understood that the clamping mechanism 4 can also be arranged as one. The non-contact sensor assembly includes a non-contact sensor and a sensor sensing element. The non-contact sensor is fixedly arranged inside the master hand housing 6, and the sensor sensing element is located inside the master hand housing 6 and is connected to the moving end of the link mechanism. As can be seen from Figure 1 , the distance between the clamping part of the clamping mechanism 4 and the master hand housing 6 gradually increases in the direction away from the hinge point between the clamping mechanism 4 and the master hand housing 6. Of course, in another embodiment, the clamping part of the clamping mechanism 4 extends towards the outside of the master hand housing 6. For example, the clamping part can also be in an inverted "L" shape.

[0046] In addition, the clamping part and the connecting part of the clamping mechanism 4 are fixedly connected or integrally formed. The two respectively extend towards the outside and the inside of the master hand housing 6, and there is an included angle between the clamping part and the connecting part, so that when the clamping part is subjected to a force towards the master hand housing 6, it rotates towards the direction close to the master hand housing 6. The clamping part drives the connecting part to pivot towards the proximal end relative to the master hand housing 6, and the connecting part drives the link mechanism to move towards the proximal end, thereby driving the sensor sensing element fixedly connected to the link mechanism to move away from the non-contact sensor.

[0047] When the operator drives the clamping mechanism 4 to rotate close to the master hand housing 6, the link mechanism is driven to move, thereby driving the sensor sensing element away from the non-contact sensor. In this way, by converting the movement of the clamping mechanism 4 into the displacement change between the sensor sensing element 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.

[0048] In Figure 1 and Figure 2In the teleoperation master hand clamping mechanism shown, the clamping mechanism 4 includes a first clamping mechanism and a second clamping mechanism. The first clamping mechanism and the second clamping mechanism are respectively hinged to the master hand housing 6 at a first rotation center and a second rotation center, and the first rotation center and the second rotation center are spaced apart. The linkage mechanism includes a third link 53 and a fourth link 54. One end of the third link 53 is hinged to the connecting portion of the second clamping mechanism, and one end of the fourth link 54 is hinged to the connecting portion of the first clamping mechanism. The other ends of the third link 53 and the fourth link 54 are hinged to each other to form a moving end. Specifically, the first clamping mechanism and the second clamping mechanism can be arranged on both sides of the master hand housing 6, and can be symmetrically arranged or asymmetrically arranged. When the first clamping mechanism and the second clamping mechanism are symmetrically arranged along the center line of the master hand housing 6, the moving end of the linkage mechanism moves along the center line direction. When the first clamping mechanism and the second clamping mechanism 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 that the sensor sensing element approaches or moves away from the non-contact sensor driven by the moving end. However, it should be understood that when only one clamping mechanism 4 is provided, the linkage mechanism only includes the third link 53 or the fourth link 54, one end of which forms a connecting end to be hinged to the connecting portion of the clamping mechanism 4, and the other end forms a moving end.

[0049] More preferably, the first clamping mechanism and the second clamping mechanism are symmetrically arranged along the center line of the master hand housing 6. The moving end of the linkage mechanism is located on the center line of the master hand housing 6, and drives the sensor sensing element to approach or move away from the non-contact sensor along the direction of the center line of the master hand housing 6 when the clamping mechanism 4 rotates. Specifically, the first clamping mechanism includes a first clamping portion 41 and a first connecting portion 51, and the second clamping mechanism includes a second clamping portion 42 and a second connecting portion 52, which are respectively symmetrically arranged on both sides of the master hand housing 6. The first connecting portion 51 and the first clamping portion 41 are fixedly connected and hinged to the master hand housing 6 at the connection portion to form a first rotation center; the second connecting portion 52 and the second clamping portion 42 are fixedly connected and hinged to the master hand housing 6 at the connection portion to form a second rotation center. By providing two rotation centers, the first and the second, on both sides of the center line of the master hand housing 6 instead of a single rotation center on the center line of the master hand housing 6 in the traditional way, the phenomenon that the master hand housing 6 moves backward can be avoided, thereby reducing the possible errors in the operation process and achieving more precise motion control of the slave end actuator.

[0050] Preferably, the linkage mechanism further includes an elastic member 55. Two ends of the elastic member 55 are respectively connected to the connecting parts of the first clamping mechanism and the second clamping mechanism. In the illustrated embodiment, the elastic member 55 is a spring, such as a tension spring or a compression spring, and may also be other elastic components. More preferably, the elastic member 55 is a tension spring. Through the mutual cooperation of the linkage mechanism and the tension spring, the layout of the tension spring structure and the assembly process are simpler, and the operator can have a more tactile feeling of the clamping resistance when clamping the first clamping mechanism and the second clamping mechanism, having a sense of presence similar to that of the surgical site.

[0051] Specifically, one end of the first connecting part 51 away from the first rotation center is connected to one end of the elastic member 55 away from the first clamping part 41 at a first connection position; one end of the second connecting part 52 away from the second rotation center is connected to one end of the elastic member 55 away from the second clamping part 42 at a second connection position. One end of the third link 53 is hinged to the second connecting part 52 at the second connection position; one end of the fourth link 54 is hinged to the first connecting part 51 at the first connection position; the other ends of the third link 53 and the fourth link 54 are hinged at a third connection position to form a moving end; the sensor sensing member is fixedly connected to the moving end.

[0052] With such a structural configuration, when the first clamping mechanism and the second clamping mechanism rotate relative to the master hand housing 6 to achieve a clamping action, it drives the first connection position and the second connection position to move away from each other, thereby stretching the elastic member 55 under force and driving the third connection position formed by the third link 53 and the fourth link 54 to move away from the non-contact sensor. When the acting force on the clamping mechanism 4 is eliminated, the elastic member 55 contracts under the action of the restoring force, driving the first connection position and the second connection position to approach each other, thereby driving the third link 53 and the fourth link 54 to move in the direction close to the non-contact sensor, and the first clamping part 41 and the second clamping part 42 return to the initial position.

[0053] In this embodiment, the lengths of the first connecting part 51 and the second connecting part 52 are both greater than the distances from the first rotation center and the second rotation center to the center line of the master hand housing. One ends of the first connecting part 51 and the second connecting part 52 are cross-distributed and are respectively hinged to one ends of the fourth link 54 and the third link 53 to form a first hinge point and a second hinge point.

[0054] In another embodiment, such as Figure 5As shown, the lengths of the first connecting portion 51 and the second connecting portion 52 are both less than the distances from the first rotation center and the second rotation center to the center line of the master hand housing. One ends of the connecting portion of the first clamping mechanism and the connecting portion of the second clamping mechanism are arranged at intervals, and one ends of the first connecting portion 51 and the second connecting portion 52 are respectively hinged to one ends of the fourth link 54 and the third link 53 to form a first hinge point and a second hinge point. At this time, the elastic member between the connecting portion of the first clamping mechanism and the connecting portion of the second clamping mechanism is preferably a tension spring.

[0055] Preferably, when the distance between the non-contact sensor and the sensor sensing member 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 excessive clamping force of the slave end actuator from causing tissue damage.

[0056] In one embodiment, when the sensor sensing member is driven by the clamping mechanism 4 to move, a first signal is generated. The non-contact sensor receives the first signal from the sensor sensing member 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 end actuator, such as the change in the angle of the surgical clamp.

[0057] 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, an optoelectronic sensor or an electromagnetic sensor, preferably an optoelectronic sensor. Of course, in the present invention, the non-contact sensor assembly can also be an electromagnetic sensor assembly. At this time, the non-contact sensor is an electromagnetic sensor, and the sensor sensing member is an electromagnetic sensor sensing member. Through the cooperation between the electromagnetic sensor and the electromagnetic sensor sensing member, the conversion between signals can also be realized in a non-contact manner.

[0058] Figure 2 A specific embodiment of the non-contact sensor assembly is shown in Figure 2The non-contact sensor assembly shown is a photoelectric position sensor assembly. The non-contact sensor is a photoelectric sensor 1, the sensor sensing element is a photoelectric sensor sensing element, and the photoelectric position sensor assembly further includes a light signal stopper 2. The photoelectric sensor 1 is fixed inside the master hand housing 6 and is arranged at one end away from the link mechanism. The light signal stopper 2 is fixedly arranged inside the master hand housing 6 and is located between the photoelectric sensor 1 and the photoelectric sensor sensing element. At least one transmission channel is provided on the light signal stopper 2, and the transmission channel is arranged to pass the light signal emitted by the photoelectric sensor. The photoelectric sensor 1 includes at least one reflective photoelectric sensor chip, and the reflective photoelectric sensor chip is arranged to emit a light signal. The photoelectric sensor sensing element is fixedly connected to the moving end of the link mechanism at the third connection. Specifically, the photoelectric sensor 1 is a photoelectric sensor circuit board, which may include one or two reflective photoelectric sensor chips, and the number of transmission channels provided on the light signal stopper 2 is consistent with the number of reflective photoelectric sensor chips. Preferably, the photoelectric sensor 1 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.

[0059] Specifically, the photoelectric position sensor assembly is configured to emit a light signal by the photoelectric sensor 1, the photoelectric sensor sensing element reflects the light signal to generate the first signal, and the photoelectric sensor 1 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 1 and the photoelectric sensor sensing element.

[0060] The light signal stopper 2 is provided with two channels 21 (see Figure 4 ), and the two channels 21 are separated by a baffle 22. The setting of the two channels 21 is to prevent the light signals emitted by the two photoelectric sensor chips from interfering with each other. In Figure 3 the photoelectric sensor sensing element shown is a light reflection slider 3, and the light reflection slider 3 is arranged to reflect the light signal. During operation, the light signals emitted by the two photoelectric sensor chips on the circuit board of the photoelectric sensor 1 respectively pass through the two channels 21, irradiate on the light reflection slider 3, and then the light signals reflected back by the light reflection slider 3 are received by the photoelectric sensor chips. Since the link mechanism drives the light reflection slider 3 to move, the distance between the light reflection slider 3 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 transfer it to the control system through a voltage amplification circuit, so as to control the change of the angle of the slave end surgical actuator, that is, the surgical clamp, thereby greatly improving the accuracy of the surgical operation. Preferably, the light signal stopper 2 is made of an elastic material to avoid abrasion between the light reflection slider 3 and the circuit board of the photoelectric sensor 1.

[0061] As Figure 1As shown in , the main hand housing 6 preferably also includes a mounting portion 61 and a support portion 62, wherein the proximal end of the mounting portion 61 is connected to the support portion 62, and the distal end is a free end for connecting an external motor, and the motor drives the main hand housing 6 to rotate as a whole. Specifically, the mounting portion 61 is a closed housing with an accommodating cavity inside, and the non-contact sensor component (for example, Figure 2 The photoelectric sensor 1, the light signal stopper 2 and the light reflecting slider 3) and the connecting rod mechanism (for example, Figure 2 The connecting rods 53-54 and the elastic member 55 shown in the figure are all located in the accommodating cavity of the mounting portion 61. By arranging the non-contact sensor assembly in the closed housing of the mounting portion 61, it is possible to avoid interference from external light signals, so that the system has a strong anti-interference ability. The support portion 62 is used to abut against the palm or the base of the hand of the operator when the operator presses the clamping mechanism 4, thereby forming a support for the hand to relieve hand fatigue.

[0062] like Figure 1 As shown in , in a preferred embodiment, the remote-operated master hand clamping mechanism of the present invention further includes a safety switch 7, which is configured to be triggered by the action of the operator. Preferably, the safety switch 7 can also be a push-button switch, a human body detection trigger switch, or a toggle switch, which is triggered by pressing, touching, or toggling. As shown in the figure, the safety switch 7 is arranged on the mounting portion 61. In the working state, that is, when the master hand clamping mechanism matches the slave end actuator remotely, the thumb and middle finger of the operator press the first clamping portion 41 and the second clamping portion 42 respectively, and the clamping mechanism 4 is pressed by the fingers, thereby controlling the opening and closing of the slave end surgical clamp. When the operator's hand acts on the safety switch 7, for example, the hand can act on the safety switch 7 by holding, touching, pressing, or toggling, thereby triggering the safety switch to work 7, at which time the remote operation of the master hand clamping mechanism and the slave end actuator is disconnected, that is, the clamping mechanism is disconnected from the slave end surgical clamp. By setting the safety switch 7, the operator can switch between different surgical operating arms conveniently, and can also avoid the operator actuating the clamping mechanism 4 due to misoperation during the operation, thereby causing movement of the surgical clamp from the end, causing safety hazards.

[0063] like Figure 3 As shown in , the remote-operated master hand clamping mechanism preferably further includes a slider guide 8. The slider guide 8 is fixedly arranged in the mounting portion 61, and the light reflecting slider 3 is slidably arranged on the slider guide 8.

[0064] Preferably, the contact surfaces of the slider guide 8 and the light reflecting slider 3 are adapted to each other, and the slider guide 8 is provided with a sliding groove adapted to the shape of the contact surface of the light reflecting slider 3, and the connecting rod mechanism drives the light reflecting slider 3 to slide along the sliding groove. Figure 3As shown in the figure, the optical reflection slider 3 is in the shape of a cylinder and has a circular cross-section. Correspondingly, the slider guide 8 is provided below the optical reflection slider 3, and an arc-shaped sliding groove adapted to the shape of the contact surface of the optical reflection slider 3 is provided at the top thereof. The setting of this arc-shaped sliding groove limits the optical reflection slider 3 and reduces the friction when the optical reflection slider 3 moves.

[0065] In addition, as Figure 1 shown in the figure, the ends of the first clamping portion 41 and the second clamping portion 42 away from the mounting portion 61 can be arc-shaped, and the recessed portion of the arc surface is convenient for the operator's fingers to hold. Preferably, finger sleeves 43 can also be provided at the ends of the first clamping portion 41 and the second clamping portion 42. By providing the finger sleeves 43, the operator's fingers feel more comfortable when operating the clamping mechanism 4. Preferably, the finger sleeves 43 are made of an elastic material, for example, a fiber material or a rubber material with high elasticity can be used.

[0066] This embodiment provides a surgical robot system, which includes a control system, the teleoperation master hand clamping mechanism in any of the above embodiments, and the slave end execution mechanism. The control system is electrically connected to the non-contact sensor of the teleoperation master hand clamping mechanism. When the clamping portion of the clamping mechanism 4 is stressed, it rotates in the direction close to the master hand housing 6, 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 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.

[0067] Next, the signal control process of the teleoperation master hand clamping mechanism of the present invention will be described in conjunction with the specific embodiments Figure 1-4 shown in the figure.

[0068] In the working state, the circuit board of the photoelectric sensor 1 emits an optical signal. The optical signals emitted by two photoelectric sensor chips on the circuit board of the photoelectric sensor 1 respectively irradiate the optical reflection slider 3 through two channels 21. The optical reflection slider 3 reflects the optical signal 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 4 to drive the optical reflection slider 3 to move, the distance between the optical reflection slider 3 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 optical reflection slider 3. 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.

[0069] Specifically, the control system can obtain the relative distance between the photoelectric sensor chip and the optical reflection slider 3 by processing the second signal. Further, the control system is configured to disconnect the connection with the circuit board of the photoelectric position sensor 1 when the relative distance between the photoelectric sensor chip and the optical reflection slider 3 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 on the slave end actuator.

[0070] Preferably, the control system is also electrically connected to the safety switch 7 of the teleoperated master hand clamping mechanism. In the working state, that is, when the teleoperated master hand clamping mechanism performs teleoperation on the slave end actuator, when the operator triggers the safety switch 7, it is detected that the control system interrupts the working state when the operator triggers the safety switch 7 in the working state, that is, the teleoperation of the master hand clamping mechanism on the slave end actuator is disconnected.

[0071] Although specific embodiments of the present invention have been illustrated and described, it will be apparent 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 remote - operation master - hand clamping mechanism, characterized in that it includes: a master - hand housing (6), a clamping mechanism (4), a linkage mechanism, and a non - contact sensor assembly, where the linkage mechanism is located inside the master - hand housing (6); the clamping mechanism (4) includes a clamping part and a connecting part connected to each other. The connection part between the clamping part and the connecting part is hinged to the master - hand housing (6). The connecting part of the clamping mechanism (4) is hinged to one end of the linkage mechanism, and the other end of the linkage mechanism is a moving end; the non - contact sensor assembly includes a non - contact sensor and a sensor sensing element arranged at intervals. The non - contact sensor is fixedly arranged inside the master - hand housing (6), and the sensor sensing element is located inside the master - hand housing (6) and connected to the moving end of the linkage mechanism; the clamping part extends towards the outside of the master - hand housing (6), and the connecting part extends towards the inside of the master - hand housing (6); the clamping mechanism (4) includes a first clamping mechanism and a second clamping mechanism arranged on both sides of the master - hand housing (6). The first clamping mechanism and the second clamping mechanism are respectively hinged to the master - hand housing (6) at a first rotation center and a second rotation center, and the first rotation center and the second rotation center are arranged at intervals; the linkage mechanism includes a third link (53) and a fourth link (54); one end of the third link (53) is hinged to the connecting part (52) of the second clamping mechanism, and one end of the fourth link (54) is hinged to the connecting part (51) of the first clamping mechanism; the other ends of the third link (53) and the fourth link (54) are hinged to each other to form the moving end; the linkage mechanism further includes an elastic member (55), and both ends of the elastic member (55) are respectively connected to the connecting part of the first clamping mechanism and the connecting part of the second clamping mechanism.

2. The remote - operation master - hand clamping mechanism according to claim 1, characterized in that the first clamping mechanism and the second clamping mechanism are symmetrically arranged along the center line of the master - hand housing (6); the moving end of the linkage mechanism is located on the center line of the master - hand housing (6), and when the clamping mechanism (4) rotates, it drives the sensor sensing element to approach or move away from the non - contact sensor along the direction of the center line of the master - hand housing (6).

3. The remote - operation master - hand clamping mechanism according to claim 1, characterized in that the lengths of the connecting part of the first clamping mechanism and the connecting part of the second clamping mechanism are both greater than the distances from the first rotation center and the second rotation center to the center line of the master - hand housing. One end of the connecting part of the first clamping mechanism and one end of the connecting part of the second clamping mechanism are cross - distributed, and one end of the connecting part of the first clamping mechanism and one end of the connecting part of the second clamping mechanism are respectively hinged to one end of the fourth link (54) and one end of the third link (53) to form a first hinge point and a second hinge point.

4. The remote - operation master - hand clamping mechanism according to claim 1, characterized in that The lengths of the connecting parts of the first clamping mechanism and the second clamping mechanism are both smaller than the distances from the first rotation center and the second rotation center to the center line of the master hand housing. One ends of the connecting parts of the first clamping mechanism and the second clamping mechanism are arranged at intervals, and one end of the connecting part of the first clamping mechanism and one end of the connecting part of the second clamping mechanism are respectively hinged to one end of the fourth link (54) and one end of the third link (53), forming a first hinge point and a second hinge point.

5. The remote operation master hand clamping mechanism according to claim 1, wherein, the elastic member (55) is a tension spring.

6. The remote operation master hand clamping mechanism according to claim 1, wherein, the non-contact sensor assembly is selected from a photoelectric position sensor assembly or an electromagnetic sensor assembly.

7. The remote operation master hand clamping mechanism according to claim 6, wherein, the non-contact sensor assembly is the photoelectric position sensor assembly, the non-contact sensor is a photoelectric sensor (1), the sensor sensing member is a photoelectric sensor sensing member, and the photoelectric position sensor assembly further includes an optical signal blocking block (2), where the photoelectric sensor (1) is spaced apart from the distal end of the link mechanism; the optical signal blocking block (2) is fixedly arranged in the master hand housing (6) and is located between the photoelectric sensor (1) and the photoelectric sensor sensing member; at least one transmission channel is provided on the optical signal blocking block (2), and the transmission channel is arranged to pass the optical signal emitted by the photoelectric sensor.

8. The remote operation master hand clamping mechanism according to claim 7, wherein, the photoelectric sensor (1) includes at least one reflective photoelectric sensor chip, and the reflective photoelectric sensor chip is arranged to emit the optical signal.

9. The remote operation master hand clamping mechanism according to claim 7, wherein, the photoelectric sensor sensing member is a light reflection slider (3), and the light reflection slider (3) is arranged to reflect the optical signal.

10. The remote operation master hand clamping mechanism according to claim 7, wherein, the optical signal blocking block (2) is made of an elastic material.

11. The remote operation master hand clamping mechanism according to claim 7, wherein, the master hand housing further includes an installation part (61), the remote operation master hand clamping mechanism further includes a slider guiding member, the slider guiding member is fixedly arranged in the installation part (61), and the sensor sensing member is slidably arranged on the slider guiding member.

12. The remote operation master hand clamping mechanism according to claim 11, wherein, the contact surfaces between the slider guiding member and the sensor sensing member are mutually adapted to each other.

13. The remote operation master hand clamping mechanism according to claim 11, wherein, the slider guiding member is provided with a sliding groove adapted to the shape of the contact surface of the sensor sensing member, and the link mechanism drives the sensor sensing member to slide along the sliding groove.

14. The remote operation master hand clamping mechanism according to claim 1, wherein, The master hand housing further includes a mounting portion (61), and the remote operation master hand clamping mechanism further includes a safety switch (7) disposed on the mounting portion (61), and the safety switch (7) is configured to be triggered by the operation of the operator.

15. The remote operation master hand clamping mechanism according to claim 14, wherein, the safety switch (7) can be one of a push-button switch, a human body detection trigger switch, or a toggle switch.

16. The remote operation master hand clamping mechanism according to claim 1, wherein, the master hand housing further includes a mounting portion (61), and the clamping portions of the first clamping mechanism and the second clamping mechanism are arc-shaped at the ends facing away from the mounting portion (61).

17. The remote operation master hand clamping mechanism according to claim 16, wherein, finger sleeves are further provided at the clamping ends of the clamping portions of the first clamping mechanism and the second clamping mechanism.

18. The remote operation master hand clamping mechanism according to claim 17, wherein, the finger sleeves are made of an elastic material.

19. A surgical robot system, wherein, it includes a control system, a remote operation 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 remote operation master hand clamping mechanism; the rotation of the clamping portion of the clamping mechanism (4) close to or away from the master hand housing (6) drives the moving end of the link mechanism to move, and 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, and 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 remote operation master hand clamping mechanism over the slave end actuator; alternatively, the control system is configured to be electrically connected to the safety switch of the remote operation 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 during the working state, and the working state is configured to be a state of remotely operating the slave end actuator through the remote operation master hand clamping mechanism.

Images