Cart console and minimally invasive surgical robot

Abstract

The present application discloses a cart console and a minimally invasive surgical robot, wherein a cart console includes a push-pull module, a torsion module and a control module for controlling the push-pull module and the torsion module, wherein the torsion module includes a torsion sensing component connected to the control module. In an embodiment of the present application, the above-mentioned cart console is adopted. When the user pushes the control module, the overall micro-motion of the torsion sensing component is achieved through the connection between the micro-motion seat and the first shell, thereby eliminating the influence of the push-pull force on the torque sensor. When the user rotates the control module, the generated torque signal and torsion force are transmitted to the first shell and the second shell by the sliding rod, thereby eliminating the influence of the torsion force on the tension and compression sensor. That is, this solution realizes the mechanical decoupling of the tension and compression sensor and the torque sensor, and can relatively easily control the movement of the slave hand.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a cart control console and a minimally invasive surgical robot. Background Art

[0002] Minimally invasive surgery refers to a surgical procedure performed within the human body using modern medical instruments such as laparoscopes and thoracoscopes, as well as related equipment. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery. However, the limitations of incision size make the operation significantly more difficult. Furthermore, the fatigue and tremors of the surgeon during prolonged procedures are amplified, which has become a key factor hindering the development of minimally invasive surgical techniques. With the development of robotics, a new technology in the field of minimally invasive medicine has emerged that overcomes these shortcomings while inheriting their advantages: minimally invasive surgical robotics.

[0003] A common minimally invasive surgical robot consists of a doctor's console, a patient-side cart, and a display device. The surgeon operates an input device at the doctor's console and transmits the input to the patient-side cart, which is connected to a remotely operated surgical instrument. Based on the surgeon's input at the doctor's console, the remotely operated surgical instrument is actuated at the patient-side cart to perform surgery on the patient, thereby establishing a master-slave control relationship between the doctor's console and the surgical instruments on the patient-side cart. Due to space constraints and equipment costs, hospitals are generally unable to equip multiple minimally invasive surgical robots. Therefore, the patient-side cart often needs to be moved from one location to another (the doctor's console and display device also need to be moved, but this is relatively easy, so the patient-side cart is the focus of this description). For example, the patient-side cart can be moved from one location in the operating room to another, or from one operating room to another. However, due to its heavy weight, large size, and complex mechanical structure, it is difficult to move manually, so electric-powered transmission devices have emerged to assist users in moving the patient-side cart. Accordingly, a matching mobile input control mechanism has been produced on the market, hoping to drive and move the patient-side cart in a relatively easy-to-use manner.

[0004] A Chinese invention patent with authorization publication number CN105050531B discloses a surgical patient-side trolley with a control interface, comprising: a control interface having a grip portion and a connecting mechanism for detachably connecting the control interface to the trolley. A user grips the grip portion to move the trolley. The grip portion is provided with at least one sensor capable of sensing the rotational force, forward force, and backward force applied by the user to the grip portion to move the trolley. Authorization publication number CN109455218A In the Chinese invention patent, a manipulation armrest device for an electric mobile platform is disclosed, which includes: a base, a tension and compression sensor, a sensor mounting plate, an armrest-type micro-rotatable assembly and two handle-type micro-rotatable assemblies. The middle part of the armrest-type micro-rotatable assembly is rotatably connected to the base and is also connected to the tension and compression sensor. The tension and compression sensor is fixedly mounted on the base through the sensor mounting plate. The two handle-type micro-rotatable assemblies are respectively mounted at both ends of the armrest-type micro-rotatable assembly. Torque sensors are provided in both handle-type micro-rotatable assemblies.

[0005] However, the above-mentioned surgical patient-side trolley with a control interface and the control armrest device for the electric mobile platform have at least the following technical defects:

[0006] 1. Since sensors usually require supporting components such as signal amplifiers, the sensor components and structural parts of the above two solutions are all integrated into the handle, which will result in a large volume and difficult actual production and assembly. If the volume must be reduced, the cost of components will increase and the assembly difficulty will be further increased;

[0007] 2. In the above two solutions, the user pushes or twists the handle to directly move the trolley. There is no safety unlocking mechanism, which can easily lead to safety accidents when accidental contact occurs.

[0008] 3. The above-mentioned scheme for the control armrest device for the electric mobile platform only provides the idea of ​​using the tension and compression sensors and the torque sensors in combination to control the movement of the equipment. It does not disclose how the micro-motion rotatable component can achieve "micro-motion" and "rotation", and cannot eliminate the coupling effect between the tension and compression sensors and the torque sensors. Summary of the Invention

[0009] In view of the shortcomings of the existing technology, the present invention provides a cart console and a minimally invasive surgical robot that are easy to assemble and can eliminate the coupling effects between different types of sensors.

[0010] To achieve the above objectives, the present invention is implemented through the following technical solutions.

[0011] First, the present application provides a cart control console, comprising a push-pull module, a torsion module, and a control module for operating the push-pull module and the torsion module. The torsion module includes a torsion sensing component connected to the control module, the torsion sensing component being capable of sensing a torsion force input by the control module and moving slightly as a whole in a first direction in response to the push-pull force input by the control module. The push-pull module includes a push-pull sensing component, the push-pull sensing component being configured to sense the slight movement of the torsion sensing component in the first direction.

[0012] The first direction is the linear movement direction of the trolley in cooperation with the trolley control console when the control module outputs a push-pull force.

[0013] It is further defined that, in the aforementioned cart console, the torsion module further comprises a first shell, and the torsion sensing component is disposed within the first shell;

[0014] The push-pull module further includes a second shell, and the push-pull sensing component is disposed in the second shell;

[0015] The first shell is fixedly connected to the second shell.

[0016] It is further defined that in the above-mentioned cart console, the torsion module further comprises:

[0017] a micro-motion seat, disposed in the first housing and rotatably connected to the torsion sensing component;

[0018] Oil-free sleeves, arranged on the inner walls of both sides of the first housing along the first direction;

[0019] The sliding shaft is fixedly arranged on the micro-motion seat and is slidably connected with the oil-free shaft sleeve.

[0020] It is further defined that in the above-mentioned cart control console, at least two oil-free bushings are provided on the inner wall of one side of the first shell.

[0021] It is further defined that in the above-mentioned cart console, the torsion sensing component includes:

[0022] A mounting bracket, rotatably disposed in the micro-motion seat and with a top portion extending to the outside of the first housing for mounting the control module;

[0023] A sensor fixing portion, used for mounting a torque sensor and connected to the push-pull sensing assembly;

[0024] The torque sensor has a sensing end coupled to the mounting bracket and a fixed end fixedly connected to the sensor fixing portion, and is used to sense the torque transmitted by the mounting bracket.

[0025] It is further defined that, in the above-mentioned cart console, the torsion sensing assembly further comprises:

[0026] The rotating seat is fixedly arranged on the mounting bracket and is rotatably connected to the micro-motion seat and the sensor fixing part.

[0027] It is further defined that in the above-mentioned cart console, the push-pull sensing component includes:

[0028] a sliding rod, one end of which is fixedly mounted on the torsion sensing assembly and the other end of which extends into the second housing along the first direction;

[0029] A connecting block, fixedly arranged at one end of the sliding rod away from the torsion sensing component;

[0030] The tension and compression sensor is fixedly arranged in the second housing and the sensing end is connected to the connecting block.

[0031] It is further defined that in the above-mentioned cart console, at least two sliding rods are provided between the torsion sensing assembly and the connecting block.

[0032] It is further defined that, in the above-mentioned cart console, the control module includes:

[0033] a third housing, fixedly disposed on the torsion sensing assembly;

[0034] a handle portion, provided on the third shell;

[0035] The safety component is arranged on the third shell and is used for the trolley control console to cooperate with the starting and braking of the trolley.

[0036] It is further defined that the above-mentioned cart console, wherein the safety component includes:

[0037] An operating button is provided on the handle portion and is used to open and close the push-pull module and the twist module.

[0038] Secondly, the present application provides a minimally invasive surgical robot, characterized in that it includes the cart console as described in any one of the above items, and further includes:

[0039] A driving unit is coupled to the cart console and is used to drive the movement of the minimally invasive surgical robot.

[0040] The present invention has at least the following beneficial effects:

[0041] 1. By distributing the tension and compression sensors and torque sensors in a torsion module and a push-pull module, the volume and integration of the control module of the cart console can be greatly reduced. It also facilitates the assembly and disassembly of the torsion module and the push-pull module, as well as subsequent fault inspection and maintenance, thus reducing costs.

[0042] 2. When the user pushes the control module, the connection between the micro-motion seat and the first housing enables the overall micro-motion of the torsion sensing assembly, thereby eliminating the influence of push and pull forces on the torque sensor. When the user rotates the control module, the generated torque signal and torsional force are transmitted to the first and second housings by the sliding rod, thereby eliminating the influence of torsional force on the tension and compression sensors. In other words, this solution achieves mechanical decoupling of the tension and compression sensors and the torque sensor, making it relatively easy to control the movement of the slave hand.

[0043] 3. When the user does not press the operating button, the twist module and the push-pull module are in a non-working state. Even the push-pull or twist control module cannot drive the slave to move. Combined with the emergency stop button, double safety protection can be achieved to avoid safety accidents caused by user misoperation and improve the safety and stability of slave operation.

[0044] 4. The indicator unit enables the user to more intuitively grasp the start-up status of the twist module and the push-pull module, making the overall operation of the control module clearer. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a schematic diagram of the specific structure of the minimally invasive surgical robot according to an embodiment of the present application;

[0046] Figure 2 This is a schematic diagram of the specific structure of the cart control console according to an embodiment of the present application;

[0047] Figure 3 This is a structural diagram of the cart console "connecting arm 11" of the embodiment of the present application, with the "rotating seat 1462" hidden inside;

[0048] Figure 4 This is a schematic diagram of the internal structure of the "second shell 139" of the cart console in an embodiment of the present application;

[0049] Figure 5 This is a structural diagram of the interior of the "first shell 143" of the cart control console of the embodiment of the present application, with the "rotating seat 1462" hidden;

[0050] Figure 6 This is a structural diagram of the "torsion sensing component" portion of the cart console according to an embodiment of the present application;

[0051] Figure 7 This is a schematic diagram of the exploded structure of the "torsion sensing component" portion of the cart console according to an embodiment of the present application;

[0052] Figure 8 This is a structural diagram of the "mounting bracket 1461" of the cart console according to an embodiment of the present application;

[0053] Figure 9 This is a schematic structural diagram of the "upper flange 1465" of the cart control console according to an embodiment of the present application;

[0054] Figure 10 This is a structural diagram of the "sensor mounting plate 1467" and "sensor fixing shaft 1468" parts of the cart console according to an embodiment of the present application;

[0055] Figure 11 This is a structural diagram of the "fixing block 1464" of the cart control console according to an embodiment of the present application;

[0056] Figure 12 This is a structural diagram of the "rotating seat 1462" of the cart control console according to an embodiment of the present application;

[0057] Figure 13 This is a schematic diagram of the structure of the "micro-motion seat 142" of the cart control console in an embodiment of the present application;

[0058] Figure 14 This is a structural diagram of the "sliding shaft 147" of the cart control console according to an embodiment of the present application;

[0059] Figure 15 This is a structural diagram of the "operation button 125" portion of the cart console according to an embodiment of the present application;

[0060] Figure 16 This is a structural diagram of the "operation button 125" portion of the cart console according to an embodiment of the present application;

[0061] Figure 17 This is a structural diagram of the "operation button 125" portion of the cart console according to an embodiment of the present application;

[0062] Figure 18 This is a structural diagram of the "button cover 1251" of the cart console in an embodiment of the present application.

[0063] Reference numerals

[0064] Connecting arm 11, arm housing 111, mounting base 112, second guide plate 113, third wire hole 114, first guide plate 115, second wire hole 116, receiving hole 117, first wire hole 118, control module 12, third housing 121, upper housing 1211, lower housing 1212, second indicator light 122, emergency stop switch 123, power switch 124, operation button 125, button cover 1251, button bracket 1252, fixing hole 1253, U-shaped groove 1254, first indicator light 1255, return spring 1256, button body 1257, fixing column 1258, light transmission hole 1259, handle 126, push-pull module 13, sensor bracket 131, pull-compression sensor Sensor 132, second screw 133, first screw 134, sliding rod 135, connecting block 136, second signal amplifier 137, sliding sleeve 138, second housing 139, torsion module 14, oil-free bushing 141, micro-motion seat 142, first housing 143, first signal amplifier 145, mounting bracket 1461, rotating seat 1462, auxiliary block 1463, fixed block 1464, upper flange 1465, torque sensor 1466, sensor mounting plate 1467, sensor fixing shaft 1468, strip groove 1469, sliding shaft 147, first through hole 151, second through hole 152, third through hole 153, base 20, manipulator mounting seat 30, column 40, brake pedal 50. DETAILED DESCRIPTION

[0065] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0066] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0067] The server provided in the embodiment of the present application is described in detail below through specific embodiments and application scenarios in conjunction with the accompanying drawings.

[0068] like Figure 2-Figure 18 As shown, an embodiment of the present application provides a cart control console, including a connecting arm 11 and a control module 12 installed on the connecting arm 11, the connecting arm 11 is used to connect the hand end of the cart, the control module is used to place the user's hand and receive the user's push, pull and twisting force, the connecting arm 11 is provided with a push-pull module 13 and a twisting module 14, the twisting module 14 includes a torsion sensing component connected to the control module 12, the torsion sensing component can sense the torsion force input by the control module 12 and move slightly as a whole along a first direction with the push-pull force input by the control module 12, the push-pull module 13 includes a push-pull sensing component, the push-pull sensing component is used to sense the micro-movement of the torsion sensing component along the first direction, wherein the first direction is the linear movement direction of the cart in cooperation with the cart control console when the control module 12 outputs push-pull force.

[0069] In an embodiment of the present application, the above-mentioned cart control console is adopted, and the push-pull force and the torsional force are input to the torsion module 14 through the control module 12. The torsion module 14 can sense the torsional force and transmit the push-pull force to the push-pull module 13. Since the torsion module 14 moves slightly as a whole in the first direction when receiving the push-pull force, the push-pull force will not affect the torsional sensing of the torsion module 14, thereby eliminating the coupling effect between the torsion module 14 and the push-pull module 13, and improving the sensing accuracy of the torsion module 14 and the push-pull module 13.

[0070] In a preferred embodiment, the connecting arm 11 includes a mounting base 112, an arm shell 111 fixedly set on the mounting base 112 and composed of two parts, the mounting base 112 can be fixed to the hand end of the cart by bolts, the torsion module 14 also includes a first shell 143, the push-pull module 13 also includes a second shell 139, the second shell 139 is bolted to the mounting base 112, the first shell 143 is bolted to the end face of the first shell 143 away from the mounting base 112, the torsion sensing component is arranged in the first shell 143 and the top extends to the outside of the arm shell 111, the control module 12 is connected to the top of the torsion sensing component, and the push-pull sensing component is arranged in the second shell 139.

[0071] In the embodiment of the present application, the above-mentioned cart control console is adopted. Through the modular and distributed design of the torsion module 14 and the push-pull module 13, not only the volume of the cart control console can be greatly reduced, but also the loading and unloading of the torsion module 14 and the push-pull module 13, subsequent fault inspection and maintenance are facilitated, thereby reducing costs.

[0072] In a preferred embodiment, the torsion module 14 also includes a fine-motion seat 142 arranged in a first shell 143 and rotatably connected to the torsion sensing component. Two oil-free sleeves 141 are respectively embedded on the inner walls on both sides of the first shell 143 along the first direction. Four blind holes are provided on the end face of the fine-motion seat 142 corresponding to the four oil-free sleeves 141. Four sliding shafts 147 are respectively inserted into the four blind holes on the fine-motion seat 142. The sliding shaft 147 is provided with countersunk holes corresponding to the positions of the blind holes on the fine-motion seat 142. The sliding shaft 147 is connected to the fine-motion seat 142 through blind holes and countersunk screws at corresponding positions. The sliding shaft 147 is slidably connected to the oil-free sleeves 141 at corresponding positions.

[0073] In a preferred embodiment, the micro-motion seat 142 is provided with a bearing bearing portion and a bearing limiting protrusion, the bearing bearing portion is used to support the bearing, and the bearing limiting protrusion is used to radially limit the bearing bearing portion of the bearing bearing, and the torsion sensing component includes a mounting bracket 1461 rotatably arranged in the micro-motion seat 142, the mounting bracket 1461 is a rotating body structure, the top of the mounting bracket 1461 extends to the outside of the arm shell 111 and the control module 12 is installed, the mounting bracket 1461 is provided with a recess for installation on the first shell 143 and the arm shell 111, and the first shell 143 and the arm shell 111 are provided with a corresponding position of the mounting bracket 1461 corresponding to the recess of the mounting bracket 1461 for the mounting bracket 1461 to rotate and along the first direction In order to reduce the gap of the micro-motion, the top of the mounting bracket 1461 is provided with a stepped accommodating hole 117, and the bottom of the accommodating hole 117 is provided with a first wire-passing hole 118. The accommodating hole 117 can be used to arrange buttons such as the power switch 124. The first wire-passing hole 118 is used for the wires of buttons such as the power switch 124 to pass through. A small flange is provided at the bottom of the mounting bracket 1461, and a rotating seat 1462 is provided on the bottom side of the mounting bracket 1461. A flange is provided on the rotating seat 1462, and the flange on the rotating seat 1462 is connected to the small flange on the mounting bracket 1461 by bolts. The rotating seat 1462 is cylindrical with an open top and is rotatably arranged in the micro-motion seat 142 through a bearing bearing portion. The rotating seat 146 2 is used to support the mounting bracket 1461 and the control module 12. A sensor fixing portion is provided at the bottom of the rotating seat 1462. The sensor fixing portion is composed of a sensor mounting plate 1467 and a sensor fixing shaft 1468. The sensor fixing shaft 1468 includes a cylindrical portion and a prismatic portion. The cylindrical portion of the sensor fixing shaft 1468 is fixedly arranged at the bottom of the sensor mounting plate 1467. The prismatic portion of the sensor fixing shaft 1468 is integrally formed and arranged at one side of the sensor cylindrical portion away from the sensor mounting plate 1467. A countersunk hole for placing a bearing is provided on the bottom wall of the rotating seat 1462. The cylindrical portion of the sensor fixing shaft 1468 is rotatably connected to the bottom wall of the rotating seat 1462 through a bearing. The prismatic portion of the sensor fixing shaft 1468 is provided on the bottom wall of the rotating seat 1462. A fixing block 1464 is provided, and a socket corresponding to the shape of the prism portion of the fixing shaft 1468 is provided on the fixing block 1464. The prism portion of the fixing shaft 1468 is inserted into the socket of the fixing block 1464. The prism portion of the fixing shaft 1468 can be in the shape of a triangular prism, a quadrangular prism, a pentagonal prism, etc. The connection method between the prism portion of the fixing shaft 1468 and the socket of the fixing block 1464 is used to limit the relative rotation between the fixing shaft 1468 and the fixing block 1464. A screw hole is provided at the bottom of the fixing block 1464, and the auxiliary block 1463 can be screwed through the screw hole at the bottom of the fixing block 1464. When the fixing block 1464 is connected to the auxiliary block 1463, the auxiliary block 1463 is bolted to the prism portion of the sensor fixing shaft 1468.The auxiliary block 1463 can make the connection between the fixed shaft 1468 and the fixed block 1464 more stable. Of course, since the prismatic portion of the fixed shaft 1468 is inserted into the socket of the fixed block 1464, and the fixed block 1464 should be restricted in its axial movement during use, the connection stability between the fixed shaft 1468 and the fixed block 1464 can meet the use requirements, that is, the auxiliary block 1463 can be removed, and the torque sensor 1466 is provided with a bolt connection on the top of the sensor mounting plate 1467, and the torque sensor 1466 is bolted on the sensing end at the top An upper flange 1465 is provided, and two first through holes 151 are symmetrically provided on the upper flange 1465. Two second through holes 152 are provided on the sensor mounting plate 1467 at positions corresponding to the two first through holes 151. The first through holes 151 and the second through holes 152 are used for mounting and positioning the torque sensor 1466. A third through hole 153 is also provided on the bottom wall of the rotating seat 1462. The third through hole 153 is used for routing the torque sensor 1466. The upper flange 1465 is rectangular in shape, and the bottom of the mounting bracket 1461 is also provided with a strip groove 14 69, the upper flange 1465 slides in the strip groove 1469 along the first direction. The strip groove 1469 is convenient for processing on the one hand, and can further prevent the micro-motion of the control module 12 along the first direction from being transmitted to the sensing end of the torque sensor 1466 on the other hand. Of course, the upper flange 1465 and the strip groove 1469 can also be set to slide in any direction in the strip groove 1469. Since the rotating seat 1462 is respectively connected to the micro-motion seat 142 and the cylindrical bearing of the fixed shaft 1468, when the control module 12 drives the mounting bracket 14 When the mounting bracket 1461 is finely moved, the mounting bracket 1461 will drive the torque sensor 1466, the upper flange 1465, and the mounting bracket 1461 to finely move synchronously via the rotating seat 1462, the fixed shaft 1468, and the mounting plate 1467. Therefore, fine movement of the control module 12 in the first direction does not affect the sensing end of the torque sensor 1466. That is, the upper flange 1465 and the strip groove 1469 are primarily used to transmit torque, and the connection method of the upper flange 1465 sliding in the strip groove 1469 in the first direction is only used to further ensure the sensing accuracy of the torque sensor 1466.

[0074] It should be noted that the matching structural form between the torque sensor 1466 and the control module 12 is not limited, as long as it can transmit the torque of the control module 12 to the sensing end of the torque sensor 1466.

[0075] In the embodiment of the present application, the above-mentioned cart control console is adopted, and the overall micro-movement of the torsion sensing component can be achieved through the connection between the micro-movement seat 142 and the first shell 143.

[0076] In a preferred embodiment, the push-pull module 13 includes a sensor bracket 131 fixed vertically in the second shell 139 along the first direction, and a first screw 134 is fixed on the end face of the sensor bracket 131 close to the torsion sensing component, and a tension and compression sensor 132 is fixed on the end face of the first screw 134 away from the sensor bracket 131, and a second screw 133 is fixed on the sensing end of the tension and compression sensor 132 away from the first screw 134, and two sliding sleeves 138 are embedded through the inner wall of the connection side of the first shell 143 and the second shell 139, and a sliding rod 135 is slidably provided in the sliding sleeve 138, and a connecting block 136 fixedly connected to the end of the second screw 133 away from the tension and compression sensor 132 is fixed on the end face of the two sliding rods 135 close to the tension and compression sensor 132, and the end face of the two sliding rods 135 away from the tension and compression sensor 132 is bolted to the fixed block 1464.

[0077] In a preferred embodiment, the number of the sliding sleeves 138 can be set to no less than one, that is, the corresponding number of sliding rods 135 is set to more than one, and the setting of multiple sliding rods 135 is mainly used to limit the rotation of the fixed block 1464 and improve the movement stability of the fixed block 1464 along the first direction.

[0078] In a preferred embodiment, when the matching accuracy between the sliding sleeve 138 and the sliding rod 135 is very high, the number of the sliding rod 135 can also be set to one. At this time, in order to limit the rotation of the fixed block 1464, the self-strength of the sliding rod 135 and the connection strength with the fixed block 1464 are required to be higher. The strength of the sliding rod 135 can be improved by increasing the diameter of the sliding rod 135 and the sliding sleeve 138. At the same time, the connection strength between the sliding rod 135 and the fixed block 1464 should be strengthened, such as increasing the number of connecting bolts and welding reinforcement.

[0079] In a preferred embodiment, the sliding rod 135 and the connecting block 136 can be discarded, and the fixed block 1464 can be extended along the first direction toward the side close to the tension and compression sensor 132 until it is connected to the second screw 133. At this time, the sliding sleeve 138 is slidingly connected to the fixed block 1464 and is used to limit the axial rotation of the fixed block 1464 along the fixed axis 1468, that is, the connection structure between the sensor fixing part and the tension and compression sensor 132 sensing end is mainly used to limit the rotation of the sensor fixing part and can input the push and pull force to the tension and compression sensor 132 sensing end along the first direction. As long as the structure can meet the above requirements, it can be applied.

[0080] In the embodiment of the present application, the above-mentioned cart control console is adopted. When the user pushes the control module 12, the push-pull force will be transmitted to the torsion sensing component and make it move slightly in the first direction through the micro-motion seat 142. At this time, the transmission path of the push-pull force is: control module 12 - mounting bracket 1461 - rotating seat 1462 - torque sensor 1466 - fixed block 1464 - sliding rod 135 - connecting block 136 - tension and compression sensor 132. Since the torque sensor 1466 moves slightly along with the sensor fixing part, the influence of the push-pull force on the torque sensor 1466 is eliminated. When the user rotates the control module 12, the transmission path of the torsional force is: control module 12 - mounting bracket 1 461 - upper flange 1465 - top sensing end of the torque sensor 1466. Since the bottom fixed end of the torque sensor 1466 is fixed on the sensor fixing part, and the sensor fixing part is fixed in the fixed block 1464, the fixed block 1464 is restricted from rotating by two slide bars 135. Therefore, the bottom fixed end of the torque sensor 1466 will not rotate accordingly. Therefore, the generated torque signal and torsional force will not be transmitted to the push-pull module 13, but will be transmitted to the first shell 143 and the second shell 139 by the slide bar 135, thereby eliminating the influence of the torsional force on the tension and compression sensor 132. At this point, this solution realizes the mechanical decoupling of the tension and compression sensor 132 and the torque sensor 1466, and can relatively easily control the movement of the slave hand.

[0081] In a preferred embodiment, a first signal amplifier 145 is fixed on the bottom wall of the first shell 143, and a second signal amplifier 137 is fixed on the bottom wall of the second shell 139. A first guide plate 115 is embedded between the inner walls of the connecting sides of the first shell 143 and the second shell 139, and a second wire hole 116 is penetrated in the first guide plate 115. A second guide plate 113 is embedded between the mounting seat 112 and the inner walls of the corresponding sides of the second shell 139, and a third wire hole 114 is penetrated in the second guide plate 113. Through the second wire hole 116 and the third wire hole 114, the lines of the control module 12, the push-pull module 13, and the torsion module 14 can pass through the driving unit of the cart to realize the movement of the cart.

[0082] In a preferred embodiment, the control module 12 includes a third shell 121 fixedly arranged on the top of the mounting bracket 1461, and the third shell 121 is assembled by a lower shell 1212 and an upper shell 1211. The third shell 121 is provided with a handle portion 126, and the handle portion 126 is provided with an operation button 125. The operation button 125 includes a button bracket 1252, and the button bracket 1252 is symmetrically and through-provided with two U-shaped grooves 1254. The lower shell 1212 is provided with two fixing holes 1253 at corresponding positions of the two U-shaped grooves 1254, and a bolt is passed through the U-shaped groove 1254 and threaded into the corresponding position fixing hole 1253. The connection can fix the button bracket 1252 on the lower shell 1212, and the structure of the U-shaped groove 1254 makes the position of the button bracket 1252 adjustable, which is suitable for different operating requirements. Two button bodies 1257 are symmetrically and fixedly provided on the button bracket 1252, and two fixing columns 1258 are symmetrically and fixedly provided on the button bracket 1252 about the button body 1257. A reset spring 1256 is sleeved on the fixing column 1258, and a button cover 1251 is fixed on the button body 1257. The fixing column 1258 is slidably connected to the button cover 1251 at the corresponding position, and the reset spring 1256 abuts against the button cover 1251 at the corresponding position.

[0083] In an embodiment of the present application, the above-mentioned cart control console is adopted, and the two button covers 1251 correspond to the left and right hands of the user respectively. The button cover 1251 can be automatically reset after being pressed by the reset spring 1256. When the left and right hands do not press the two button covers 1251 at the same time, the torsion module 14 and the push-pull module 13 are in a non-working state. Even the push-pull or torsion control module 12 cannot drive the slave hand to move. Therefore, it can avoid safety accidents caused by user misoperation and improve the safety and stability of slave hand control.

[0084] In a preferred embodiment, the third shell 121 is also provided with an indication unit, which includes two first indicator lights 1255 fixedly set on the button bracket 1252 and respectively located in the two button covers 1251. The button cover 1251 is made of a transparent or translucent material. A light-transmitting hole 1259 is provided between the two fixed columns 1258 at corresponding positions in the button cover 1251. The light-transmitting hole 1259 is used to evenly distribute the light of the first indicator light 1255 to the entire button cover 1251. A second indicator light 122 is provided on the top of the third shell 121 for indicating the status of the power switch 124.

[0085] In the embodiment of the present application, the above-mentioned cart control console is adopted, and the first indicator light 1255 can enable the user to more intuitively grasp the start-up status of the twisting module 14 and the push-pull module 13, making the overall operation of the control module 12 clearer.

[0086] In a preferred embodiment, an emergency stop switch 123 is provided on the top of the third shell 121 for emergency braking of the cart.

[0087] In the embodiment of the present application, the above-mentioned trolley control console is adopted, and the dual safety design of the operation button 125 and the emergency stop switch 123 can ensure that the trolley will only move when the user really needs to push it, and safety accidents such as accidental collision will not occur.

[0088] like Figure 1 As shown, an embodiment of the present application provides a minimally invasive surgical robot, which adopts the cart console as described above, and also includes a base 20 and a drive unit coupled to the cart console, the base 20 is mounted with a column 40 and a brake pedal 50, the column 40 is mounted with the cart console and the manipulator mounting seat 30112, and the brake pedal 50 is used for braking the drive unit.

[0089] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0090] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. A cart console, characterized in that: The push-pull module comprises a push-pull module, a torsion module, and a control module for controlling the push-pull module and the torsion module. The torsion module comprises a torsion sensing component connected to the control module. The torsion sensing component is capable of sensing the torsion force input by the control module and moving slightly as a whole along a first direction along with the push-pull force input by the control module. The push-pull module comprises a push-pull sensing component and a second housing. The push-pull sensing component is used to sense the slight movement of the torsion sensing component along the first direction. The push-pull sensing component includes: a sliding rod, one end of which is fixedly mounted on the torsion sensing assembly and the other end of which extends into the second housing along the first direction; A connecting block is fixedly arranged at one end of the slide bar away from the torsion sensing component; at least two slide bars are provided between the torsion sensing component and the connecting block; a tension and compression sensor, fixedly disposed in the second housing and having a sensing end connected to the connection block; The first direction is the linear movement direction of the trolley in cooperation with the trolley control console when the control module outputs a push-pull force.

2. The cart console according to claim 1, wherein: The torsion module further includes a first shell, and the torsion sensing component is disposed in the first shell; The push-pull sensing component is disposed in the second housing; The first shell is fixedly connected to the second shell.

3. The cart console according to claim 2, wherein: The torsion module further comprises: a micro-motion seat, disposed in the first housing and rotatably connected to the torsion sensing component; Oil-free sleeves, arranged on the inner walls of both sides of the first housing along the first direction; The sliding shaft is fixedly arranged on the micro-motion seat and is slidably connected with the oil-free shaft sleeve.

4. The cart console according to claim 3, wherein: At least two oil-free bushings are provided on the inner wall of one side of the first shell.

5. The cart console according to claim 3, wherein: The torsion sensing component comprises: A mounting bracket, rotatably disposed in the micro-motion seat and with a top portion extending to the outside of the first housing for mounting the control module; A sensor fixing portion, used for mounting a torque sensor and connected to the push-pull sensing assembly; The torque sensor has a sensing end coupled to the mounting bracket and a fixed end fixedly connected to the sensor fixing portion, and is used to sense the torque transmitted by the mounting bracket.

6. The cart console according to claim 5, wherein: The torsion sensing assembly further comprises: The rotating seat is fixedly arranged on the mounting bracket and is rotatably connected to the micro-motion seat and the sensor fixing part.

7. The cart console according to claim 1, wherein: The control module includes: a third housing, fixedly disposed on the torsion sensing assembly; a handle portion, provided on the third shell; The safety component is arranged on the third shell and is used for the trolley control console to cooperate with the starting and braking of the trolley.

8. The cart console according to claim 7, wherein: The security components include: An operating button is provided on the handle portion and is used to open and close the push-pull module and the twist module.

9. A minimally invasive surgical robot, characterized in that: Using the cart console according to any one of claims 1 to 8, further comprising; A driving unit is coupled to the cart console and is used to drive the movement of the minimally invasive surgical robot.

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