Master operating device and surgical robot

Abstract

The application discloses a master operating device and a surgical robot. The master operating device comprises a device body, a pair of operating mechanisms, a movable piece and an elastic piece. The pair of operating mechanisms are pivotally connected to the two sides of the device body, and the operating mechanisms are provided with driving parts. The movable piece is at least partially arranged in the device body and can move along the axial direction, and the movable piece is provided with a driven part interfering with the driving part, so that the movable piece can move along the axial direction under the action of the operating mechanism. The driven part comprises a first constraint surface. The first constraint surface comprises at least one bending part from the starting end to the terminal end, and the bending part is recessed towards the central surface of the device body. The elastic piece is connected with the movable piece and provides a force for driving the movable piece to move close to the top end. According to the master operating device, the structure is simple and high in strength, the force transition can be accurately controlled, the output of the clamping force is easy to control, and the symmetrical movement of the two operating mechanisms can be easily maintained.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a master operating device and a surgical robot. BACKGROUND

[0002] Medical surgical micro-instruments have the advantages of accurate positioning, stable operation, strong dexterity, large working range, fearlessness of radiation and infection, etc., and are widely used in various surgeries. The use of surgical micro-instruments helps to improve the accuracy of surgical operations by surgeons, solves the hand tremor, fatigue, muscle and nerve feedback of surgeons, enables surgeons to operate in the most comfortable state, and has important value for improving the success rate of surgery and reducing the pain of patients. In recent years, its research has become a new field of application of medical devices.

[0003] At the doctor's end, the position, posture and opening and closing of the fingers of the hand are generally measured by operating the robot master hand, so that the movements of the hand are mapped to the robot slave hand end at the patient side with a certain magnification ratio, enabling the doctor to operate the surgical instrument flexibly and easily.

[0004] A three-axis gimbal is generally configured at the end of the master hand for measuring the posture of the hand, and a gripper is configured at the end of the gimbal. The doctor controls the opening and closing angle of the slave hand instrument by controlling the gripper to achieve cutting, suturing and other operations. Therefore, the gripper is a key component that is used throughout the robot surgery at a high frequency.

[0005] The tactile feedback provided by the gripper to the operator is crucial to the operator's operation judgment. In actual operation, such as operating the tongs, the master hand gripper generally simulates the feeling of two-stage force on the slave hand tongs by some means. That is, the first stage force moves from the maximum angle of the opening of the gripper back to the position close to the clamping of the gripper, realizing the mapping control of the opening and closing position of the slave hand end tongs. At the end of the first stage of the master hand gripper, the mapped slave hand gripper is generally closed or very close to closed, but the output force is relatively small. The second stage force starts from a small angle close to clamping to full clamping or forceful clamping, providing the operator with the tactile feeling of forceful clamping. The switching angle of the two-stage force of the master hand gripper is generally within 10°, thereby prompting and feeding back to the doctor that the doctor is performing a clamping or cutting operation with considerable output force. The occurrence angle and force of this two-stage clamping force feedback are of great significance to the doctor's operation, and are the key points of the control of the medical robot master hand.

[0006] The current two-stage force gripper simulates two-stage force by the principle of springs with different stiffness and length, and couples the movements of the two grippers together by mechanisms such as crank linkages and pairs of meshing gears to simulate symmetrical clamping.

[0007] However, the above-mentioned type of clamping jaw has many problems. For example, in a compact space, the placement position and compression distance of two springs with different stiffnesses are difficult to accurately match; the angular measurement assembly has a complex structure and occupies a large space; the connecting rod has low strength and different force steps; the gear is prone to meshing gap, resulting in inaccuracy, etc.

[0008] Therefore, there is a need for a master operating device and a surgical robot to at least partially solve the above problems. SUMMARY

[0009] A series of simplified concepts are introduced in the summary section, which will be further described in detail in the specific embodiment section. The summary section of the present application does not mean to attempt to define the key features and essential technical features of the claimed technical solutions, nor to attempt to determine the protection scope of the claimed technical solutions.

[0010] To at least partially solve the above-mentioned problems, the present application provides a master operating device for a surgical robot, comprising:

[0011] a device body;

[0012] a pair of operating mechanisms, which are respectively pivotably connected to two sides of the device body, and are provided with driving parts thereon;

[0013] a movable part, which is at least partially arranged in the device body and is configured to be movable along an axial direction of the device body, and is provided with a driven part, which interferes with the driving part to enable the movable part to move along the axial direction under the action of the operating mechanism, and the driven part has a first constraint surface, which includes at least one bending part from a starting end to a terminal end, and the bending part is recessed towards a central surface of the device body;

[0014] a resilient part, which is configured to provide an elastic force for driving the movable part to move towards the top end of the master operating device.

[0015] According to the master operating device of the present application, the structure is simple, the strength of the connecting parts is high, the force transition can be accurately controlled, the output of the clamping force is easy to control, and the symmetrical movement of the pair of operating mechanisms can be easily maintained.

[0016] Further, the part of the first constraint surface from the starting end to the bending part is a first constraint section, the part of the first constraint surface from the bending part to the terminal end is a second constraint section, and the slope of the boundary between the first constraint section and the bending part with respect to the radial cross section of the device body is smaller than the slope of the boundary between the bending part and the second constraint section.

[0017] Further, the first constraint section and / or the second constraint section is / are planar or curved.

[0018] Further, the passive part further has a second constraint surface, which is spaced apart from the first constraint surface to form a space between the second constraint surface and the first constraint surface for accommodating movement of the active part, and the second constraint surface forms an angle with the radial section.

[0019] Further, the second constraint surface comprises a third constraint section and a fourth constraint section, the third constraint section is connected with the fourth constraint section, the third constraint section corresponds to the first constraint section, the fourth constraint section corresponds to the second constraint section, and the second constraint surface is arranged in parallel with the first constraint surface. According to the above arrangement, the operation of the two-section force can be more accurate.

[0020] Further, the active part comprises an active shaft, which is arranged between the first constraint surface and the second constraint surface.

[0021] Further, the operation mechanism comprises a body,

[0022] Both ends of the active shaft are provided with bearings, wherein the outer ring of the bearing is connected with the body, and the inner ring of the bearing is connected with the active shaft.

[0023] Further, the movable part comprises:

[0024] a moving block, which is arranged in the device body, the passive part is arranged in the moving block, and the outer periphery of the moving block is limited by the inner periphery of the device body; and

[0025] a telescopic rod, which extends out of the device body from the moving block in a direction away from the top end.

[0026] Further, the top of the device body is provided with a through hole;

[0027] the telescopic rod penetrates through the moving block and extends to the top end, and extends into the through hole;

[0028] the top end operation device further comprises a positioning sleeve, which extends into the through hole and is sleeved on the telescopic rod, and the outer periphery of the positioning sleeve is limited by the inner periphery of the through hole. In this way, the structural strength can be improved, and the movement symmetry of the pair of operation mechanisms is improved.

[0029] Further, the elastic part is configured as a compression spring;

[0030] The main end operating device comprises a fixed part arranged in the device body and further away from the top end of the main end operating device relative to the moving block, and the elastic part is connected between the moving block and the fixed part.

[0031] Alternatively, the elastic part is connected between the operating mechanism and the device body.

[0032] Further, the pair of operating mechanisms are symmetrical along the central axis of the main end operating device; and / or

[0033] The operating mechanism further comprises a finger sleeve arranged on the body.

[0034] The second aspect of the present application provides a surgical robot, comprising:

[0035] A driven end clamp; and

[0036] The main end operating device of the first aspect, the passive part of the main end operating device comprises a first constraint surface, the first constraint surface has a first constraint section and a second constraint section; and

[0037] A control device, the control device is in signal connection with the main end operating device and the driven end clamp, and the control device is configured to:

[0038] When the active part interferes with the first constraint section and moves in the direction close to the second constraint section, control the driven end clamp to gradually change from the open state to the clamping state;

[0039] When the active part is located at the connection between the first constraint section and the second constraint section, control the driven end clamp to change to the clamping state;

[0040] When the active part interferes with the second constraint section and moves in the direction away from the first constraint section, control the clamping force of the driven end clamp to gradually increase.

[0041] The surgical robot according to the present application can achieve similar technical effects as the main end operating device of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0042] The following drawings of the present application are hereby incorporated as part of the present application for the purpose of understanding the present application. The embodiments of the present application and their descriptions shown in the drawings are used to explain the principles of the present application.

[0043] In the drawings:

[0044] Figure 1 It is a front view schematic diagram of the main end operating device according to the present application;

[0045] Figure 2 for Figure 1 A partial perspective view of the main operating device;

[0046] Figure 3 for Figure 1 Side view of the main operating device;

[0047] Figure 4 for Figure 1 Schematic diagram of the cross section along line A-A' of the main operating device;

[0048] Figure 5 for Figure 4 An enlarged diagram of section C; and

[0049] Figure 6 for Figure 3 Schematic diagram of the B-B' section of the main operating device

[0050] Explanation of reference numerals in the attached figures:

[0051] 100: Main operating device; 110: Device body; 111: Through hole

[0052] 112: Pivot axis; 120: Operating mechanism; 121: Main body

[0053] 122: Drive shaft; 123: Bearing; 124: Finger sleeve

[0054] 125: Top; 130: Moving block; 131: First constraint surface

[0055] 132: First constraint segment; 133: Second constraint segment; 134: Second constraint surface

[0056] 135: Third constraint segment; 136: Fourth constraint segment; 137: Moving slot

[0057] 138: First moving section; 139: Second moving section; 140: Telescopic pole

[0058] 150: Elastic element; 160: Fixing element; 170: Positioning sleeve

[0059] 141: Bending section Detailed Implementation

[0060] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0061] For a thorough understanding of the present application, reference will be made to the following detailed description. It is appreciated that the following examples are given for purposes of disclosure and full and complete disclosure of the application is made hereby. No limitation on the scope of the application is made by these examples. One of ordinary skill in the art will readily recognize a wide variety of alternative ways to make and use the application. The preferred embodiments of the present application will be described in detail in the following description with reference to the following drawings.

[0062] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0063] Numerical ordinals such as "first" and "second" as used in this application are used merely to identify such terms and are not meant to be limiting in any way. Also, the use of the terms "first" and "second" are not meant to imply the existence of a "first" and "second" only, but rather the existence of at least two. For example, the term "first part" does not imply the existence of a "second part" and the term "second part" does not imply the existence of a "first part". It is further noted that the terms "upper", "lower", "front", "back", "left", "right", "inner", "outer", and the like as used herein are used for description only and are not intended to be limiting.

[0064] Reference will now be made to Figures 1 to 6 Exemplary embodiments in accordance with the present application will be described in greater detail below.

[0065] Reference will now be made to Figures 1 to 4 A master operating device 100 of a preferred embodiment of the present application includes a device main body 110, a pair of operating mechanisms 120, a movable member, and a resilient member 150.

[0066] The operating mechanisms 120 are pivotably connected to the device main body 110, and the pair of operating mechanisms 120 are located on both sides of the device main body 110, respectively. For example, the operating mechanisms 120 can be pivotably connected to the device main body 110 by a pivot shaft 112.

[0067] The operating mechanism 120 is provided with a driving portion. Preferably, in order to facilitate operation and prevent the operating mechanism 120 from being easily detached, the operating mechanism 120 comprises a body 121 and a finger sleeve 124 provided on the body 121. Exemplarily, the finger sleeve 124 can be customized according to the shape of different fingers to facilitate the insertion operation of the fingers. In a preferred embodiment, a pair of operating mechanisms 120 are symmetrically arranged along the central axis of the main end operating device 100.

[0068] The movable member is at least partially arranged in the device body 110. It is configured to be movable along the axial direction of the device body 110. In an optional embodiment, a fixed member 160 is arranged in the device body 110. The fixed member 160 is further away from the top end 125 of the main end operating device 100 than the moving block 130. The elastic member 150 is preferably connected between the movable member and the fixed member 160. The elastic member 150 is configured as a compression spring to provide a spring force for moving the movable member upward or towards the top end 125 of the main end operating device 100.

[0069] Under the premise of a small included angle between the operating mechanism 120 and the device body 110, the compression amount of the elastic member 150 can be set to be very small, so that the output force of the spring is close to a constant value, thereby avoiding the introduction of spring force variation factors and making the output force more stable.

[0070] The movable member is provided with a passive portion capable of interfering with the driving portion. Thus, under the action of the driving portion, the passive portion enables the movable member to move along the axial direction. Preferably, corresponding to a pair of operating mechanisms 120, a pair of passive portions are also symmetrically arranged. The passive portion has a first constraint surface 131, which has at least one bending portion 141. Figure 5 The bending portion 141 is recessed towards the central plane P of the device body 110. The central plane P refers to a plane that bisects the device body 110 and makes a pair of operating mechanisms 120 symmetric.

[0071] Specifically, the first constraint surface 131 comprises a bending portion 141. Thus, the first constraint surface 131 is divided into a first constraint segment 132 and a second constraint segment 133 by the bending portion 141. In other words, the portion of the first constraint surface 131 located from the starting end to the bending portion 141 is configured as the first constraint segment 132. The portion of the first constraint surface 131 located from the bending portion 141 to the terminal end is configured as the second constraint segment 133. The starting end refers to the end of the passive portion away from the central plane P, and the terminal end refers to the end of the passive portion close to the central plane P.

[0072] Thus, the bending portion 141 is configured as a corner or a bending angle of the first constraint surface 131. Specifically, it is a small segment of curved surface belonging to the first constraint surface 131.

[0073] Preferably, the first constraint section 132 has a smaller angle with the radial section of the device body 110 than the second constraint section 133. In other words, the slope of the first constraint section 132 with respect to the radial section of the device body 110 at the boundary between the first constraint section 132 and the bending section 141 is smaller than the slope at the boundary between the bending section 141 and the second constraint section 133.

[0074] Here, the boundary between the first constraint section 132 and the bending section 141 refers to a certain point at the connection between the first constraint section 132 and the bending section 141, and the boundary between the bending section 141 and the second constraint section 133 refers to a certain point at the connection between the bending section 141 and the second constraint section 133.

[0075] When the bending section 141 is a curved section, the two boundaries are the two end points of the bending section 141. When the bending section 141 is a bending angle, the two boundaries are the two vertices of the bending angle.

[0076] Optionally, the first constraint section 132 and / or the second constraint section 133 is a plane or a curved section. Preferably, the first constraint section 132 and / or the second constraint section 133 is a curved section, and the curvature of the two is smaller than the curvature of the bending section 141. For example, the first constraint section 132 and / or the second constraint section 133 is a curved section with a curvature approaching zero.

[0077] The interference movement of the active section with the first constraint section 132 maps the change of the slave end clamp from the clamping state to the clamped state, i.e. from the open state to the clamping state but not clamped. The interference movement of the active section with the second constraint section 133 maps the change of the slave end clamp from the clamping state to the clamped state.

[0078] In this way, the large angle of the second constraint section 133 makes the component of the force applied by the operating device to the movable piece in the Y direction (where the Y direction is a direction parallel to the central plane P and perpendicular to the X direction) smaller relative to the first constraint section 132. And makes the amount of movement of the movable piece in the Y direction following the rotation angle of the operating mechanism 120 smaller relative to the first constraint section 132. Thus, the operator needs to exert more force on the operating mechanism 120 and rotate it by a larger angle to make the movable piece move a smaller distance, which is beneficial to the precise operation of the clamping force of the slave end clamp. And the angle of the end of the first constraint section 132 to the angle of the beginning of the second constraint section 133 produces a sudden change, and the pressure of the spring suddenly increases, so that the user feels a sudden increase in the operating force, and the force from the hand clamp or the shear end also increases suddenly, so that the clamping or shearing action can be completed smoothly, and the operator will have a two-stage force feeling during the whole process, which is very close to the feeling of actually using the clamp or the shear.

[0079] When the operator releases the handle, the movable member moves towards the top end 125 of the main end operating device 100 under the action of the elastic force, and the passive part can act on the active part, so that the operating mechanism 120 can follow the active part to reset.

[0080] Specifically, with reference to Figure 2 , Figure 4 and Figure 5 , the passive part also preferably has a second constraint surface 134. The second constraint surface 134 is arranged in a spaced manner with the first constraint surface 131 to form a space accommodating the movement of the active part, or in other words, a moving groove 137. The second constraint surface 134 forms an angle with the radial section. In this way, the active part can be limited between the first constraint surface 131 and the second constraint surface 134.

[0081] Further preferably, the second constraint surface 134 includes a third constraint segment 135 and a fourth constraint segment 136, the third constraint segment 135 is connected with the fourth constraint segment 136, the third constraint segment 135 corresponds to the first constraint segment 132, the fourth constraint segment 136 corresponds to the second constraint segment 133, and the angle between the third constraint segment 135 and the radial section of the device body 110 is smaller than the angle between the fourth constraint segment 136 and the radial section.

[0082] More preferably, the first constraint surface 131 and the second constraint surface 134 are arranged in parallel. That is, the first constraint segment 132 is parallel to the third constraint segment 135, and the second constraint segment 133 is parallel to the fourth constraint segment 136.

[0083] In the case of the second constraint surface 134, the elastic member 150 can also be connected between the device body 110 and the operating mechanism 120 to provide an elastic force for resetting the operating mechanism 120. In this way, when the operator releases the handle, the active member can also act on the second constraint surface 134, thereby driving the movable member to move towards the top end 125 of the device body 110.

[0084] Please continue to refer to Figure 4 and Figure 5 , the active part includes an active shaft 122 arranged between the first constraint surface 131 and the second constraint surface 134, and both ends of the active shaft 122 are provided with bearings 123, such as deep groove ball bearings. The outer ring of the bearing 123 is connected with the body 121, and the inner ring of the bearing 123 is connected with the active shaft 122. In this way, when the active shaft 122 of the active part moves along the first constraint surface 131, the contact friction can be reduced, and even the sliding friction can be completely changed into rolling friction, which is beneficial to the smoothness of operation.

[0085] The portion of the movement groove 137 between the first constraint section 132 and the third constraint section 135 forms a first movement section 138, and the portion of the movement groove 137 between the second constraint section 133 and the fourth constraint section 136 forms a second movement section 139. When the driving shaft 122 is located in the first movement section 138, the driven end clamp is in an unclamped state, or in other words, in the process of changing from clamping to clamping. When the driving shaft 122 is located in the second movement section 139, the driven end clamp is in a clamped state, or in other words, in the process of changing from clamping to clamping.

[0086] The distance between the first constraint surface 131 and the second constraint surface 134 is preferably adapted to the diameter of the driving shaft 122. For example, the two can be equal, or the distance between the first constraint surface 131 and the second constraint surface 134 is slightly greater than the diameter of the driving shaft 122. In this way, the driving shaft 122 can be better defined to move within the first movement section 138 and the second movement section 139.

[0087] The movable part includes a moving block 130 and a telescopic rod 140. The moving block 130 is arranged in the device body 110, and its outer periphery is limited by the inner periphery of the device body 110, so that it can only move in the axial direction. The passive part is arranged in the moving block 130, and in the illustrated embodiment, the passive part is configured as a slot, for example, a symmetrical eight-shaped slot, which is arranged on the moving block 130.

[0088] The telescopic rod 140 penetrates the moving block 130, and its top end 125 extends to the top of the device body 110, and its bottom end extends out of the device body 110 for connection with the driven end clamp or the control device. The top of the device body 110 is provided with a through hole 111, and the telescopic rod 140 extends into the through hole 111. And the top of the device body 110 is also provided with a positioning sleeve 170, which extends into the through hole 111 and is sleeved on the telescopic rod 140. The outer periphery of the positioning sleeve 170 is limited by the inner periphery of the through hole 111, so that the position of the telescopic rod 140 is also limited, which improves the stability of the telescopic rod 140 in the Y direction, so that it can stably move up and down. And this structure also improves the strength of the movable part.

[0089] The master end operating device 100 according to the present application has a simple structure, high strength of the connecting parts, can accurately control the force transition, and the output of the clamping force is easy to control, and at the same time, it is also easy to maintain the symmetrical movement of the pair of operating mechanisms 120.

[0090] The second aspect of the present application provides a surgical robot. A preferred embodiment of the surgical robot includes a driven end clamp, a master end operating device 100 and a control device. The control device is in signal connection with the master end operating device 100 and the driven end clamp.

[0091] The control device is configured to control the slave end gripper to gradually change from the open state to the clamping state when the active portion interferes with the first constraint section 132 and moves in a direction close to the second constraint section 133. The control device is configured to control the slave end gripper to change to the clamping state when the active portion is located at the connection between the first constraint section 132 and the second constraint section 133. Furthermore, the control device is configured to control the slave end gripper to gradually increase the clamping force when the active portion interferes with the second constraint section 133 and moves in a direction away from the first constraint section 132.

[0092] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The features described herein in one embodiment can be applied to another embodiment, unless the features are not applicable or are otherwise stated.

[0093] The present application has been described through the above-described embodiments, but it should be understood that the above-described embodiments are only for the purpose of illustration and description, and are not intended to limit the present application to the scope of the described embodiments. Furthermore, those skilled in the art can understand that the present application is not limited to the above-described embodiments, and that more various modifications and changes can be made according to the teachings of the present application, and that these modifications and changes all fall within the scope of the present application claimed. The scope of protection of the present application is defined by the attached claims and their equivalent scope.

Claims

1. A master operating device for a surgical robot, characterized by, The utility model relates to a kind of operating device, including: Device body; A pair of operating mechanisms, the operating mechanism is pivotally connected respectively on the both sides of the device body to carry out opening and closing movement, and the operating mechanism is provided with driving part; Movable piece, the movable piece is at least partially arranged in the device body, and it is configured to be able to move along the axial direction of the device body, and the movable piece is provided with passive part, and the passive part is movably connected with the driving part and interferes with each other, so that the movable piece can be moved along the axial direction under the action of the operating mechanism, and the passive part has first constraint surface, and the first constraint surface includes at least one bending portion from starting end to terminal end, and the bending portion is recessed towards the center surface of the device body, and the first constraint surface further includes first constraint section and second constraint section, and the first constraint section is farther away from the center of the device body than the second constraint section, and the bending portion is located between the first constraint section and the second constraint section, and the driving part acts on the first constraint section and the second constraint section in sequence during the closing process of the pair of operating mechanisms, and the included angle between the first constraint section and the radial section of the device body is smaller than the included angle between the second constraint section and the radial section of the device body; Elastic member, the elastic member is configured to provide elastic force for driving the movable piece to move towards the top end of the main end operating device, and the pivot shaft of the pivotally connected operating mechanism and the device body is closer to the top end of the main end operating device than the first constraint surface.

2. The master operating device according to claim 1, characterized in that The slope of the boundary between the first constraint section and the bending portion with respect to the radial section of the device body is smaller than the slope of the boundary between the bending portion and the second constraint section with respect to the radial section of the device body.

3. The master operating device according to claim 1, characterized in that The first constraint section is a plane or a curved surface;And / or, the second constraint section is a plane or a curved surface.

4. The master operating device according to claim 1, characterized in that The passive part also has second constraint surface, and the second constraint surface is arranged in a spaced-apart manner with the first constraint surface to form a space for accommodating the movement of the driving part between the second constraint surface and the first constraint surface, and the second constraint surface forms an included angle with the radial section, and the second constraint surface is arranged in parallel with the first constraint surface, so that the driving part is limited between the first constraint surface and the second constraint surface.

5. The master operator device of claim 1, wherein, The passive part also has second constraint surface, and the second constraint surface is used to form a groove with the first constraint surface to accommodate the driving part and limit the movement of the driving part, and the second constraint surface includes third constraint section and fourth constraint section, and the third constraint section is connected with the fourth constraint section, and the third constraint section corresponds to the first constraint section to limit the movement of the driving part together with the first constraint section, and the fourth constraint section corresponds to the second constraint section to limit the movement of the driving part together with the second constraint section, and the included angle between the third constraint section and the radial section of the device body is smaller than the included angle between the fourth constraint section and the radial section of the device body.

6. The master operation device according to claim 4 or 5, characterized by The active part comprises an active shaft, which is arranged between the first constraint surface and the second constraint surface, and sequentially acts on the first constraint section and the second constraint section when the pair of operating mechanisms are closed.

7. The master operating device according to claim 6, wherein, the operating mechanism comprises a body, both ends of the active shaft are provided with bearings, wherein the outer ring of the bearing is connected with the body, and the inner ring of the bearing is connected with the active shaft.

8. The master operator apparatus according to claim 1, characterized by The movable part comprises: a moving block arranged in the device body, and the passive part is arranged in the moving block; and a telescopic rod extending out of the device body from the moving block in a direction away from the top end.

9. The master operating device according to claim 8, wherein, a through hole is arranged at the top of the device body; the telescopic rod penetrates through the moving block and extends to the top end, and extends into the through hole; the master operating device further comprises a positioning sleeve, which extends into the through hole and is sleeved on the telescopic rod, and the outer periphery of the positioning sleeve is limited by the inner periphery of the through hole.

10. The master operator device of claim 8, wherein, The elastic member is configured as a compression spring; the master operating device comprises a fixing member arranged in the device body, and the fixing member is further away from the top end of the master operating device than the moving block, and the elastic member is connected between the moving block and the fixing member; Alternatively, the elastic member is connected between the operating mechanism and the device body.

11. The master operating device according to claim 7, wherein, the pair of operating mechanisms are symmetrical along the central axis of the master operating device; and / or the operating mechanism further comprises a finger sleeve arranged on the body.

12. A surgical robot, characterized by comprises: a driven end clamp; and the master operating device according to any one of claims 1-11; and a control device, which is signal connected with the master operating device and the driven end clamp, and is configured to: when the active part interferes with the first constraint section and moves in a direction close to the second constraint section, control the driven end clamp to gradually change from an open state to a clamping state; when the active part is located at the connection between the first constraint section and the second constraint section, control the driven end clamp to change to a clamping state; when the active part interferes with the second constraint section and moves in a direction away from the first constraint section, gradually increase the clamping force of the driven end clamp.

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