Cart console, from cart and surgical robot

Abstract

The present application relates to the technical field of medical apparatus and instruments, in particular to a trolley console, a slave trolley and a surgical robot, the trolley console comprising an operation panel arranged at a control box body; the operation panel is arranged at an angle with the ground and is inclined towards a side away from the trolley and the ground; a two-component force sensor is fixed in the control box body and connected with the operation panel; the two-component force sensor is used for measuring the pulling and pressing force and the rotating force transmitted by the operation panel to generate a signal and send it to a control system; the slave trolley comprises the above-mentioned trolley console; the surgical robot comprises the above-mentioned slave trolley; only one two-component force sensor is used, and the limiting of the sleeve ring assembly is used to achieve the purpose of designing the operation panel as an inclined structure, which is more in line with the ergonomic requirements; only one two-component force sensor is used, the number of parts is reduced, the volume is correspondingly reduced, the space occupation is optimized, it is more beautiful, and the assembly is simple.

Description

TECHNICAL FIELD

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

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the body cavity using a laparoscope, thoracoscope and other modern medical devices and related equipment. Compared with the traditional surgical method, minimally invasive surgery has the advantages of small trauma, light pain and fast recovery. However, in minimally invasive surgery, the operation difficulty is greatly increased due to the limitation of the size of the incision, and the fatigue, tremor and other actions of the doctor during the long operation process are amplified, which becomes a key factor restricting the development of minimally invasive surgery technology. With the development of robot technology, a new technology in the field of minimally invasive medical treatment that can overcome the shortcomings and inherit the advantages, minimally invasive surgery robot technology, has emerged as the times require.

[0003] A common minimally invasive surgery robot is composed of a doctor console, a patient-side cart and a display device. A surgeon operates an input device at the doctor console and transmits the input to a patient-side cart connected with a remotely operated surgical instrument. Based on the input of the surgeon at the doctor console, the remotely operated surgical instrument is actuated at the patient-side cart to operate on the patient, thereby generating a master-slave control relationship between the doctor console and the surgical instrument at the patient-side cart. Due to the consideration of floor space and equipment cost, hospitals usually cannot equip multiple minimally invasive surgery robots, so the patient-side cart often needs to be moved from one location to another. Similarly, the doctor console also needs to be moved, and the display device sometimes also needs to be moved, but relatively easily, so the focus is on the patient-side cart. For example, the patient-side cart is moved from one location in an operating room to another location in the same operating room, or the patient-side cart is moved from one operating room to another operating room. However, due to its large weight, large size and complex mechanical structure, it is difficult for humans to move it, so an electrically assisted transmission device is used to help users move the patient-side cart. Correspondingly, a mobile input control mechanism with an operation interface appears on the market to drive and move the patient-side cart in a relatively easy-to-use manner.

[0004] A cart console is disclosed in Chinese Patent Application CN114587607A, which 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 assembly connected with the control module. When the user pushes the control module, the overall micro-motion of the torsion sensing assembly is realized through the connection mode 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 torque signal and the torsion generated are transmitted to the first shell and the second shell by the slide rod, thereby eliminating the influence of the torsion force on the tension and compression sensor, realizing mechanical decoupling of the tension and compression sensor and the torque sensor, and relatively easily controlling the movement of the hand.

[0005] However, the above scheme has the following defects:

[0006] 1. Since the operation interface, i.e. the panel, is parallel to the ground, the relevant personnel often need to look down when moving and operating, which does not meet the ergonomic requirements, and it cannot be directly improved to be inclined because the connection relationship of the two sensors must be horizontal.

[0007] 2. Since two sensors are used, a mechanical structure connecting the two sensors is needed, and two signal amplifiers are also needed, resulting in large volume, poor appearance, complex assembly process and low assembly efficiency.

[0008] 3. The micro-motion seat of the above scheme, especially the four blind holes thereon, has high precision requirements, is difficult to process, and has high production cost, resulting in high equipment price and indirectly increasing the surgical burden of patients.

[0009] Therefore, it is expected to invent a more compact, cheaper and ergonomic surgical robot cart console. SUMMARY

[0010] In view of the above problems existing in the prior art, the present application provides a cart console, a slave cart and a surgical robot.

[0011] In order to solve the above technical problems, the present application is solved by the following technical scheme:

[0012] In a first aspect, a cart console is provided, comprising,

[0013] An operation panel is arranged at the control box. The operation panel is arranged at an angle with the ground and is inclined towards the side away from the cart and the ground.

[0014] A two-component force sensor is fixedly installed in the control box and connected with the operation panel.

[0015] The two-component force sensor is used for measuring the pulling and pressing force and the rotating force transmitted by the operation panel to generate corresponding signals and send them to the control system.

[0016] As a preference, the trolley control console further comprises a thimble assembly,

[0017] The thimble assembly is fixedly installed in the control box and cooperates with the operation panel; the thimble assembly and the operation panel can rotate relative to each other.

[0018] The thimble assembly is used for decomposing the pulling and pressing force and / or the rotating force in different directions to a plane perpendicular to the axial direction of the two-component force sensor.

[0019] As a preference, the thimble assembly comprises a thimble and a straight rod,

[0020] The thimble is rotatably connected with the operation panel.

[0021] The straight rod is fixedly installed in the control box and connected with the thimble.

[0022] The thimble can reciprocate along the axial direction of the straight rod.

[0023] As a preference, the trolley control console further comprises a first through hole and a connecting disc,

[0024] The first through hole is arranged on the control box at a position corresponding to the operation panel.

[0025] One end of the connecting disc extends into the control box through the first through hole and is fixedly connected with one end of the two-component force sensor, and the other end is fixedly connected with the operation panel.

[0026] The thimble is sleeved on one end of the connecting disc to realize relative rotation with the operation panel.

[0027] Under the condition of applying the pulling and pressing force and / or the rotating force to the operation panel, the operation panel transmits the pulling and pressing force and / or the rotating force to the two-component force sensor through the connecting disc.

[0028] As a preference, the thimble assembly further comprises a mounting sleeve and a first bearing,

[0029] The first bearing is sleeved on the straight rod.

[0030] The mounting sleeve is fixed to at least one side of the thimble and sleeved on the first bearing to realize the movement of the thimble along the axial direction of the straight rod.

[0031] As a preference, the thimble assembly further comprises a mounting groove and a retaining ring,

[0032] The number of mounting slots is two, and they are located at both ends of the first bearing;

[0033] The retaining ring is disposed in the mounting groove;

[0034] With the first bearing and the mounting sleeve mated, the mounting groove is outside the mounting sleeve, and the retaining ring abuts against the mounting sleeve to achieve the first bearing being limited and installed in the mounting sleeve.

[0035] Preferably, the trolley control console also includes a second bearing.

[0036] The second bearing is sleeved on one end of the connecting disc;

[0037] The collar assembly is fitted onto the second bearing to enable relative rotation between the collar assembly and the connecting disc.

[0038] Preferably, the trolley control console further includes a first pressure ring and a second pressure ring.

[0039] The first pressure ring is fixedly connected to the side of the collar away from the two-component force sensor; the first pressure ring abuts against the second bearing;

[0040] The second pressure ring is fixedly connected to one end of the connecting disc; the second pressure ring abuts against the second bearing.

[0041] Preferably, the trolley control console also includes mounting holes and a fixing end.

[0042] The mounting hole is located on the control box and at a position corresponding to the end of the straight rod;

[0043] The fixed end is located outside the control box, and one end extends into the control box through the mounting hole and is connected to the end corresponding to the straight rod, so as to realize the positioning and installation of the straight rod inside the control box.

[0044] Preferably, the control box includes a first frame and a second frame.

[0045] One end of the first frame is fixedly connected to the trolley;

[0046] One end of the second frame is fixedly connected to the first frame, and the other end extends in a direction away from the ground;

[0047] The two-component force sensor is located inside the second frame; the operation panel is located at the other end of the second frame.

[0048] In a second aspect, a slave trolley is provided, comprising the trolley console described above; further comprising a base, a brake pedal arranged on the base, a stand column; the trolley console is assembled on the stand column.

[0049] In a third aspect, a surgical robot is provided, comprising the slave trolley described above.

[0050] The present application has at least the following beneficial effects:

[0051] 1. Only one two-component force sensor is used, and the limit of the sleeve ring assembly is used to realize the design of the operation panel as an inclined structure, which is more in line with the ergonomic requirements.

[0052] 2. Only one two-component force sensor is used, reducing the number of parts, thereby reducing the volume accordingly, optimizing the space occupation, being more beautiful, and being easy to assemble.

[0053] 3. The sleeve ring is simple to process and has low manufacturing cost, thereby indirectly reducing the surgical burden of patients. BRIEF DESCRIPTION OF DRAWINGS

[0054] Figure 1 It is a schematic diagram of the trolley console in the prior art;

[0055] Figure 2 It is a schematic diagram of the trolley console in the present application;

[0056] Figure 3 It is a schematic diagram of part of the structure of the trolley console in the present application;

[0057] Figure 4 It is a sectional view of the two-component force sensor, the sleeve ring assembly and the connecting disc in the present application;

[0058] Figure 5 It is an exploded schematic diagram of the sleeve ring assembly in the present application;

[0059] Figure 6 It is Figure 4 the local enlarged view at A in the present application;

[0060] Figure 7 It is the first schematic diagram of the control box in the present application;

[0061] Figure 8 It is the second schematic diagram of the control box in the present application;

[0062] Figure 9 It is a schematic diagram of the trolley console in the present application with the operation panel hidden;

[0063] Figure 10 It is an assembly schematic diagram of the two-component force sensor, the sleeve ring assembly and the connecting disc in the present application;

[0064] Figure 11 Another sectional view of the two-component force sensor, the ferrule assembly and the connecting plate assembled in the present application;

[0065] Figure 12 Another sectional view of the two-component force sensor, the ferrule assembly and the connecting plate assembled in the present application;

[0066] Figure 13 Another sectional view of the two-component force sensor, the ferrule assembly and the connecting plate assembled in the present application; Figure 12 A local enlarged view at B in the present application;

[0067] Figure 14 A schematic view of the ferrule assembly in the present application;

[0068] Figure 15 A schematic view of the ferrule assembly in the present application;

[0069] Figure 16 A first schematic view of the connecting plate in the present application;

[0070] Figure 17 A second schematic view of the connecting plate in the present application.

[0071] The parts denoted by the reference numerals in the drawings are as follows:

[0072] 110, trolley console; 111, operation panel; 112, control box; 120, base; 121, brake pedal; 130, stand; 131, manipulator mounting seat; 210, handle; 220, housing; 310, two-component force sensor; 320, signal amplifier; 330, ferrule assembly; 331, ferrule; 332, straight rod; 333, mounting sleeve; 334, first bearing; 340, connecting plate; 350, fixed end; 360, first frame; 361, second wire passing hole; 370, second frame; 371, third wire passing hole; 380, sealing plate; 390, pad plate; 410, first fixing hole; 420, second fixing hole; 430, third fixing hole; 440, first wire passing hole; 450, second bearing; 451, first pressing ring; 452, second pressing ring; 460, fifth fixing hole; 510, mounting groove; 511, stop ring; 520, sixth fixing hole; 530, connecting groove; 540, bearing seat; 610, seventh fixing hole; 620, eighth fixing hole; 630, step; 710, mounting hole; 720, ninth fixing hole; 1110, tenth fixing hole. DETAILED DESCRIPTION

[0073] For further understanding of the present application, the application will be described in detail with reference to the drawings and embodiments. It should be understood that the embodiments are only for explanation of the present application and not for limitation.

[0074] AsFigures 1-3 , Figures 9-10 and Figures 12-17 As shown, this embodiment provides a trolley control console, the trolley control console 110 including,

[0075] An operation panel 111 is located at the control box 112; the operation panel 111 is set at an angle to the ground and tilted towards the side away from the trolley and the ground;

[0076] Two-component force sensors 310 are fixedly installed inside the control box 112 and connected to the operation panel 111;

[0077] The two-component force sensor 310 is used to measure the tensile, compressive, and rotational forces transmitted by the operation panel 111, so as to generate corresponding signals and send them to the control system.

[0078] In this embodiment, the trolley control console 110 is set on the hand, but in fact, the trolley control console 110 can be set on other instruments as needed.

[0079] With the operation panel 111 set in this embodiment, the operation panel 111 is facing the head of the medical staff during the movement and operation of the trolley. Therefore, the medical staff can move the trolley through the operation panel 111 without having to lower their heads, which meets the requirements of ergonomics and is easy to use.

[0080] Furthermore, since the existing trolley control console 110 uses independent tension / compression sensors and rotational force sensors, and the connection between the tension / compression sensors and rotational force sensors must be horizontal, this hinders the tilting of the control panel 111. In order to improve the position of the control panel 111 so that the control panel 111 can be tilted, this embodiment uses a separate two-component force sensor 310 in conjunction with the control panel 111. On the one hand, the two-component force sensor 310 can also measure the tension / compression and / or rotational force transmitted on the control panel 111. On the other hand, it can adapt to the adjustment of the position of the control panel 111 to meet the requirements of ergonomics.

[0081] By using a two-component force sensor 310 to replace the tension / compression sensor and the rotational force sensor, the space occupied by the mechanical structure connecting the tension / compression sensor and the rotational force sensor is also saved. Furthermore, the assembly steps and assembly difficulty are reduced. On the one hand, the volume of the control box 112 can be reduced and it is relatively more aesthetically pleasing. On the other hand, the assembly efficiency is improved.

[0082] It can be understood that, in the case of needing to install the signal amplifier 320, the original pull pressure sensor and the rotation force sensor need to be matched with the signal amplifier 320, that is, two signal amplifiers 320 need to be installed; and after adopting the two-component force sensor 310, only one signal amplifier 320 needs to be installed, thereby reducing the occupied space and the assembly difficulty.

[0083] In order to further make the use of the operation panel 111 in the embodiment meet the ergonomic requirements, based on the common height range of the current Chinese medical staff, that is, in the height range of 155cm-175cm, the range of the inclination angle between the operation panel 111 in the embodiment and the horizontal plane is set to be in the range of 15°-35°, and further preferably, the inclination angle between the operation panel 111 and the horizontal plane is 25°; correspondingly, the height of the control panel from the ground is in the range of 85cm-95cm; it can be understood that, since the height of medical staff in different countries may be different, when the cart control console 110 in the embodiment is applied to other countries, the inclination angle between the operation panel 111 and the horizontal plane and the height of the operation panel 111 from the ground may change accordingly.

[0084] Further, the structure and function of the operation panel 111 in the embodiment are described in detail. The operation panel 111 is provided with a handle 210 at the end away from the cart, and further, one or more indicator lights, an emergency stop switch and a power switch are arranged on the operation panel 111. The indicator light is used to indicate the battery power or other information, the power switch is used to control the opening and closing of the hand, and the emergency stop switch is used to forcibly stop any action of the hand in case of an accident. The handle 210 is mainly used to place a hand and control the switch components by the hand.

[0085] The two-component force sensor 310 in the embodiment is used to monitor the pushing force, pulling force or rotating force of the hand on the cart control console 110, that is, the pull pressure and the rotation force, and transmit the pushing and pulling signals or the rotating signals to the control system. The control system controls the movement and / or steering of the hand in combination with the switch signals transmitted by the handle 210.

[0086] In the embodiment, the cart control console 110 further comprises a sleeve assembly 330,

[0087] The sleeve assembly 330 is fixedly installed in the control box 112 and cooperates with the operation panel 111; the sleeve assembly 330 and the operation panel 111 can rotate relative to each other;

[0088] The sleeve assembly 330 is used to decompose the pull pressure and / or the rotation force in different directions to a plane perpendicular to the axial direction of the two-component force sensor 310.

[0089] It should be noted that the two-component force sensor 310 in the embodiment can be arranged parallel to the horizontal plane, or can be arranged inclined to the horizontal plane; in the case of the two-component force sensor 310 arranged inclined to the horizontal plane, it is necessary to ensure that the force applied by the medical staff to the operation panel 111 is along the axial direction perpendicular to the two-component force sensor 310; through the arrangement of the sleeve assembly 330 in the embodiment, when the operation panel 111 is subjected to pulling and pressing forces and / or rotating forces from different directions applied by the medical staff, the operation panel 111 will transmit the pulling and pressing forces and / or rotating forces from different directions to the sleeve assembly 330, and under the cooperation of the sleeve assembly 330, the pulling and pressing forces and / or rotating forces in different directions can be decomposed to the direction perpendicular to the axial direction of the two-component force sensor 310, and the measurement of the two-component force sensor 310 on the pulling and pressing forces and / or rotating forces is preferably realized.

[0090] It can be understood that in the case of the two-component force sensor 310 parallel to the horizontal plane, the use effect of the two-component force sensor 310 can also be improved through the use of the sleeve assembly 330.

[0091] It should be noted that in the embodiment, the two-component force sensor 310 is fixed in the control box 112, and the operation panel 111 is fixed between the two-component force sensor 310, so the rotation between the sleeve assembly 330 and the operation panel 111 is a small rotation trend.

[0092] In the embodiment, the sleeve assembly 330 comprises a sleeve ring 331 and a straight rod 332,

[0093] The sleeve ring 331 is rotatably connected with the operation panel 111;

[0094] The straight rod 332 is fixedly installed in the control box 112 and connected with the sleeve ring 331;

[0095] The sleeve ring 331 can reciprocate along the axial direction of the straight rod 332.

[0096] Through the structure in the embodiment, when the operation panel 111 is subjected to pulling and pressing forces and / or rotating forces from different directions applied by the medical staff, the operation panel 111 will drive the sleeve ring 331 to produce a small movement along the axial direction of the straight rod 332, and then decompose the pulling and pressing forces and / or rotating forces in different directions to the direction perpendicular to the axial direction of the two-component force sensor 310, thereby improving the measurement effect of the two-component force sensor 310.

[0097] It should be noted that in order to further improve the stability of the sleeve assembly 330 in the control box 112, the number of straight rods 332 in the embodiment is two and arranged in parallel.

[0098] In this embodiment, the trolley console 110 further comprises a first through hole and a connecting disc 340,

[0099] The first through hole is arranged on the control box 112 at a position corresponding to the operation panel 111.

[0100] One end of the connecting disc 340 extends into the control box 112 through the first through hole and is fixedly connected with one end of the two-component force sensor 310, and the other end is fixedly connected with the operation panel 111.

[0101] The sleeve ring 331 is sleeved on one end of the connecting disc 340 to realize relative rotation with the operation panel 111.

[0102] Under the condition of applying the pulling and pressing force and / or the rotating force to the operation panel 111, the operation panel 111 transmits the pulling and pressing force and / or the rotating force to the two-component force sensor 310 through the connecting disc 340.

[0103] Through the structure in this embodiment, the operation panel 111 is connected with the two-component force sensor 310 through the connecting disc 340. The operation panel 111 first transmits the pulling and pressing force and / or the rotating force to the connecting disc 340, and then transmits the pulling and pressing force and / or the rotating force to the two-component force sensor 310 through the connecting disc 340, so as to realize the measurement of the pulling and pressing force and / or the rotating force by the two-component force sensor 310.

[0104] Similarly, the pulling and pressing force and / or the rotating force in different directions are transmitted to the sleeve ring 331 through the connecting disc 340 to drive the sleeve ring 331 to move slightly along the axial direction of the straight rod 332.

[0105] In combination Figure 4 As shown, the connection mode between the connecting disc 340 and the operation panel 111 and the two-component force sensor 310 is further described. In this embodiment, a first fixing hole 410 is arranged on one end of the connecting disc 340, a second fixing hole 420 matched with the first fixing hole 410 is arranged on one end of the two-component force sensor 310, and a bolt is inserted into the first fixing hole 410 and the second fixing hole 420 to realize the fixed connection between the connecting disc 340 and the two-component force sensor 310. A third fixing hole 430 is arranged on the other end of the connecting disc 340, and a fourth fixing hole matched with the third fixing hole 430 is arranged on the operation panel 111. A bolt is inserted into the third fixing hole 430 and the fourth fixing hole to realize the fixed connection between the connecting disc 340 and the operation panel 111.

[0106] It can be understood that a first wire passing hole 440 is also arranged on the connecting disc 340 to realize the wiring of various wires and limit the various wires.

[0107] In the embodiment, the ferrule assembly 330 further comprises a mounting sleeve 333 and a first bearing 334,

[0108] The first bearing 334 is sleeved on the straight rod 332.

[0109] The mounting sleeve 333 is fixed to at least one side of the collar 331 and sleeved on the first bearing 334, so as to realize the movement of the collar 331 in the axial direction of the straight rod 332.

[0110] The first bearing 334 in the embodiment is a linear bearing.

[0111] Through the arrangement of the mounting sleeve 333 in the embodiment, the mounting sleeve 333 is sleeved on the straight rod 332, which can better realize the assembly between the collar 331 and the straight rod 332, and can move the mounting sleeve 333 in the axial direction of the straight rod 332, so as to realize the movement of the collar 331 in the axial direction of the straight rod 332 and the micro-motion of the collar 331. Through the arrangement of the first bearing 334, the connection between the straight rod 332 and the mounting sleeve 333 can be realized, and the movement of the collar 331 in the axial direction of the straight rod 332 can be assisted, so as to further improve the effect of the micro-motion of the collar 331.

[0112] In combination with Figure 5 the drawings, in the embodiment, the ferrule assembly 330 further comprises a mounting groove 510 and a retaining ring 511,

[0113] The number of the mounting groove 510 is two and is arranged at two ends of the first bearing 334.

[0114] The retaining ring 511 is arranged in the mounting groove 510.

[0115] In the assembled state of the first bearing 334 and the mounting sleeve 333, the mounting groove 510 is outside the mounting sleeve 333, and the retaining ring 511 abuts against the mounting sleeve 333, so as to realize the limiting installation of the first bearing 334 in the mounting sleeve 333.

[0116] Through the structure in the embodiment, during assembly, first, the first bearing 334 is inserted into the mounting sleeve 333, so that the two ends of the first bearing 334 are outside the mounting sleeve 333, at this time, the mounting grooves 510 on the two ends of the first bearing 334 are also outside the mounting sleeve 333, then the corresponding retainer ring 511 is clamped in the mounting groove 510, while achieving the fixing of the retainer ring 511 on the first bearing 334, the retainer ring 511 also plays a limiting role on the first bearing 334, because the retainer ring 511 can resist the end of the mounting sleeve 333, so that the first bearing 334 can be better avoided from being separated from the mounting sleeve 333.

[0117] It should be noted that the retainer ring 511 in the embodiment is in the form of an open ring, so that the retainer ring 511 can be clamped in the mounting groove 510 through the opening of the retainer ring 511.

[0118] In the embodiment, the trolley console 110 further comprises a second bearing 450,

[0119] The second bearing 450 is sleeved on one end of the connecting disc 340;

[0120] The sleeve assembly 330 is sleeved on the second bearing 450 to realize the relative rotation of the sleeve assembly 330 and the connecting disc 340.

[0121] The second bearing 450 in the embodiment is a cross roller bearing.

[0122] Through the setting of the second bearing 450 in the embodiment, the assembly of the sleeve assembly 330 and the connecting disc 340 can be better achieved, and the relative rotation between the sleeve assembly 330 and the connecting disc 340 can be realized.

[0123] It is worth mentioning that, since the cross roller bearing has the characteristics of being able to bear radial load and axial load, it is particularly suitable for the trolley console 110 in the embodiment; through the setting of the cross roller bearing, the pulling and pressing force and the rotating force applied by the medical staff to the connecting disc 340 can be separated by the gap between the bearing rollers, so as to avoid the crosstalk to the two-component force sensor 310; further, when the medical staff wants to rotate, due to the uncertainty of the human hand, there may always be an unexpected pulling and pressing force, which is relatively small, so it can be contained by the gap between the bearing rollers, avoiding the influence of the pulling and pressing force on the two-component force sensor 310, and similarly, the corresponding unexpected rotating force can be contained by the gap between the bearing rollers.

[0124] In the embodiment, the trolley console 110 further comprises a first pressing ring 451 and a second pressing ring 452,

[0125] The first pressing ring 451 is fixedly connected to the side of the collar 331 away from the two-component force sensor 310, and abuts against the second bearing 450.

[0126] The second pressing ring 452 is fixedly connected to one end of the connecting disc 340, and abuts against the second bearing 450.

[0127] Through the first pressing ring 451 and the second pressing ring 452 in the embodiment, the connection and cooperation between the collar 331 and the connecting disc 340 and the second bearing 450 can be better achieved, and the relative rotation of the collar 331 and the connecting disc 340 through the second bearing 450 can be achieved.

[0128] It should be noted that the cross-sectional area of the first pressing ring 451 and the second pressing ring 452 in the embodiment is L-shaped.

[0129] In combination with Figure 6 It is shown that the assembly mode of the first pressing ring 451 and the second pressing ring 452 is further specifically described, one end of the first pressing ring 451 is provided with a fifth fixing hole 460, the side of the collar 331 away from the two-component force sensor 310 is provided with a sixth fixing hole 520 matched with the fifth fixing hole 460, the fixed connection between the first pressing ring 451 and the collar 331 is achieved by the bolts inserted into the fifth fixing hole 460 and the sixth fixing hole 520, and the other end of the first pressing ring 451 abuts against the outer ring of the second bearing 450; one end of the second pressing ring 452 is provided with a seventh fixing hole 610, one end of the connecting disc 340 is provided with an eighth fixing hole 620 matched with the seventh fixing hole 610, the fixed connection between the second pressing ring 452 and the connecting disc 340 is achieved by the bolts inserted into the seventh fixing hole 610 and the eighth fixing hole 620, and the other end of the second pressing ring 452 abuts against the inner ring of the second bearing 450; the collar 331 and the connecting disc 340 are matched with the second bearing 450 through the first pressing ring 451 and the second pressing ring 452 respectively, and the relative rotation between the collar 331 and the connecting disc 340 is further achieved.

[0130] More specifically, the structure of the collar 331 and the connecting disc 340 is introduced. The inner ring of the collar 331 is provided with a bearing seat 540 close to one side of the two-component force sensor 310. The bearing seat 540 extends along the circumferential direction of the collar 331 and is annular. When the collar 331 is assembled with the second bearing 450, the bearing seat 540 is pressed against the side of the second bearing 450 close to the two-component force sensor 310, that is, the bearing seat 540 is used to bear the second bearing 450. Correspondingly, one end of the connecting disc 340 is provided with a step 630. The step 630 extends along the circumferential direction of the connecting disc 340 and is annular. When the connecting disc 340 is assembled with the second bearing 450, the step 630 is pressed against the side of the second bearing 450 close to the connecting disc 340, that is, the step 630 cooperates with the bearing seat 540 to clamp the second bearing 450, thereby achieving the assembly of the second bearing 450 and the relative rotation between the connecting disc 340 and the collar 331.

[0131] In combination Figure 7 As shown in the drawings, in the embodiment, the trolley console 110 further comprises a mounting hole 710 and a fixed end 350,

[0132] The mounting hole 710 is arranged on the control box body 112 at a position corresponding to the end of the straight rod 332.

[0133] The fixed end 350 is outside the control box body 112 and one end thereof extends into the control box body 112 through the mounting hole 710 and is connected to the end of the straight rod 332 corresponding thereto, so as to realize the positioning and installation of the straight rod 332 in the control box body 112.

[0134] Through the structure in the embodiment, during assembly, the collar 331 and the straight rod 332 are first assembled, and then placed into the control box body 112. One end of the fixed end 350 is extended into the control box body 112 through the mounting hole 710 and is connected to the end of the straight rod 332 corresponding thereto outside the control box body 112, and the other end of the fixed end 350 is pressed against the control box body 112 outside the control box body 112, thereby realizing the positioning and installation of the straight rod 332 in the control box body 112 through the fixed end 350.

[0135] Further to the connection between the fixed end head 350 and the straight rod 332 in the embodiment, the end of the straight rod 332 is provided with a connection groove 530 extending along the circumference of the straight rod 332 and in a ring shape; the fixed end head 350 is in a ring shape matched with the connection groove 530, and the cross section of the fixed end head 350 is in an L shape, that is, one end is a small head part with a smaller diameter, and the other end is a flange edge with a larger diameter; in assembly, the small head part of the fixed end head 350 is inserted into the control box body 112 through the mounting hole 710 and is sleeved on the connection groove 530, at this time, the flange edge of the fixed end head 350 is outside the control box body 112 and is in extrusion fit with the control box body 112; a threaded hole is further formed on the end face of the end of the fixed end head 350, and a screw is used outside the control box body 112 to pass through the fixed end head 350 and extend into the threaded hole, so as to realize the positioning and installation of the straight rod 332 in the control box body 112.

[0136] In the embodiment, the control box body 112 includes a first frame body 360 and a second frame body 370,

[0137] One end of the first frame body 360 is fixedly connected to the trolley;

[0138] One end of the second frame body 370 is fixedly connected to the first frame body 360, and the other end extends away from the ground;

[0139] The two-component force sensor 310 is arranged in the second frame body 370; and the operation panel 111 is arranged at the other end of the second frame body 370.

[0140] In combination with Figure 8 the drawings, the control box body 112 in the embodiment is further described, the first frame body 360 is arranged in parallel with the horizontal plane and is fixedly installed on the trolley through a screw at one end; one end of the second frame body 370 is fixedly installed with the other end of the first frame body 360 through a screw; and the operation panel 111 is arranged in parallel with the end face of the other end of the second frame body 370. Figure 8 In order to make the arrangement of the operation panel 111 meet the ergonomic requirements, the included angle between the first frame body 360 and the second frame body 370 is in the range of 105°-125°, that is, the θ angle in

[0141] In the embodiment, the shell 220 is further wrapped outside the first frame 360 and the second frame 370 to realize protection of the first frame 360, the second frame 370 and the internal structure. It can be understood that, in the case that the shell 220 wraps the first frame 360 and the second frame 370, the external visual angle of the control box 112 is similar to the shape of a water pipe elbow.

[0142] In combination Figure 11 It is shown that the installation of the two-component force sensor 310 in the second frame 370 is further explained. The second frame 370 is connected to the end face of the first frame 360, and the ninth fixing hole 720 is arranged on the end face. The other end of the two-component force sensor 310 in the embodiment has a backing plate 390, and the tenth fixing hole 1110 matched with the ninth fixing hole 720 is arranged on the backing plate 390. The fixing and installation of the two-component force sensor 310 in the second frame 370 are realized by the bolts extending into the ninth fixing hole 720 and the tenth fixing hole 1110.

[0143] It should be noted that the signal amplifier 320 is also used in the embodiment, and the signal amplifier 320 is fixedly installed in the first frame 360.

[0144] It can be understood that the second wire hole 361 is arranged on one end of the first frame 360, and the third wire hole 371 is arranged on one end of the second frame 370. The second wire hole 361 and the third wire hole 371 are used for passing various wires, so as to facilitate wiring of various wires.

[0145] The second frame 370 in the embodiment is further explained. The other end of the second frame 370 is in an open shape, so as to facilitate installation of the two-component force sensor 310 and the sleeve ring assembly 330 in the second frame 370. The sealing plate 380 is fixedly connected to the opening of the other end of the second frame 370 by bolts, so as to seal the other end of the second frame 370. The first through hole is arranged on the sealing plate 380, so as to realize that one end of the connecting disc 340 extends into the second frame 370.

[0146] The embodiment also provides a slave trolley, which comprises the trolley control console 110; further comprises a base 120, a brake pedal 121 arranged on the base 120 and a stand column 130; the stand column 130 is assembled with the trolley control console 110.

[0147] It should be noted that the stand column 130 in the embodiment is provided with a mechanical hand mounting seat 131. The slave trolley in the embodiment has the corresponding advantages as described above.

[0148] The embodiment also provides a surgical robot, which comprises the slave trolley as described above, and thus has the corresponding advantages as described above.

[0149] In summary, the above-mentioned is only the preferred embodiment of the present application, any equivalent changes and modifications made in accordance with the scope of the present application patent application, should be the scope of the present application patent cover.

Claims

1. A trolley control console, characterized in that: The cart control console includes, The operation panel is located in the control box; the operation panel is set at an angle to the ground and tilted towards the side away from the trolley and the ground; Two force sensors are fixedly installed inside the control box and connected to the operation panel; The two-component force sensor is used to measure the tensile, compressive, and rotational forces transmitted by the operation panel, so as to generate corresponding signals and send them to the control system. The trolley control console also includes a ring toss assembly. The ring assembly is fixedly installed inside the control box and cooperates with the operation panel; the ring assembly and the operation panel can rotate relative to each other; The collar assembly is used to decompose the tensile and compressive forces and / or the rotational forces in different directions onto a plane perpendicular to the axis of the two-component force sensor.

2. The trolley control console according to claim 1, characterized in that: The collar assembly includes a collar and a straight rod. The collar is rotatably connected to the operation panel; The straight rod is fixedly installed inside the control box and connected to the collar; The collar can reciprocate along the axial direction of the straight rod.

3. The trolley control console according to claim 2, characterized in that: The trolley control console also includes a first through hole and a connecting plate. The first through hole is located on the control box and at a position corresponding to the operation panel; One end of the connecting plate extends into the control box through the first through hole and is fixedly connected to one end of the two-component force sensor, while the other end is fixedly connected to the operation panel. The collar is fitted onto one end of the connecting disc to allow relative rotation with the operation panel; When the tensile force and / or the rotational force are applied to the operation panel, the operation panel transmits the tensile force and / or the rotational force to the two-component force sensor through the connecting plate.

4. The trolley control console according to claim 2, characterized in that: The ring assembly also includes a mounting sleeve and a first bearing. The first bearing is sleeved on the straight rod; The mounting sleeve is fixed to at least one side of the collar and sleeved on the first bearing to enable the collar to move along the axial direction of the straight rod.

5. The trolley control console according to claim 4, characterized in that: The ring assembly also includes a mounting groove and a retaining ring. The number of mounting slots is two, and they are located at both ends of the first bearing; The retaining ring is disposed in the mounting groove; With the first bearing and the mounting sleeve mated, the mounting groove is outside the mounting sleeve, and the retaining ring abuts against the mounting sleeve to achieve the first bearing being limited and installed in the mounting sleeve.

6. The trolley control console according to claim 3, characterized in that: The trolley control console also includes a second bearing. The second bearing is sleeved on one end of the connecting disc; The collar assembly is fitted onto the second bearing to enable relative rotation between the collar assembly and the connecting disc.

7. The trolley control console according to claim 6, characterized in that: The trolley control console also includes a first pressure ring and a second pressure ring. The first pressure ring is fixedly connected to the side of the collar away from the two-component force sensor; the first pressure ring abuts against the second bearing; The second pressure ring is fixedly connected to one end of the connecting disc; the second pressure ring abuts against the second bearing.

8. The trolley control console according to claim 2, characterized in that: The trolley control console also includes mounting holes and a fixing end. The mounting hole is located on the control box and at a position corresponding to the end of the straight rod; The fixed end is located outside the control box, and one end extends into the control box through the mounting hole and is connected to the end corresponding to the straight rod, so as to realize the positioning and installation of the straight rod inside the control box.

9. The trolley control console according to claim 1, characterized in that: The control box includes a first frame and a second frame. One end of the first frame is fixedly connected to the trolley; One end of the second frame is fixedly connected to the first frame, and the other end extends in a direction away from the ground; The two-component force sensor is located inside the second frame; the operation panel is located at the other end of the second frame.

10. From a handcart, characterized in that: The device includes the trolley control console as described in any one of claims 1-9; it also includes a base, a brake pedal disposed on the base, and a column; the trolley control console is mounted on the column.

11. A surgical robot, characterized in that: Including the handcart as described in claim 10.

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