Operating hand for controlling a surgical robot

Abstract

The present disclosure provides a kind of for controlling surgical robot operating hand, comprising: first shell, wherein the top surface of first shell is provided with first through hole;Second shell, is installed in first shell;Ball nut, is installed at the bottom end of second shell;Lead screw, with ball nut screw joint, the bottom end of lead screw is rotatably installed in the bottom surface of first shell;Magnetic attraction type locking device, is installed on ball nut, magnetic attraction type locking device is configured to be embraced tightly with lead screw in the case where power is supplied, to prevent the rotation of lead screw;Ball type operating hand, rotatably installed on second shell by first through hole;Wherein, in the case where the angle of ball type operating hand changes, the working state of surgical robot is controlled.

Description

Technical Field

[0001] This disclosure relates to the field of medical device technology, and more specifically, to an operator hand for controlling a surgical robot. Background Technology

[0002] Natural Orifice Surgical Systems (NOTES) are the product of collaborative development across multiple disciplines, including clinical surgical techniques, robotics, and computer technology. The operator, as a crucial component of the NOTES surgical robot system, plays a vital role in the surgical procedure.

[0003] If the surgeon needs to pause the operation due to various emergencies, and the operating hand of the existing general-purpose master hand or laparoscopic surgical robot cannot lock, the surgeon or others may accidentally operate the operating hand, causing the surgical robot to move inside the body, thus affecting the safety of the operation. Summary of the Invention

[0004] In view of this, embodiments of this disclosure provide an operator hand for controlling a surgical robot, comprising:

[0005] A first outer casing, wherein a first through hole is provided on the top surface of the first outer casing;

[0006] The second outer casing is installed inside the aforementioned first outer casing;

[0007] A ball nut is installed at the bottom end of the second housing described above;

[0008] A lead screw is screwed to the ball nut described above, and the bottom end of the lead screw is rotatably mounted on the bottom surface of the first housing described above.

[0009] A magnetic locking device is installed on the ball nut. The magnetic locking device is configured to hold the lead screw tightly when energized to prevent the lead screw from rotating.

[0010] A ball-type manipulator is rotatably mounted on the second housing through the first through hole;

[0011] Specifically, the working state of the surgical robot is controlled when the angle of the ball-shaped manipulator changes.

[0012] According to embodiments of this disclosure, the magnetic locking device includes:

[0013] The fixing part is installed on the aforementioned ball nut;

[0014] The movable part, the first end of which is rotatably connected to the fixed part via a pivot;

[0015] An electromagnet is installed at the second end of the movable part. The electromagnet is configured to attract the fixed part when energized, thereby changing the angle between the fixed part and the movable part and restricting the rotation of the lead screw.

[0016] According to embodiments of this disclosure, either the fixed part or the movable part includes:

[0017] The clamping block has an arc-shaped opening on the side facing the lead screw that mates with the lead screw.

[0018] The clamping block of the aforementioned fixing part is provided with a metal plate that cooperates with the aforementioned electromagnet.

[0019] According to embodiments of this disclosure, the ball-type manipulator includes:

[0020] A spherical portion having a groove configured to be rotatably connected to the second outer shell, wherein the working state of the surgical robot is controlled when the spherical portion rotates;

[0021] The connecting part is mounted on the aforementioned spherical part at one end;

[0022] An operating part is connected to the other end of the connecting part, and the operating part is adapted to change the rotation angle of the spherical part.

[0023] According to an embodiment of this disclosure, the groove is rotatably connected to the second housing via a first spherical bearing.

[0024] According to an embodiment of this disclosure, a gyroscope is installed in the spherical portion, and the gyroscope is configured to collect the rotation angle of the spherical portion.

[0025] According to embodiments of this disclosure, the operator further includes:

[0026] An annular support is installed on the side wall of the first outer casing at the first through hole. The spherical part rotates within the support, and the inner wall of the support is provided with an arc-shaped end face that matches the shape of the spherical part.

[0027] According to embodiments of this disclosure, the operator further includes:

[0028] Multiple control buttons are installed on the top of the aforementioned operating unit, wherein at least one of the aforementioned control buttons is configured to control the energization state of the aforementioned magnetic locking device, and the remaining aforementioned control buttons are configured to control the operating state of the aforementioned surgical robot.

[0029] According to an embodiment of this disclosure, the bottom surface of the first housing is provided with a second through hole, and the bottom end of the lead screw is rotatably connected to the second through hole via a second spherical bearing.

[0030] According to embodiments of this disclosure, the pitch of the lead screw ranges from 5 to 20 mm.

[0031] According to embodiments of this disclosure, by providing a second housing, a lead screw, and a magnetic locking device in the operator's hand, the overall length and rotation of the lead screw and the second housing can be locked without operating the surgical robot. This avoids erroneous operations during non-surgical periods that could cause the surgical robot to make incorrect movements, reducing the risk of errors during surgery and improving the success rate of surgery for patients. Attached Figure Description

[0032] The above and other objects, features and advantages of this disclosure will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0033] Figure 1 A perspective view of an operator's hand according to an embodiment of the present disclosure is shown schematically;

[0034] Figure 2 The diagram illustrates an operator's hand from one angle according to an embodiment of the present disclosure.

[0035] Figure 3 A schematic diagram of the interior of a first housing according to an embodiment of the present disclosure is shown.

[0036] Figure 4 A schematic cross-sectional view of the operator's hand according to an embodiment of the present disclosure is shown;

[0037] Figure 5 A schematic diagram of a magnetic locking device according to an embodiment of the present disclosure is shown; and

[0038] Figure 6 A schematic diagram of a ball-type manipulator according to an embodiment of the present disclosure is shown.

[0039] The meanings of the reference numerals in the above figures are as follows:

[0040] 100 - First outer shell;

[0041] 110 - Second joint bearing;

[0042] 200 - Second outer shell;

[0043] 300-ball nut;

[0044] 400-lead screw;

[0045] 500 - Magnetic locking device;

[0046] 510 - Fixing part;

[0047] 520 - Activities Department;

[0048] 530 - Electromagnet;

[0049] 600-Ball Manipulator;

[0050] 610 - Spherical part;

[0051] 611 - First joint bearing;

[0052] 620 - Connecting part;

[0053] 630 - Operations Department;

[0054] 640-Annular support;

[0055] 650 - Control Button;

[0056] 700-gyroscope. Detailed Implementation

[0057] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the invention. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the invention for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0058] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0059] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0060] When using expressions such as "at least one of A, B, and C", they should generally be interpreted in accordance with the meaning that is commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B, and C, etc.).

[0061] See Figures 1-4The manipulator used to control the surgical robot includes a first housing 100, a second housing 200, a ball nut 300, a lead screw 400, a magnetic locking device 500, and a ball manipulator 600.

[0062] The top surface of the first housing 100 is provided with a first through hole; the second housing 200 is installed inside the first housing 100; the ball nut 300 is installed at the bottom end of the second housing 200; the lead screw 400 is screwed to the ball nut 300, and the bottom end of the lead screw 400 is rotatably installed on the bottom surface of the first housing 100; the magnetic locking device 500 is installed on the ball nut 300, and the magnetic locking device 500 is configured to hold the lead screw 400 tightly when energized to prevent the lead screw 400 from rotating; the ball manipulator 600 is rotatably installed on the second housing 200 through the first through hole; wherein, when the angle of the ball manipulator 600 changes, the working state of the surgical robot is controlled.

[0063] According to embodiments of this disclosure, the surgical robot may be a natural orifice surgery (NOTES) robot, or it may be a surgical robot for other types of surgery.

[0064] According to embodiments of this disclosure, both the first outer shell 100 and the second outer shell 200 can be hollow shells. In order to facilitate the installation of the ball-type operating hand 600, the first through hole can be formed by the top surface of the first outer shell 100 being recessed downwards.

[0065] According to embodiments of this disclosure, when the manipulator is communicatively connected to the surgical robot, the surgeon can achieve three-degree-of-freedom rotational motion of the ball manipulator 600 by rotating it (e.g., ...). Figure 1 (The direction indicated by the three-dimensional coordinate system in the figure), for example, pushing the ball manipulator 600 to the left can control the surgical robot to make corresponding actions. For example, the endoscope of the surgical robot moves a certain distance to the left in sync. In this case, the second housing 200 and the lead screw 400 tilt at an angle as the ball manipulator 600 rotates. During the tilting process, since the lead screw 400 is rotatably connected to the second housing 200 and the first housing 100 respectively, the lead screw 400 undergoes a certain self-spin, which changes the overall length of the lead screw 400 and the second housing 200 to adapt to the tilting state.

[0066] In one exemplary embodiment, when surgery needs to be paused, the magnetic locking device 500 is energized. In this case, the magnetic locking device 500 can hold the lead screw 400 tightly to prevent its rotation. Since the magnetic locking device 500 is mounted on the ball nut 300, the rotation of the ball nut 300 is simultaneously restricted when the magnetic locking device 500 is energized. At this time, if the doctor or others operate the ball manipulator 600, the position of the ball manipulator 600 will not change, and the surgical robot will not move.

[0067] According to embodiments of this disclosure, by providing a second housing 200, a lead screw 400, and a magnetic locking device 500 in the operator's hand, the overall length and rotation of the lead screw 400 and the second housing 200 can be locked without operating the surgical robot. This avoids erroneous operations during non-surgical periods that could cause the surgical robot to make incorrect movements, reduces the risk of errors during surgery, and improves the success rate of surgery for patients.

[0068] like Figure 5 As shown, the magnetic locking device 500 includes a fixed part 510, a movable part 520, and an electromagnet 530.

[0069] The fixed part 510 is mounted on the ball nut 300; the first end of the movable part 520 is rotatably connected to the fixed part 510 via a pivot; the electromagnet 530 is mounted on the second end of the movable part 520, and the electromagnet 530 is configured to magnetically attract the fixed part 510 when energized, so as to change the included angle between the fixed part 510 and the movable part 520, thereby restricting the rotation of the lead screw 400.

[0070] In an alternative embodiment, the fixed part 510 may also be connected to the movable part 520 via a hinge.

[0071] In another alternative embodiment, both the fixed part 510 and the movable part 520 can be rotatably connected to the bottom surface of the ball nut 300 via a pivot. The maximum rotation angle of both the fixed part 510 and the movable part 520 can be limited by a limiting post provided on the ball nut 300, so that the maximum included angle between the fixed part 510 and the movable part 520 is less than a preset maximum angle, for example, the maximum angle can be 30 degrees.

[0072] In one exemplary embodiment, when surgery needs to be paused, the electromagnet 530 is energized. In this case, the angle between the movable part 520 and the fixed part 510 decreases due to electromagnetic attraction, so that the movable part 520 and the fixed part 510 can jointly hold the lead screw 400 to prevent the lead screw 400 from rotating. At the same time, since the magnetic locking device 500 is installed on the ball nut 300, the rotation of the ball nut 300 is simultaneously restricted when the magnetic locking device 500 is energized. At this time, if the doctor or others operate the ball manipulator 600, the position of the ball manipulator 600 will not change, and the surgical robot will not move.

[0073] According to embodiments of the present disclosure, either the fixed part 510 or the movable part 520 includes a clamping block.

[0074] The clamping block has an arc-shaped opening on the side facing the lead screw 400 to cooperate with the lead screw 400; the clamping block of the fixing part 510 is provided with a metal plate that cooperates with the electromagnet 530.

[0075] According to embodiments of this disclosure, the clamping blocks can be made of a material such as iron that can be attracted by the electromagnet 530. To improve the locking effect, rubber parts can be provided on opposite sides of the two clamping blocks.

[0076] According to an embodiment of this disclosure, in order to improve the electromagnetic adsorption effect, a metal sheet can be provided on the clamping block of the fixing part 510, and the metal sheet can be attracted by the electromagnet 530.

[0077] like Figure 6 As shown, the ball-type manipulator 600 includes a spherical part 610, a connecting part 620, and an operating part 630.

[0078] A groove is provided on the spherical part 610, and the groove is configured to be rotatably connected to the second housing 200, wherein the working state of the surgical robot is controlled when the spherical part 610 rotates;

[0079] One end of the connecting part 620 is mounted on the spherical part 610; the operating part 630 is connected to the other end of the connecting part 620, and the operating part 630 is adapted to change the rotation angle of the spherical part 610.

[0080] According to embodiments of this disclosure, the spherical portion 610 may include two hemispherical components, which are fixedly connected by bolts. The connecting portion 620 may be an ergonomic handle, which a doctor can grip to rotate the operating hand. The operating portion 630 may be configured so that the doctor can operate it with their fingers to change the rotation angle of the spherical portion 610.

[0081] According to an embodiment of this disclosure, the doctor manipulates the position of the connecting part 620 and the operating part 630, causing the spherical part 610 to rotate as the connecting part 620 and the operating part 630 move. The rotation angle of the spherical part 610 is used to control the working state of the surgical robot.

[0082] According to embodiments of this disclosure, such as Figure 4 As shown, the groove is rotatably connected to the second housing 200 via the first joint bearing 611.

[0083] According to embodiments of the present disclosure, the use of the first joint bearing 611 allows the second housing 200 to rotate in multiple directions to accommodate the tilted state of the second housing 200.

[0084] According to embodiments of this disclosure, such as Figure 4 and Figure 6 As shown, a gyroscope 700 is installed in the spherical part 610, and the gyroscope 700 is configured to collect the rotation angle of the spherical part 610.

[0085] According to an embodiment of this disclosure, the gyroscope 700 may be disposed between the two hemispherical components of the spherical portion 610.

[0086] According to an embodiment of this disclosure, the gyroscope 700 detects the rotation angle of the spherical part 610 when the doctor operates the operating unit 630, and sends the rotation angle to the controller of the surgical robot so that the surgical robot can perform actions according to the rotation angle. The controller can also be located in the operating unit.

[0087] It should be noted that the gyroscope 700 in this disclosure can be replaced by other devices with equivalent functions. The gyroscope 700 in this disclosure is only an example and is not a limitation of this disclosure.

[0088] According to embodiments of this disclosure, such as Figure 4 As shown, the operator also includes an annular support 640.

[0089] An annular support 640 is installed on the side wall of the first outer casing 100 at the first through hole. The spherical part 610 rotates inside the support, and the inner wall of the support is provided with an arc-shaped end face that matches the shape of the spherical part 610.

[0090] According to the embodiments of this disclosure, in order to reduce the production and assembly difficulty for operators, the annular support 640 can be divided into two semi-annular supports. The two semi-annular supports are combined into the annular support 640 by fixing them together with bolts or other fixed connections. Before fixing them together, the spherical part 610 needs to be placed between the two semi-annular supports in advance.

[0091] According to embodiments of this disclosure, such as Figure 6As shown, the operator's hand also includes multiple control buttons 650.

[0092] Multiple control buttons 650 are mounted on the top of the operating unit 630, wherein at least one control button 650 is configured to control the energized state of the magnetic locking device 500, and the remaining control buttons 650 are configured to control the operating state of the surgical robot.

[0093] According to embodiments of this disclosure, the number of control buttons 650 is specifically set according to the functions of the surgical robot. For example, control buttons 650 can be set to control the water supply, power supply, and function switching of the surgical robot.

[0094] According to embodiments of this disclosure, when surgery needs to be paused, the doctor can activate the magnetic locking device 500 by controlling the power-on button to lock the ball-type manipulator 600. When surgery needs to continue, the doctor can again control the magnetic locking device 500 to stop working by controlling the control button 650 to release the locking state of the ball-type manipulator 600.

[0095] According to embodiments of this disclosure, such as Figure 4 As shown, the bottom surface of the first housing 100 is provided with a second through hole, and the bottom end of the lead screw 400 is rotatably connected to the second through hole through a second joint bearing 110.

[0096] According to an embodiment of this disclosure, the second joint bearing 110 has the same structure as the first joint bearing 611, and the second joint bearing 110 enables the lead screw 400 to adapt to the tilting state of the lead screw 400.

[0097] According to embodiments of this disclosure, the pitch of the lead screw 400 ranges from 5 to 20 mm.

[0098] According to the embodiments of this disclosure, the pitch of the lead screw 400 determines whether the lead screw 400 can achieve self-spinning. Preferably, the pitch can be 10 mm, wherein the angle between each thread on the lead screw 400 and the end face of the lead screw 400 can be a preset angle, such as 45 degrees.

[0099] The embodiments of the present invention have been described above. However, these embodiments are merely illustrative and not intended to limit the scope of the invention. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The definitions of the elements and methods above are not limited to the various specific structures, shapes, or methods mentioned in the embodiments, and those skilled in the art can easily modify or substitute them. The scope of the present invention is defined by the appended claims and their equivalents. Without departing from the scope of the present invention, those skilled in the art can make various substitutions and modifications, all of which should fall within the scope of the present invention.

Claims

1. A hand for controlling a surgical robot, characterized in that, include: A first outer casing, wherein a first through hole is provided on the top surface of the first outer casing; The second outer casing is installed inside the first outer casing; A ball nut is installed at the bottom end of the second housing; A lead screw is screwed to the ball nut, and the bottom end of the lead screw is rotatably mounted on the bottom surface of the first housing; A magnetic locking device is mounted on the ball nut, and the magnetic locking device is configured to hold the lead screw tightly when energized to prevent the lead screw from rotating. A ball-type manipulator is rotatably mounted on the second housing through the first through-hole; Specifically, the working state of the surgical robot is controlled when the angle of the ball-type manipulator changes; The magnetic locking device includes: The fixing part is installed on the ball nut; The movable part, the first end of which is rotatably connected to the fixed part via a pivot; An electromagnet is installed at the second end of the movable part. The electromagnet is configured to attract the fixed part when energized, thereby changing the angle between the fixed part and the movable part, thus restricting the rotation of the lead screw.

2. The operator according to claim 1, characterized in that, Each of the fixed part and the movable part includes: A clamping block, wherein the clamping block has an arc-shaped opening on the side facing the lead screw that cooperates with the lead screw; The clamping block of the fixing part is provided with a metal plate that cooperates with the electromagnet.

3. The operator according to claim 2, characterized in that, The ball-type manipulator includes: A spherical portion having a groove configured to be rotatably connected to the second housing, wherein the working state of the surgical robot is controlled when the spherical portion rotates; The connecting part is mounted on the spherical part at one end; An operating part is connected to the other end of the connecting part, and the operating part is adapted to change the rotation angle of the spherical part.

4. The operator according to claim 3, characterized in that, The groove is rotatably connected to the second housing via a first spherical bearing.

5. The operator according to claim 3, characterized in that, A gyroscope is installed in the spherical part, and the gyroscope is configured to collect the rotation angle of the spherical part.

6. The operator according to claim 3, characterized in that, Also includes: An annular support is installed on the side wall of the first outer shell at the first through hole. The spherical part rotates within the support, and the inner wall of the support is provided with an arc-shaped end face that matches the shape of the spherical part.

7. The operator according to claim 1, characterized in that, Also includes: Multiple control buttons are mounted on the top of the operating unit, wherein at least one of the control buttons is configured to control the energization state of the magnetic locking device, and the remaining control buttons are configured to control the working state of the surgical robot.

8. The operator according to claim 1, characterized in that, The bottom surface of the first housing is provided with a second through hole, and the bottom end of the lead screw is rotatably connected to the second through hole through a second joint bearing.

9. The operator according to claim 1, characterized in that, in, The pitch of the lead screw ranges from 5 to 20 mm.

Images