A remote surgical operator

Abstract

The present invention relates to a remote surgical manipulator, comprising a base, two handles rotatably connected to the base, a first connecting shaft, a second connecting shaft, and a detection seat; a reset member is fixedly provided between the two handles, and the operator further comprises a first connecting shaft fixedly connected to the base, a second connecting shaft rotatably connected to the base and one end of which is connected to the two handles respectively through a switching mechanism, and the handle drives the second connecting shaft to rotate relative to the base through the switching mechanism; the first connecting shaft and the second connecting shaft are both slidably connected to the detection seat, and a first sensor, a second sensor, and a third sensor are provided in the detection seat. The operator can detect motion information of the handle opening and closing degree, motion information of the handle rotation angle, and motion information of the handle push-pull displacement, and use the three motion information as a reference for the doctor when remotely operating the handle, thereby improving the problem of lack of actual tactile sensation and reducing risks during surgery.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and more particularly, to a remote surgical operator. Background Art

[0002] As surgical robotics technology matures, the use of robotics to replace doctors in directly operating surgical instruments will become increasingly common. One such use case is when doctors are unable to travel to perform surgeries. Specifically, doctors can remotely operate the robotics' joysticks or handles.

[0003] For example, an existing operating handle of a surgical robot includes a handle base, two handles connected to the handle base; a rotatable connection between the handle and the handle base; a gear fixedly provided on the head of the handle, the two handles are connected via the gear, and a reset spring fixedly provided between the two handles for maintaining a certain distance between the two handles; and a sensor for sensing the operating status of the finger is provided on the handle. When working, the operating handle is connected to the main operating hand of the main console of the surgical robot system, and the docking station is fixedly connected to the main operating hand. The corresponding actions of the operating handle are captured by multiple sensors and transmitted to the main control module of the robot system, and then the main control module issues corresponding actuation instructions to the patient trolley. When in use, the touch sensor is connected to the main control module in the surgical robot system.

[0004] While the aforementioned handles can perform operations such as clamping, pushing, pulling, and rotating, there's no specific feedback on the various numerical values ​​generated after these operations. This lacks information such as the degree of handle closure, push-pull displacement, or rotation angle, as the surgeon lacks a tangible sense of touch, such as clamping force or resistance. Without a tangible sense of touch and feedback on the operator's movements, the surgeon's actions can increase risks during surgery. Summary of the Invention

[0005] In order to overcome the problem in the prior art that the operator has no motion information feedback, the present invention provides a remote surgical operator that can perform clamping, rotation, pushing and pulling operations and can obtain accurate motion information.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: a remote surgical manipulator, comprising a base, two handles rotatably connected to the base, a first connecting shaft, a second connecting shaft and a detection seat for connecting to an external fixing frame; a reset member for maintaining a certain distance between the two handles is fixedly arranged between the two handles, and also comprising the first connecting shaft fixedly connected to the base, the second connecting shaft rotatably connected to the base and one end is connected to the two handles respectively through a conversion mechanism, and the handle drives the second connecting shaft to rotate relative to the base through the conversion mechanism; the first connecting shaft and the second connecting shaft are both slidably connected to the detection seat, and a first sensor for detecting the rotation angle of the first connecting shaft, a second sensor for detecting the rotation angle of the second connecting shaft and a third sensor for detecting the displacement of the first connecting shaft or the second connecting shaft are arranged in the detection seat.

[0007] In the above technical solution, during use, the detection seat is fixed and the corresponding movement of the surgical robot can be achieved by controlling the operating hand.

[0008] Pressing the handle can achieve the corresponding clamping action of the surgical robot. The reset member is an elastic member, which automatically resets the handle when released. When the handle is pressed, the rotation of the handle is transmitted to the second connecting shaft through the adapter mechanism, causing the second connecting shaft to rotate. The second sensor then detects the rotation angle of the second connecting shaft to obtain motion information about the degree of closure of the handle. The adapter mechanism can be a crank rocker structure. The second sensor can be an encoder that detects the second connecting shaft.

[0009] When the operator rotates the handle, the base rotates, thereby driving the first connecting shaft to rotate and obtaining the rotation angle of the first connecting shaft through the first sensor to obtain motion information of the rotation angle of the operator. The first sensor can detect the encoder of the first connecting shaft.

[0010] When the operator pushes or pulls the handle, the handle is maintained at its open or closed position while being pushed to perform linear motion. Since the handle is rotationally connected to the base, the handle drives the base to perform linear motion. At this time, the first connecting shaft and / or the second connecting shaft will follow the base to perform linear motion. At this time, the third sensor detects the displacement of the first connecting shaft or the second connecting shaft to obtain motion information of the operator's linear displacement. The third sensor can be an encoder or a laser sensor.

[0011] Preferably, the transfer mechanism includes a rotating member fixedly connected to one end of the second connecting shaft and a connecting rod assembly connected to the two handles respectively; one end of the two connecting rod assemblies is respectively rotatably connected to the opposite sides of the rotating member, and the other end is respectively fixedly connected to the handles. When the handle rotates, the connecting rod assemblies located on the opposite sides of the rotating member are fixedly connected to the handle, so they can pull the rotating member, and one group of connecting rod assemblies will move downward, and the other group of connecting rod assemblies will pull the rotating member upward, that is, the rotating member can rotate accordingly. The rotation of the handle can be accurately converted into the rotation of the second connecting shaft through the connecting rod assembly, and the connecting rod assembly is not prone to locking, which reduces operational resistance and improves motion accuracy, making the final motion information more accurate.

[0012] Preferably, the connecting rod assembly includes a first rod portion and a second rod portion, one end of the first rod portion is fixedly connected to the handle, and the other end is connected to one end of the second rod portion via a ball joint, and the other end of the second rod portion is rotatably connected to the rotating member. The first rod portion and the second rod portion are connected by the ball joint, and the rotation of the first rod portion and the second rod portion is more flexible because the mechanical freedom of the ball joint is higher, which makes the rotation resistance of the adapter mechanism smaller and does not cause locking, further reducing the resistance of the operation and improving the movement accuracy, so that the movement information finally obtained is also more accurate. Since surgical operations are very delicate operations, if more force is required to operate the handle when it is locked, the force of the operating handle will not be constant. If the force is applied instantly to break through the resistance of the connecting rod assembly and there is no time to retract the force, the handle will move excessively at that moment and the degree of closure will suddenly change drastically. First, excessive movement may cause the surgical robot to touch other body tissues during the operation, causing bleeding or injury. Second, the sudden change in the degree of closure may cause the collected movement information to be inaccurate.

[0013] Preferably, the base includes a horizontal portion and a vertical portion, the first connecting shaft is fixedly connected to the vertical portion, and the second connecting shaft is rotatably connected to the vertical portion; the handle is rotatably connected to the horizontal portion; the second connecting shaft is provided with an abutment portion at one end close to the adapter mechanism, and the abutment portion abuts against the end face of the vertical portion close to the handle; a limit seat is installed on the horizontal portion, and the limit seat is located at the end of the rotating member away from the vertical portion, and the limit seat is provided with an ejection portion that fits with the rotating member. The ejection portion and the abutment portion prevent the second connecting shaft from performing linear motion relative to the base. When only the closing handle is operated, even if the adapter mechanism generates a force that causes the second connecting shaft to perform linear motion, the second connecting shaft cannot perform linear motion but can only rotate, thereby preventing the third sensor from detecting erroneous motion information and making the detection of motion information more accurate.

[0014] Preferably, the vertical portion is provided with a limiting protrusion, and the surface of the abutting portion is provided with a stopper that abuts the limiting protrusion after being rotated to a certain angle. To prevent the handle from being excessively closed, the abutting portion abuts the stopper when it rotates to a certain angle along with the second connecting shaft, preventing the second connecting shaft from rotating further.

[0015] Preferably, the first connecting shaft is a hollow structure, and the second connecting shaft is installed in and passes through the first connecting shaft, and the first connecting shaft and the second connecting shaft can both rotate relative to each other. The first connecting shaft and the second connecting shaft are fitted together, which can reduce the size of the operator. The axes of the first connecting shaft and the second connecting shaft can be collinear or have a small distance between them, and the distance is the gap between the second connecting shaft and the first connecting shaft. In this way, when the operator rotates, the first connecting shaft and the second connecting shaft rotate around their own axes as much as possible, which makes the movement smoother and the detected movement information more accurate.

[0016] Preferably, the detection seat is provided with a first sensor mounting seat, a second sensor mounting seat and a third sensor mounting seat;

[0017] The first sensor mounting base includes a first fixing frame and a first rotating wheel mounted on the first fixing frame; the first connecting shaft is slidably connected to the first rotating wheel and drives the first rotating wheel to rotate, and the first sensor detects the angle of rotation of the first rotating wheel;

[0018] The second sensor mounting base includes a second fixing frame and a second rotating wheel mounted on the second fixing frame; the second connecting shaft is slidably connected to the second rotating wheel and drives the second rotating wheel to rotate, and the second sensor detects the angle of rotation of the second rotating wheel;

[0019] The third sensor mounting seat includes a third fixed frame, a third rotating wheel and a third detection wheel installed on the third fixed frame. The second rotating wheel is connected to the third detection wheel through a third transmission belt; the end of the second connecting shaft away from the rotating member is connected to the third transmission belt, and the third sensor detects the rotation angle of the third detection wheel.

[0020] When the operating hand rotates, the first connecting shaft drives the first rotating wheel to rotate, and the first sensor detects the rotation angle of the first rotating wheel to obtain the motion information of the first connecting shaft. Since the first connecting shaft can rotate relative to the second connecting shaft, the rotation of the first connecting shaft will not affect the second connecting shaft. When the operating handle is closed, the second connecting shaft drives the second rotating wheel to rotate, and the second sensor detects the rotation angle of the second rotating wheel to obtain the motion information of the second connecting shaft. The rotation of the second connecting shaft will not affect the first connecting shaft. Since the first connecting shaft and the second connecting shaft themselves will rotate and move in a straight line, directly detecting the first connecting shaft and the second connecting shaft will easily lead to a decrease in the accuracy of the detected motion information. The first rotating wheel and the second rotating wheel can only rotate, so detecting the movement of both makes the detected motion information more accurate.

[0021] When the operator pushes or pulls the handle, the first connecting shaft drives the third transmission belt, causing the third detection wheel to rotate. The third sensor detects the rotation angle of the third detection wheel and maps the displacement of the first connecting shaft. Laser sensors are commonly used to detect linear displacement, but they have low accuracy. For detecting rotational angles, encoders with higher accuracy can be used.

[0022] Preferably, the first sensor mounting seat also includes a first detection wheel that is transmission-connected to the first rotating wheel, a first rotating shaft is mounted on the axis of the first detection wheel, and the first sensor detects the rotation angle of the second rotating shaft; the second sensor mounting seat also includes a second detection wheel that is transmission-connected to the second rotating wheel, a second rotating shaft is mounted on the axis of the second detection wheel, and the second sensor detects the rotation angle of the second rotating shaft; a second rotating shaft is mounted on the axis of the third detection wheel, and the third sensor detects the rotation angle of the third rotating shaft. The axes of the first rotating wheel and the second rotating wheel are respectively passed through by the first connecting shaft and the second connecting shaft, so it is not easy for the first sensor and the second sensor to detect the rotation angle. After the transmission of the first detection wheel and the second detection wheel, the accuracy of the first sensor and the second sensor in detecting the rotation angle is improved by detecting both.

[0023] Preferably, the surface of the first connecting shaft is provided with a first engaging protrusion, the surface of the second connecting shaft is provided with a second engaging protrusion, the first rotating wheel is provided with a first hollow portion that abuts against the surface of the first connecting shaft, and the second rotating wheel is provided with a second hollow portion that abuts against the surface of the second connecting shaft. Both the first connecting shaft and the second connecting shaft are non-cylindrical, and the first and second rotating wheels are driven to rotate and slide relative to each other by the first and second engaging protrusions, respectively.

[0024] Preferably, a slider is mounted on the end of the second connecting shaft away from the rotating member, and the slider is connected to the third transmission belt. The third fixed frame is provided with a slide rail, and the slider is mounted within and slides along the slide rail. By sliding the slider on the slide rail, the slider is restricted by the slide rail, further improving the motion accuracy of the second connecting shaft relative to the transmission belt, and ensuring more accurate detected motion information.

[0025] Compared with the existing technology, the beneficial effect of the present invention is that the operator can detect the motion information of the handle opening and closing degree, the motion information of the handle rotation angle and the motion information of the handle push-pull displacement, so that the three motion information can be used as a reference for the doctor when operating the handle, improving the problem of lack of actual tactile feeling and reducing the risk during the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic structural diagram of a remote surgical operator according to the present invention;

[0027] Figure 2 It is a schematic diagram of the assembly of the handle, the first connecting shaft and the second connecting shaft of the present invention;

[0028] Figure 3 yes Figure 1 An enlarged view of position A;

[0029] Figure 4 It is a structural schematic diagram of the first sensor mounting base, the second sensor mounting base and the third sensor mounting base of the present invention;

[0030] Figure 5 It is a structural schematic diagram of the second connecting shaft and the third sensor mounting seat of the present invention. DETAILED DESCRIPTION

[0031] The drawings are for illustrative purposes only and should not be construed as limiting this patent. To better illustrate the embodiments, some components in the drawings may be omitted, enlarged, or reduced in size, and do not represent actual product dimensions. Those skilled in the art will understand that some well-known structures and their descriptions may be omitted from the drawings. The positional relationships depicted in the drawings are for illustrative purposes only and should not be construed as limiting this patent.

[0032] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "long", "short", etc. indicating the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0033] The technical solution of the present invention is further described in detail below through specific embodiments and in conjunction with the accompanying drawings:

[0034] Example 1

[0035] like Figure 1 、 Figure 2 and Figure 4 The figure shows an embodiment of a remote surgical manipulator, comprising a base 1, two handles 2 rotatably connected to the base 1, a first connecting shaft 4, a second connecting shaft 5 and a detection seat 6 for connecting to an external fixing frame; a reset member 3 for maintaining a certain distance between the two handles 2 is fixedly arranged between the two handles 2, and further comprising a first connecting shaft 4 fixedly connected to the base 1, a second connecting shaft 5 rotatably connected to the base 1 and one end of which is connected to the two handles 2 respectively through a switching mechanism, and the handle 2 drives the second connecting shaft 5 to rotate relative to the base 1 through the switching mechanism; the first connecting shaft 4 and the second connecting shaft 5 are both slidably connected to the detection seat 6, and a first sensor 7 for detecting the rotation angle of the first connecting shaft 4, a second sensor 8 for detecting the rotation angle of the second connecting shaft 5 and a third sensor 9 for detecting the displacement of the first connecting shaft 4 or the second connecting shaft 5 are arranged in the detection seat 6.

[0036] Specifically, the transfer mechanism includes a rotating member 10 fixedly connected to one end of the second connecting shaft 5 and a connecting rod assembly 11 respectively connected to the two handles 2; one end of the two connecting rod assemblies 11 is respectively rotatably connected to the opposite sides of the rotating member 10, and the other end is respectively fixedly connected to the handle 2. When the handle 2 rotates, the connecting rod assemblies 11 located on the opposite sides of the rotating member 10 are fixedly connected to the handle 2, so they can pull the rotating member 10, and one group of connecting rod assemblies 11 will move downward, and the other group of connecting rod assemblies will pull the rotating member 10 upward, that is, the rotating member 10 can rotate accordingly. The rotation of the handle 2 can be accurately converted into the rotation of the second connecting shaft 5 through the connecting rod assembly 11, and the connecting rod assembly is not prone to locking (locking will occur at the dead point), which reduces operational resistance and improves motion accuracy, making the final motion information more accurate.

[0037] In this embodiment, the connecting rod assembly 11 includes a first rod portion 1101 and a second rod portion 1102. One end of the first rod portion 1101 is fixedly connected to the handle 2, and the other end is connected to one end of the second rod portion 1102 via a ball joint. The other end of the second rod portion 1102 is rotatably connected to the rotating member 10. The ball joint connects the first and second rod portions 1101, 1102, making the rotation of the first and second rod portions 1101, 1102 more flexible because the ball joint has a higher degree of mechanical freedom, resulting in less rotational resistance in the adapter mechanism and no locking. This further reduces operational resistance and improves motion precision, resulting in more accurate motion information. Since surgical operations are very delicate operations, if more force is required to operate the handle 2 when it is locked, the force of the operating handle 2 will not be constant. The force applied instantly to break through the resistance of the connecting rod assembly 11 will not be retracted in time, which will cause the handle 2 to move excessively and the degree of closure to suddenly change drastically at that moment. First, excessive movement may cause the surgical robot to touch other body tissues during the operation and cause bleeding or injury. Second, the sudden change in the degree of closure will cause the collected movement information to be inaccurate.

[0038] The operating principle or workflow of the present invention is as follows: Pressing handle 2 enables the corresponding surgical robot's clamping action, wherein reset member 3 is an elastic member that automatically resets handle 2 when released. When handle 2 is pressed, the rotation of handle 2 drives rotating member 10 via connecting rod assembly 11, causing second connecting shaft 5 to rotate. Second sensor 8 then detects the rotation angle of second connecting shaft 5 to obtain motion information about the degree of closure of handle 2. The adapter mechanism may be a crank rocker structure. Second sensor 8 may be an encoder that detects the second connecting shaft 5.

[0039] When the operator rotates the handle 2, the base 1 rotates, thereby driving the first connecting shaft 4 to rotate and obtaining the rotation angle of the first connecting shaft 4 through the first sensor 7, thereby obtaining the motion information of the rotation angle of the operator. The first sensor 7 can detect the encoder of the second connecting shaft 5.

[0040] When the operator pushes or pulls the handle 2, the handle 2 is pushed to perform linear motion while maintaining the opening or closing degree. Since the handle 2 is rotationally connected to the base 1, the handle 2 drives the base 1 to perform linear motion. At this time, the first connecting shaft 4 and / or the second connecting shaft 5 will perform linear motion along with the base 1. At this time, the third sensor 9 detects the displacement of the first connecting shaft 4 or the second connecting shaft 5 to obtain motion information of the operator's linear displacement. The third sensor 9 can be an encoder or a laser sensor.

[0041] The beneficial effects of this embodiment are as follows: the operator can detect the movement information of the degree of opening and closing of the handle 2, the movement information of the rotation angle of the handle 2, and the movement information of the push-pull displacement of the handle 2, so that the three movement information can be used as a reference for the doctor when operating the handle 2, thereby improving the problem of lack of actual tactile feeling and reducing the risk during the operation.

[0042] Example 2

[0043] A remote surgical operator embodiment 2 is different from embodiment 1 in that: Figure 1 and Figure 3 As shown, the base 1 includes a horizontal portion 101 and a vertical portion 102. The first connecting shaft 4 is fixedly connected to the vertical portion 102, and the second connecting shaft 5 is rotatably connected to the vertical portion 102. The handle 2 is rotatably connected to the horizontal portion 101. The end of the second connecting shaft 5 near the adapter mechanism is provided with an abutment portion 501, which abuts the end surface of the vertical portion 102 near the handle 2. A limit seat 103 is mounted on the horizontal portion 101. The limit seat 103 is located at the end of the rotating member 10 away from the vertical portion 102. The limit seat 103 is provided with an ejection portion 104 that abuts the rotating member 10. The ejection portion 104 and the abutment portion 501 prevent the second connecting shaft 5 from performing linear motion relative to the base 1. When only the closing handle 2 is operated, even if the adapter mechanism generates a force that causes the second connecting shaft 5 to perform linear motion, the second connecting shaft 5 cannot perform linear motion and can only rotate. This prevents the third sensor 9 from detecting erroneous motion information, making the detection of motion information more accurate. In this embodiment, in order to reduce the friction of the ejection portion 104 on the second connecting shaft 5 and reduce the resistance to the rotation of the second connecting shaft 5, the area of ​​the end surface of the ejection portion 104 at the end that contacts the rotating member 10 is as small as possible, and at least point contact with the rotating member 10 can be achieved, that is, the ejection portion 104 is conical.

[0044] Preferably, the vertical portion 102 is provided with a limiting protrusion 105, and the surface of the abutting portion 501 is provided with a stopper 5011 that abuts against the limiting protrusion 105 after rotating a certain angle. To prevent the handle 2 from being excessively closed, the abutting portion 501 abuts against the stopper 5011 after rotating a certain angle along with the second connecting shaft 5, preventing the second connecting shaft 5 from rotating further.

[0045] Preferably, the first connecting shaft 4 is a hollow structure, and the second connecting shaft 5 is installed in the first connecting shaft 4 and passes through the first connecting shaft 4, so that the first connecting shaft 4 and the second connecting shaft 5 can rotate relative to each other. The first connecting shaft 4 and the second connecting shaft 5 are fitted together, which can reduce the size of the operator. The axes of the first connecting shaft 4 and the second connecting shaft 5 can be collinear or have a small distance between them, and the distance is the gap between the second connecting shaft 5 and the first connecting shaft 4. In this way, when the operator rotates the first connecting shaft 4 and the second connecting shaft 5 rotate around their own axes as much as possible, the movement is smoother, and the detected movement information can also be more accurate.

[0046] The remaining features and working principles of this embodiment are consistent with those of embodiment 1.

[0047] Example 3

[0048] A remote surgical operator embodiment 3 is based on embodiment 1 or embodiment 2, and differs from embodiment 1 or embodiment 2 in that: Figure 4 As shown, the detection seat 6 is provided with a first sensor mounting seat 12, a second sensor mounting seat 13 and a third sensor mounting seat 14;

[0049] The first sensor mounting seat 12 includes a first fixed frame 1201, a first rotating wheel 1202 mounted on the first fixed frame 1201 and a first detection wheel 1203 transmission-connected to the first rotating wheel 1202, a first rotating shaft 1204 is mounted on the axis of the first detection wheel 1203, and the first sensor 7 detects the rotation angle of the first rotating shaft 1204; the first connecting shaft 4 is slidingly connected to the first rotating wheel 1202 and drives the first rotating wheel 1202 to rotate; the second sensor mounting seat 13 includes a second fixed frame 1301, a second rotating wheel 1302 mounted on the second fixed frame 1301 and a second detection wheel 1303 transmission-connected to the second rotating wheel 1302, a second rotating shaft 1304 is mounted on the axis of the second detection wheel 1303, and the second sensor 8 detects the rotation angle of the second rotating shaft 1304; the second connecting shaft 5 is slidingly connected to the second rotating wheel 1302 and drives the second rotating wheel 1302 to rotate; Figure 5As shown, the third sensor mounting base 14 includes a third fixed frame 1401, a third rotating wheel 1402 mounted on the third fixed frame 1401, and a third detection wheel 1403. The second rotating wheel 1302 is connected to the third detection wheel 1403 via a third transmission belt 1404. The end of the second connecting shaft 5 away from the rotating member 10 is connected to the third transmission belt 1404. The second rotating shaft 1304 is mounted on the axis of the third detection wheel 1403. The third sensor 9 detects the rotation angle of the third rotating shaft. A slider 503 is mounted on the end of the second connecting shaft 5 away from the rotating member 10. The slider 503 is connected to the third transmission belt 1404. The third fixed frame 1401 is provided with a slide rail 1411. The slider 503 is mounted within and slides along the slide rail 1411. As the slider 503 slides on the slide rail 1411, it is constrained by the slide rail 1411, further improving the motion accuracy of the second connecting shaft 5 relative to the transmission belt and ensuring more accurate detected motion information.

[0050] The first rotating wheel 1202 and the first detecting wheel 1203 can be driven by gear meshing or by a transmission belt, which can be a synchronous belt. Similarly, the second rotating wheel 1302 and the second detecting wheel 1303 are also the same. In this embodiment, a belt drive is used to realize the transmission connection.

[0051] When the operating handle rotates, the first connecting shaft 4 drives the first rotating wheel 1202 to rotate, which in turn drives the first detection wheel 1203 to rotate accordingly. The first sensor 7 detects the rotation angle of the first rotating shaft 1204 on the first detection wheel 1203, thereby obtaining motion information of the first connecting shaft 4. Since the first connecting shaft 4 can rotate relative to the second connecting shaft 5, the rotation of the first connecting shaft 4 does not affect the second connecting shaft 5. When the operating handle 2 is closed, the second connecting shaft 5 drives the second rotating wheel 1302 to rotate, which in turn drives the first rotating shaft 1204 to rotate. The second sensor 8 detects the rotation angle of the second rotating shaft, thereby obtaining motion information of the second connecting shaft 5. The rotation of the second connecting shaft 5 also does not affect the first connecting shaft 4. Since the first connecting shaft 4 and the second connecting shaft 5 themselves will rotate and move in a straight line, directly detecting the first connecting shaft 4 and the second connecting shaft 5 will easily lead to a decrease in the accuracy of the detected motion information. The first rotating wheel 1202 and the second rotating wheel 1302 can only rotate, but the first rotating wheel 1202 and the second rotating wheel are both penetrated. Therefore, by detecting the movement of the first rotating shaft 1204 and the second rotating shaft 1304 after another transmission, the detected motion information can be more accurate.

[0052] When the operator pushes or pulls the handle, the first connecting shaft 4 drives the third transmission belt 1404, causing the third detection wheel 1403 to rotate. The third sensor 9 detects the rotation angle of the third detection wheel 1403, mapping the displacement of the first connecting shaft 4. Laser sensors are commonly used to detect linear displacement, but they have low precision. For detecting rotational angles, encoders with higher precision can be used. In this embodiment, the first sensor 7, second sensor 8, and third sensor 9 are all encoders.

[0053] In this embodiment, Figure 2 As shown, the surface of the first connecting shaft 4 is provided with a first engaging protrusion 401, and the surface of the second connecting shaft 5 is provided with a second engaging protrusion 502. The first rotating wheel 1202 is provided with a first hollow portion 1221 that mates with the surface of the first connecting shaft 4; the second rotating wheel is provided with a second hollow portion 1321 that mates with the surface of the second connecting shaft 5. Both the first connecting shaft 4 and the second connecting shaft 5 are non-cylindrical. The first and second rotating wheels 1202 and 1302 are driven to rotate and slide relative to each other by the first and second engaging protrusions 401 and 502, respectively. Multiple first and second engaging protrusions 401 and 502 can be provided and evenly spaced around the circumference.

[0054] Alternatively, the detection base 6 is hollow and cylindrical, with the first, second, and third fixed bases 1201, 1301, and 1401 all directly or indirectly connected thereto. In this embodiment, the first and second fixed bases 1201, 1301 are circular, with blocks disposed on their outer edges, and the detection base 6 is provided with a slot for engaging the blocks. The third fixed base is indirectly connected to the detection base 6 by being connected to the second fixed base. The rotation axis of the third rotating wheel 1402 is perpendicular to the rotation axis of the second rotating wheel 1302.

[0055] The remaining features and working principles of this embodiment are the same as those of embodiment 1 or embodiment 2.

[0056] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A remote surgical manipulator, comprising a base (1), two handles (2) rotatably connected to the base (1); a reset member (3) for maintaining a certain distance between the two handles (2) is fixedly provided between the two handles (2), and is characterized in that: The invention also includes a first connecting shaft (4), a second connecting shaft (5) and a detection seat (6) for connecting to an external fixing frame; the first connecting shaft (4) is fixedly connected to the base (1), the second connecting shaft (5) is rotatably connected to the base (1) and one end of the second connecting shaft is respectively connected to the two handles (2) through a switching mechanism, and the handles (2) drive the second connecting shaft (5) to rotate relative to the base (1) through the switching mechanism; the first connecting shaft (4) and the second connecting shaft (5) are both slidably connected to the detection seat (6), and a first sensor (7) for detecting the rotation angle of the first connecting shaft (4), a second sensor (8) for detecting the rotation angle of the second connecting shaft (5) and a third sensor (9) for detecting the displacement of the first connecting shaft (4) or the second connecting shaft (5) are provided in the detection seat (6).

2. The remote surgical operator according to claim 1, characterized in that: The switching mechanism comprises a rotating member (10) fixedly connected to one end of the second connecting shaft (5) and a connecting rod assembly (11) respectively connected to the two handles (2); one end of the two connecting rod assemblies (11) is rotatably connected to opposite sides of the rotating member (10), and the other end is fixedly connected to the handles (2).

3. The remote surgical operator according to claim 2, characterized in that: The connecting rod assembly (11) comprises a first rod portion (1101) and a second rod portion (1102), wherein one end of the first rod portion (1101) is fixedly connected to the handle (2), and the other end is connected to one end of the second rod portion (1102) via a ball joint, and the other end of the second rod portion (1102) is rotatably connected to the rotating member (10).

4. The remote surgical operator according to claim 2, characterized in that: The base (1) includes a horizontal portion (101) and a vertical portion (102), the first connecting shaft (4) is fixedly connected to the vertical portion (102), and the second connecting shaft (5) is rotatably connected to the vertical portion (102); the handle (2) is rotatably connected to the horizontal portion (101); an abutting portion (501) is provided at one end of the second connecting shaft (5) close to the switching mechanism, and the abutting portion (501) abuts against an end surface of the vertical portion (102) close to the handle (2); a limiting seat (103) is installed on the horizontal portion (101), the limiting seat (103) is located at one end of the rotating member (10) away from the vertical portion (102), and the limiting seat (103) is provided with an ejection portion (104) that is in contact with the rotating member (10).

5. The remote surgical operator according to claim 4, characterized in that: The vertical portion (102) is provided with a position-limiting protrusion (105), and the surface of the abutting portion (501) is provided with a stopper (5011) that abuts against the position-limiting protrusion (105) after rotating to a certain angle.

6. The remote surgical operator according to claim 4, characterized in that: The first connecting shaft (4) is a hollow structure, the second connecting shaft (5) is inserted into the first connecting shaft (4) and passes through the first connecting shaft (4), and the first connecting shaft (4) and the second connecting shaft (5) can both rotate relative to each other.

7. The remote surgical operator according to any one of claims 2 to 6, characterized in that: The detection seat (6) is provided with a first sensor mounting seat (12), a second sensor mounting seat (13) and a third sensor mounting seat (14); The first sensor mounting seat (12) comprises a first fixing frame (1201) and a first rotating wheel (1202) mounted on the first fixing frame (1201); the first connecting shaft (4) is slidably connected to the first rotating wheel (1202) and drives the first rotating wheel (1202) to rotate, and the first sensor (7) detects the angle of rotation of the first rotating wheel (1202); The second sensor mounting seat (13) comprises a second fixing frame (1301) and a second rotating wheel (1302) mounted on the second fixing frame (1301); the second connecting shaft (5) is slidably connected to the second rotating wheel (1302) and drives the second rotating wheel (1302) to rotate, and the second sensor (8) detects the angle of rotation of the second rotating wheel (1302); The third sensor mounting seat (14) includes a third fixed frame (1401), a third rotating wheel (1402) and a third detection wheel (1403) mounted on the third fixed frame (1401), wherein the third rotating wheel (1402) is connected to the third detection wheel (1403) via a third transmission belt (1404); an end of the second connecting shaft (5) away from the rotating member (10) is connected to the third transmission belt (1404), and the third sensor (9) detects the rotation angle of the third detection wheel (1403).

8. The remote surgical operator according to claim 7, characterized in that: The first sensor mounting seat (12) further comprises a first detection wheel (1203) in transmission connection with the first rotating wheel (1202), a first rotating shaft (1204) being mounted on the axis of the first detection wheel (1203), and the first sensor (7) detects the rotation angle of the second rotating shaft (1304); The second sensor mounting seat (13) further comprises a second detection wheel (1303) in transmission connection with the second rotating wheel (1302), a second rotating shaft (1304) being mounted on the axis of the second detection wheel (1303), and the second sensor (8) detects the rotation angle of the second rotating shaft (1304); A second rotating shaft (1304) is mounted on the axis of the third detection wheel (1403), and the third sensor (9) detects the rotation angle of the third rotating shaft.

9. The remote surgical operator according to claim 8, characterized in that: The surface of the first connecting shaft (4) is provided with a first engaging protrusion (401), the surface of the second connecting shaft (5) is provided with a second engaging protrusion (502), the first rotating wheel (1202) is provided with a first hollow portion (1221) that is in contact with the surface of the first connecting shaft (4), and the second rotating wheel (1302) is provided with a second hollow portion (1321) that is in contact with the surface of the second connecting shaft (5).

10. The remote surgical operator according to claim 8, characterized in that: A slider (503) is installed at one end of the second connecting shaft (5) away from the rotating member (10), and the slider (503) is connected to the third transmission belt (1404); a slide rail (1411) is provided on the third fixed frame (1401), and the slider (503) is installed in the slide rail (1411) and slides along the slide rail (1411).

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