Force feedback device, operating table, and endoscopy system

Abstract

The present application relates to the technical field of endoscopy, and provides a force feedback device, an operating table and an endoscopy system.The force feedback device comprises: a plurality of motion mechanisms, a lower motion mechanism in the plurality of motion mechanisms is installed on an output end or a driven end of an upper motion mechanism, the lower motion mechanism can operate along the degree of freedom of the output end or the driven end of the upper motion mechanism, and the plurality of motion mechanisms are used for providing the operating mechanism with degrees of freedom in multiple directions; and the operating mechanism is connected with the output end of the last motion mechanism.The force feedback device provided by the present application can directly output the motion after the combination of multiple degrees of freedom to the operating mechanism by connecting the lower motion mechanism in the plurality of motion mechanisms with the output end or the driven end of the upper motion mechanism, the length of the transmission chain during the connection of the plurality of motion mechanisms is shortened, the precision of force feedback is improved, and the precision of the operation of the operating mechanism is further improved.

Description

Technical Field

[0001] This invention relates to the field of endoscopy technology, and more particularly to a force feedback device, an operating table, and an endoscopic examination system. Background Technology

[0002] With the development of medical robots, there are more specific requirements for their operation methods. In some traditional operation methods, such as keyboards, mice, touchscreens, and even some more ergonomic operating devices, operators can only send operation commands through the device. Because the actuator is a robot, it is difficult for the operator to obtain the execution status of the robot's execution end through the operating device. However, in medical surgery, directly feeling the force applied to the execution end is crucial, especially in the field of endoscopic robots. The information obtained by the operator is mostly limited to the local images obtained from the endoscope, and the force used by the robot during operation often exceeds the force felt through the image. Therefore, it is essential to add a reliable force feedback function to the operating device of the medical surgical robot to reflect the true state of the entire endoscope during operation.

[0003] The force feedback device used in patent CN101681180B employs a gear transmission mechanism with a large transmission ratio, resulting in high overall reliability. However, it can only achieve force feedback in one degree of freedom.

[0004] The force feedback device used in patent EP1259862B1 employs a low-torque motor and a multi-stage reduction gear to achieve a large reduction ratio, ensuring a sufficiently large feedback force. It also uses a universal joint with grooves to synthesize motion in two degrees of freedom. However, due to its complex transmission mechanism, the multi-stage reduction gear generates significant transmission backlash, reducing the accuracy of the operating lever's position. When the complex system needs to be compressed in size, this can reduce the reliability of components to some extent, limiting the range of feedback force. The universal joint with grooves also introduces additional backlash, and the grooves are more prone to wear.

[0005] Currently, force feedback control devices are mainly used in games and general robot control. Due to considerations of versatility and cost in general applications, the force feedback control devices often use multi-stage reduction transmission mechanisms. Because of the complex structure of the transmission mechanism, multi-stage reduction devices will produce large transmission gaps, which will reduce the accuracy of the movement position of the control lever and thus reduce the operation accuracy. Summary of the Invention

[0006] This invention provides a force feedback device, an operating table, and an endoscope inspection system to address the shortcomings of low operational accuracy in existing force feedback devices.

[0007] The present invention provides a force feedback device, comprising: a plurality of motion mechanisms, wherein a lower-level motion mechanism is installed at the output end or driven end of a higher-level motion mechanism, the lower-level motion mechanism being capable of operating along the degrees of freedom of motion of the output end or driven end of the higher-level motion mechanism, the plurality of motion mechanisms being used to provide multiple degrees of freedom in multiple directions for an operating mechanism; and an operating mechanism, the operating mechanism being connected to the output end of the last motion mechanism.

[0008] According to a force feedback device provided by the present invention, a plurality of position sensors are further included, wherein the position sensors are respectively disposed in each of the motion mechanisms.

[0009] According to a force feedback device provided by the present invention, a plurality of force sensors are further included, wherein the force sensors are respectively disposed in the last motion mechanism or the operating mechanism.

[0010] According to a force feedback device provided by the present invention, the operating mechanism includes a connecting rod and a power rod, the connecting rod being connected to the power rod, and the power rod being drivenly connected to the last motion mechanism, wherein the force sensor is disposed on the power rod.

[0011] According to a force feedback device provided by the present invention, the plurality of motion mechanisms include a first transmission mechanism and a second transmission mechanism. The first transmission mechanism includes: a first motor and a first gear, the first gear being connected to the first motor; the second transmission mechanism includes: a second gear, the second gear meshing with the first gear; a first mounting base, the second gear being disposed on one side of the first mounting base and capable of driving the first mounting base to rotate, the first mounting base being connected to the connecting rod; a second motor and a third gear, the third gear being connected to the second motor and drivingly connected to the power rod, the third gear being capable of driving the power rod to rotate; wherein, the first mounting base is provided with the force sensor, and the first motor and the second motor are provided with the angle sensor.

[0012] According to a force feedback device provided by the present invention, the plurality of motion mechanisms include a third transmission mechanism and a linear movement mechanism. The third transmission mechanism includes a synchronous belt drive assembly. The linear movement mechanism includes: a third motor, the output end of which is connected to the operating mechanism; and a second mounting base, on which the third motor is mounted. The second mounting base is connected to the driven end of the synchronous belt drive assembly, and the second mounting base is capable of linear movement under the drive of the synchronous belt drive assembly. The force sensor is disposed between the second mounting base and the operating mechanism, and the angle sensor is disposed between the synchronous belt drive assembly, or between the synchronous belt drive assembly and the third motor.

[0013] According to a force feedback device provided by the present invention, it further includes: a rack; the plurality of motion mechanisms include: a fourth transmission mechanism, a fifth transmission mechanism, a sixth transmission mechanism, and a rotating mechanism, wherein the rotating mechanism is mounted on the driven end of the fourth transmission mechanism, the sixth transmission mechanism is mounted on the driven end of the fifth transmission mechanism, wherein the fourth transmission mechanism and the fifth transmission mechanism are connected to the rack in a driving manner; the operating mechanism includes a first operating lever and a second operating lever, the first operating lever is sleeved on the outside of the second operating lever, and the rotating mechanism and the sixth transmission mechanism are respectively connected to the second operating lever and the first operating lever.

[0014] According to a force feedback device provided by the present invention, the operating mechanism further includes a touch sensor, which is disposed on the operating mechanism.

[0015] The present invention also provides an operating console, including the force feedback device described above.

[0016] The present invention also provides an endoscopic examination system, including an endoscope and an operating table as described above, wherein the operating table is electrically connected to the endoscope.

[0017] The force feedback device provided by this invention can directly output the combined motion of multiple degrees of freedom to the operating mechanism by connecting the lower-level motion mechanism to the output end or driven end of the upper-level motion mechanism in a plurality of motion mechanisms. This shortens the length of the transmission chain when multiple motion mechanisms are connected, improves the accuracy of force feedback, and thus improves the precision of the operation of the operating mechanism. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is one of the structural schematic diagrams of the force feedback device provided by the present invention;

[0020] Figure 2 yes Figure 1 A partial schematic diagram;

[0021] Figure 3 yes Figure 1 Exploded view;

[0022] Figure 4 This is the second schematic diagram of the force feedback device provided by the present invention;

[0023] Figure 5 This is the third structural schematic diagram of the force feedback device provided by the present invention;

[0024] Figure 6 This is the fourth structural schematic diagram of the force feedback device provided by the present invention;

[0025] Figure 7 This is the fifth schematic diagram of the force feedback device provided by the present invention;

[0026] Figure 8 This is the sixth schematic diagram of the force feedback device provided by the present invention;

[0027] Figure 9 This is the seventh structural schematic diagram of the force feedback device provided by the present invention;

[0028] Figure 10 This is one of the schematic diagrams showing the location of the touch sensor.

[0029] Figure 11 This is the second diagram showing the location of the touch sensor.

[0030] Figure 12 This is one of the structural schematic diagrams of the operating console provided by the present invention;

[0031] Figure 13 This is the second schematic diagram of the operating console provided by the present invention;

[0032] Figure 14 This is the third schematic diagram of the operating console provided by the present invention;

[0033] Figure 15 This is a schematic diagram of the endoscopic examination system provided by the present invention;

[0034] Figure 16 yes Figure 1 The diagram shows the structure of an endoscope.

[0035] Figure label:

[0036] 101: Handle; 102: Connecting rod; 103: Power rod; 104: Third operating rod; 105: First operating rod; 106: Second operating rod; 107: Touch sensor; 201: First motor; 202: First gear; 203: First motor mounting base; 204: Fixing base; 205: First bearing; 211: Second gear; 212: First mounting base; 213: Second motor; 214: Third gear; 215: Second bearing; 221: Second mounting base; 222: Third motor; 223: Guide rod; 224: Third mounting base; 225: Fourth motor; 226: First pulley; 227: Second pulley; 228: First belt; 231: Fifth motor; 232: Third pulley; 233: Fourth pulley; 234: Second belt; 235: Connector; 241: Third mounting base; 242: Sixth motor; 243: Fourth gear; 244: Seventh motor; 245: First guide rail; 246: First slider; 247: Rack; 248: Eighth motor; 249: Fifth gear 250: Wheel; 251: Sixth gear; 252: Seventh gear; 253: Ninth motor; 254: Fourth mounting base; 255: Second guide rail; 256: Second slider; 300: Operating table; 301: Housing; 302: Knob; 303: Button; 304: Display screen; 401: First angle sensor; 402: Second angle sensor; 403: Third angle sensor; 404: Fourth angle sensor; 405: First force sensor; 406: Second force sensor; 407: Fifth angle sensor ; 408: Sixth angle sensor; 409: Seventh angle sensor; 410: Eighth angle sensor; 411: Displacement sensor; 412: Third force sensor; 413: Fourth force sensor; 414: Sensor group; 500: Power mechanism; 600: Display mechanism; 700: Image processing mechanism; 800: Endoscope; 801: Pipe; 802: Operating instrument; 803: Cable; 804: Connection structure; 805: Camera; 1021: First body; 1022: Second body; 1031: Arc rack. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0038] The following is combined with Figures 1-16 The force feedback device, operating table, and endoscopic examination system of the present invention are described.

[0039] The force feedback device includes multiple motion mechanisms and an operating mechanism. The lower-level transmission mechanism among the multiple motion mechanisms is installed at the output end or driven end of the upper-level transmission mechanism. The lower-level motion mechanism can run along the motion degrees of freedom of the output end or driven end of the upper-level motion mechanism. The multiple motion mechanisms are used to provide multiple degrees of freedom in the operating mechanism. The operating mechanism is connected to the output end of the last motion mechanism.

[0040] Specifically, each motion mechanism provides a degree of freedom in one direction for the operating mechanism, such as left and right, front and back, or axial rotation. The lower-level motion mechanism is connected to the output end of the upper-level motion mechanism, which can shorten the length of the transmission chain when the motion mechanism is connected, and also make the force feedback device compact in structure and small in size.

[0041] Furthermore, in embodiments of the present invention, the motion mechanism can be a transmission mechanism or a rotation mechanism. That is, in embodiments of the present invention, multiple motion mechanisms can be connected by multiple transmission mechanisms or a transmission mechanism and a rotation mechanism can be connected.

[0042] The force feedback device provided in this embodiment of the invention can directly output the combined motion of multiple degrees of freedom to the operating mechanism by installing the lower-level motion mechanism in a plurality of motion mechanisms on the output end or driven end of the upper-level motion mechanism. This shortens the length of the transmission chain when multiple motion mechanisms are connected, improves the accuracy of force feedback, and thus improves the precision of the operation of the operating mechanism.

[0043] like Figure 1 As shown, in one embodiment of the present invention, the operating mechanism includes a connecting rod 102 and a power rod 103. The connecting rod 102 is connected to the power rod 103, and the power rod 103 is drive-connected to the last motion mechanism.

[0044] Specifically, in this embodiment, there are two motion mechanisms, which are two transmission mechanisms. The output end of the primary transmission mechanism is connected to the secondary transmission mechanism, and the secondary transmission mechanism is connected to the power rod 103 of the operating mechanism to transmit the combined motion of the primary and secondary transmission mechanisms to the power rod 103. The power rod 103 is connected to the connecting rod 102, thereby enabling the connecting rod 102 to achieve two degrees of freedom in two directions.

[0045] Furthermore, in this embodiment, the operating mechanism may also include a handle 101, which is connected to a connecting rod 102, thereby giving the handle 101 multiple degrees of freedom in multiple directions.

[0046] Specifically, such as Figure 1 , Figure 2 and Figure 3As shown, in the first embodiment of the present invention, the plurality of motion mechanisms include a first transmission mechanism and a second transmission mechanism. The first transmission mechanism includes a first motor 201 and a first gear 202, with the first motor 201 connected to the first gear 202. The second transmission mechanism includes a second gear 211, a first mounting base 212, a second motor 213, and a third gear 214. The second gear 211 meshes with the first gear 202 and is disposed on one side of the first mounting base 212, enabling the first mounting base 212 to rotate. The third gear 214 is connected to the second motor 213 and is also connected to the power rod 103, enabling the power rod 103 to rotate.

[0047] Specifically, the rotation of the first motor 201 drives the rotation of the first gear 202. The first gear 202 meshes with the second gear 211, thereby driving the second gear 211 to rotate. The second gear 211 is mounted on the first mounting base 212. When the second gear 211 rotates, it drives the first mounting base 212 to rotate, achieving the degree of freedom in the V direction. When the second motor 213 rotates, it drives the rotation of the third gear 214. The third gear 214 is connected to the power rod 103, driving the power rod 103 to rotate. The power rod 103 is connected to the connecting rod 102, thereby driving the connecting rod 102 to rotate, achieving the degree of freedom in the N direction.

[0048] Furthermore, such as Figure 4 As shown, in this embodiment, the first mounting base 212 is a frame structure consisting of front and rear plates and left and right side plates. The connecting rod 102 includes a first body 1021 and a second body 1022. One end of the first body 1021 is perpendicularly arranged and connected to the second body 1022, and the other end of the first body 1021 is connected to the power rod 103. The top surface of the first body 1021 is connected to the handle 101, and the second body 1022 is rotatably connected to the rear plate of the first mounting base 212. The power rod 103 includes a third body and a fourth body connected together. The third body is connected to one end of the first body 1021 of the connecting rod 102, and the fourth body is provided with an arc-shaped rack 1031, which is connected to the third gear 214 for transmission.

[0049] Furthermore, a first bearing 205 is provided on the left and right side plates of the first mounting base 212. When the first gear 202 drives the second gear 211 to rotate, the second gear 211 can drive the first mounting base 212 to rotate around the first bearing 205, thereby enabling the connecting rod 102 to obtain a degree of freedom in the V direction. Correspondingly, a second bearing 215 is also provided on the front and rear plates of the first mounting base 212. When the power rod 103 rotates, it can drive the connecting rod 102 to achieve a degree of freedom in the H direction around the second bearing 215.

[0050] Furthermore, in this embodiment, the force feedback device may also include a first motor mounting base 203 and a fixing base 204, wherein the first motor mounting base 203 is used to fix the first motor 201, and the fixing base 204 is used to mount the first mounting base 212.

[0051] In actual operation, when the operator applies force to the handle 101 in the V direction, the connecting rod 102 drives the first mounting base 212 to rotate around the first bearing 205 in the V direction, realizing the degree of freedom in the V direction; when the operator applies force to the handle 101 in the H direction, the handle 101 drives the power rod 103 to rotate around the second bearing 215 through the connecting rod 102, which in turn drives the third gear 214 to rotate, realizing the degree of freedom in the H direction.

[0052] like Figure 3 As shown, in one embodiment of the present invention, the force feedback device further includes a plurality of angle sensors, each angle sensor being disposed in each motion mechanism.

[0053] Specifically, optionally, the first angle sensor 401 is set at the output end of the first motor 201, and the second angle sensor 402 is set at the output end of the second motor 213. The rotation angle of the motor output end can be obtained. In the device using the brushless motor, this value can be used as the driving signal for the motor movement. Since the first transmission mechanism and the second transmission mechanism have a fixed transmission ratio, the rotation angle value of the motor output end can also be used as the control signal of the power mechanism 500.

[0054] Optionally, in the embodiment described above, the third angle sensor 403 is disposed on the first bearing 205, and the fourth angle sensor 404 is disposed on the second bearing 215, thereby obtaining the motion angles of the handle 101 along the V-direction and the H-direction. The third angle sensor 403 and the fourth angle sensor 404 are connected to the drive circuit, and the drive circuit sends the acquired motion angles as control signals to the power mechanism 500.

[0055] Furthermore, in actual operation, the operator applies an operating force to the handle 101, driving the handle 101 to move in a certain direction. This movement is transmitted to the first transmission mechanism and the second transmission mechanism through the connecting rod 102 connected to the handle 101, causing the first mounting base 212 to rotate around the first bearing 205 by a certain angle α. The connecting rod 102 and the power rod 103 rotate around the second bearing 215 by a certain angle β. The third angle sensor 403 and the fourth angle sensor 404 respectively acquire the angles α and β, and process them into signals to drive the endoscope 800 or the operating instrument 802 to perform specific actions.

[0056] Furthermore, the endoscope 800 or the operating instrument 802 will generate a certain resistance during its operation. This resistance is generated by the friction or collision between the endoscope 800 or the operating instrument 802 and an external object during its movement. This resistance is collected by sensors or by collecting the operating parameters of the power mechanism 500, and then sent to the drive circuit via the power mechanism 500. The drive circuit processes this value into drive signals for the first motor 201 and the second motor 213, thereby driving the first motor 201 and the second motor 213 with torque T respectively. A1 and T B1 Rotation of α1 and β1 is transmitted by the first and second transmission mechanisms to the first mounting base 212 and the power rod 103, respectively, driving the first mounting base 212 to rotate around the first bearing 205 with a torque T. A2 Rotating α2, the power rod 103 rotates around the second bearing 215 with a torque T B2 Rotation

[0057] β2, the rotation of the first mounting base 212 is transmitted to the connecting rod 102, and after merging with the rotation of the power rod 103, it is transmitted to the handle 101, so that the operator can perceive the resistance F of the endoscope 800 or the operating instrument 802 during the operation in a certain proportion.

[0058] like Figure 4 As shown, in one embodiment of the present invention, the force feedback device further includes a plurality of force sensors, which are respectively disposed on the last motion mechanism and the operating mechanism.

[0059] Specifically, in the embodiment described above, the force feedback device includes a first force sensor 405 and a second force sensor 406. The first force sensor 405 is disposed on the first mounting base 212, and the second force sensor 406 is disposed on the power rod 103.

[0060] Specifically, the first force sensor 405 is used to detect the force F of the first mounting base 212 along the V-direction. V The second force sensor 406 is used to detect the force F of the dynamic rod 103 in the opposite degree of freedom along H. H The resistance generated by the endoscope 800 and the manipulator 802 is transmitted to the first mounting base 212 and the power rod 103. Due to the interaction of forces, the components F of the V-direction and H-direction degrees of freedom can be detected by the first force sensor 405 and the second force sensor 406. V and F H Force F V and F H It can be used as a component of the feedback force felt by the operator, compared with the resistance F, to monitor whether the feedback force is correct.

[0061] The force feedback device provided in this embodiment of the invention, by setting multiple force sensors, can detect the resistance of the endoscope or operating instrument during movement and the force when the first mounting base and the power rod rotate. By comparing the two, it can be used to judge the force fed back by the force feedback device, thereby improving the operating accuracy of the force feedback device.

[0062] In a second embodiment of the present invention, the plurality of motion mechanisms include a third transmission mechanism and a linear motion mechanism. The third transmission mechanism includes a synchronous belt drive assembly. The linear motion mechanism includes a second mounting base 221 and a third motor 222. The output end of the third motor 222 is connected to the operating mechanism. The second mounting base 221 is connected to the third motor 222 and is connected to the driven end of the synchronous belt drive assembly. The second mounting base 221 is capable of linear motion under the drive of the synchronous belt drive assembly.

[0063] Specifically, in this embodiment, the operating mechanism includes a third operating lever 104, which is connected to the output end of a third motor 222. When the third motor 222 rotates, it can drive the third operating lever 104 to rotate, thus realizing the degree of freedom along the circumferential direction of the third operating lever 104. The second mounting base 221 is connected to a synchronous belt drive assembly. When the synchronous belt drive assembly operates, it can drive the second mounting base 221 to reciprocate linearly along the axial direction of the third operating lever 104, thereby driving the third operating lever 104 to move linearly, thus realizing the degree of freedom of the third operating lever 104 along its axial direction.

[0064] Specifically, in this embodiment, the force feedback device further includes a pair of third mounting seats 224, which are arranged opposite to each other. A third transmission mechanism and a linear movement mechanism are disposed between the two third mounting seats 224. A guide rod 223 is disposed between the two third mounting seats 224, and the guide rod 223 passes through a second mounting seat 221. Both ends of the guide rod 223 are connected to the two third mounting seats 224 respectively, and the second mounting seat 221 can move along the guide rod 223.

[0065] Furthermore, such as Figure 5As shown, in this embodiment, the synchronous belt drive assembly includes: a fourth motor 225, a first pulley 226, a second pulley 227, and a first belt 228. When the fourth motor 225 rotates, it drives the first pulley 226 to rotate. The second pulley 227 is connected to the second mounting base 221. When the fourth motor 225 rotates, it drives the first pulley 226 to rotate. With the cooperation of the second pulley 227, the first pulley 226 pulls the first belt 228. The second pulley 227 drives the second mounting base 221 to move linearly along the guide rod 223, thereby realizing the degree of freedom of the third operating lever 104 along its axial direction. Furthermore, the first belt 228 is installed around the first pulley 226 and the second pulley 227. The contact length of the first belt 228 on the first pulley 226 should exceed half the circumference of the first pulley 226 to ensure that the first pulley 226 has sufficient contact area with the first belt 228 during rotation.

[0066] In actual operation, when the operator operates the third operating lever 104 along its axial direction, the third operating lever 104 directly drives the second pulley 227 connected to the second mounting base 221 to rotate, thus completing the degree of freedom in that direction. When the operator operates the third operating lever 104 along its circumferential direction, the third operating lever 104 drives the third motor 222 to rotate, thus completing the degree of freedom along the circumferential direction of the third operating lever 104.

[0067] like Figure 6 As shown, in the embodiment described above, the force feedback device further includes a fifth angle sensor 407 and a sixth angle sensor 408. The fifth angle sensor 407 is disposed on the fourth motor 225, and the sixth angle sensor 408 is disposed on the third motor 222. The fifth angle sensor 407 and the sixth angle sensor 408 are used to acquire the rotation angles of the output ends of the fourth motor 225 and the third motor 222, respectively. In the device using a brushless motor, this angle value can be used as a drive signal for motor rotation. Since the third transmission mechanism has a fixed transmission ratio, and the linear motion mechanism is rigidly connected to the third operating lever 104, the rotation angle of the motor output end can also be used as a control signal for the power mechanism 500.

[0068] Optionally, a seventh angle sensor 409 may be provided on the first pulley 226, and an eighth angle sensor 410 may be provided on the second pulley 227. The seventh angle sensor 409 and the eighth angle sensor 410 are used to obtain the rotation angles of the first pulley 226 and the second pulley 227, respectively. Since the third transmission mechanism has a fixed transmission ratio, the rotation angles of the first pulley 226 and / or the second pulley 227 can also be used as control signals for the power mechanism 500.

[0069] Optionally, a linear displacement sensor 411 may also be provided on the third mounting base 224. The linear displacement sensor 411 is arranged along the axial direction of the third operating lever 104 and is used to obtain the position signal of the second mounting base 221 in the axial direction of the third operating lever 104, as a control signal for the power mechanism 500.

[0070] like Figure 7 As shown, in the embodiment described above, the force feedback device further includes a third force sensor 412 and a fourth force sensor 413. The third force sensor 412 is disposed on the second mounting base 221, and the fourth force sensor 413 is disposed on the third operating lever 104. The third force sensor 412 and the fourth force sensor 413 are used to detect the force on the third operating lever 104 in the linear and circumferential directions, respectively. Furthermore, a sensor group 414 can be disposed on the third operating lever 104. The sensor group 414 can acquire the force conditions in various directions on the third operating lever 104 and analyze the working force in the linear and circumferential directions through an algorithm. Its specific working process is the same as the working principle of the force sensors disposed in the first and second transmission mechanisms, and will not be described again here.

[0071] Optionally, such as Figure 8 As shown, the synchronous belt drive assembly may also include: a fifth motor 231, a third pulley 232, a fourth pulley 233, a second belt 234, and a connecting member 235. The fifth motor 231 is connected to the third pulley 232, the third pulley 232 and the fourth pulley 233 are connected by the second belt 234, and the two ends of the connecting member 235 are respectively connected to the second belt 234 and the second mounting base 221.

[0072] Specifically, the rotation of the fifth motor 231 drives the rotation of the third pulley 232. The third pulley 232 and the fourth pulley 233 are connected by a second belt 234. During the rotation of the third pulley 232 and the fourth pulley 233, the second belt 234 is driven. The second belt 234 drives the second mounting base 221 to move in a linear direction through the connecting member 235, thereby driving the third operating lever 104 to move in a linear direction, realizing the degree of freedom of the third operating lever 104 along the axis of the operating lever. In this embodiment, the third operating lever 104 is connected to the output end of the third motor 222. The rotation of the third motor 222 can drive the third operating lever 104 to realize the degree of freedom along the circumference of the third operating lever 104.

[0073] like Figure 9As shown, in the third embodiment of the present invention, the force feedback device includes a rack 247, and multiple motion mechanisms include a fourth transmission mechanism, a fifth transmission mechanism, a sixth transmission mechanism, and a rotating mechanism. The rotating mechanism is mounted on the driven end of the fourth transmission mechanism, and the sixth transmission mechanism is mounted on and connected to the driven end of the fifth transmission mechanism. The fourth and fifth transmission mechanisms are drively connected to the rack 247. The operating mechanism includes a first operating lever 105 and a second operating lever 106. The first operating lever 105 is sleeved on the outside of the second operating lever 106, and the second rotating mechanism and the sixth transmission mechanism are respectively connected to the second operating lever 106 and the first operating lever 105.

[0074] Specifically, in this embodiment, each operating lever is connected to two transmission mechanisms or one transmission mechanism and one rotation mechanism, realizing the degree of freedom of each operating lever in two directions. During actual operation, by connecting the operation signals of the two operating levers to the power units of the endoscope 800 and the operating instrument 802 respectively via drive circuits, the operator can simultaneously adjust the movements of the endoscope 800 and the operating instrument 802, improving the operability of the endoscope 800 during operation and thus enhancing the operational accuracy of the endoscope 800.

[0075] Specifically, the fourth transmission mechanism includes a third mounting base 241, a sixth motor 242, and a fourth gear 243. The sixth motor 242 is mounted on the third mounting base 241, and the fourth gear 243 meshes with a rack 247. The rotation mechanism includes a seventh motor 244 and a seventh motor mounting base. The output end of the seventh motor 244 is connected to the second operating lever 106, and the seventh motor mounting base is connected to the third mounting base 241. The seventh motor mounting base and the third mounting base 241 can be integrally formed or assembled as separate components. When the sixth motor 242 rotates, it drives the fourth gear 243 to move along the rack 247. The fourth gear 243 drives the third mounting base 241 to move linearly, thereby driving the second operating lever 106 to move linearly, realizing the degree of freedom of the second operating lever 106 in the X direction. The rotation of the seventh motor 244 can directly drive the second operating lever 106 to rotate, realizing the degree of freedom of the second operating lever 106 in the M direction.

[0076] Furthermore, in this embodiment, the force feedback device may also include: a first guide rail 245 and a first slider 246. The first slider 246 is disposed on the first guide rail 245 and is connected to the seventh motor mounting base. When the fourth gear 243 rotates, it can drive the second rotating mechanism to slide along the first guide rail 245.

[0077] The fifth transmission mechanism includes: an eighth motor mounting base, an eighth motor 248, and a fifth gear 249. The eighth motor 248 is mounted on the eighth motor mounting base and is connected to the fifth gear 249, which meshes with a rack 247. The sixth transmission mechanism includes: a sixth gear 250, a seventh gear 251, a ninth motor 252, and a fourth mounting base 253. The sixth gear 250 is connected to the ninth motor 252 and meshes with the seventh gear 251. The output end of the seventh gear 251 is connected to the first operating lever 105. The fourth mounting base 253 is connected to the eighth motor mounting base. The fourth mounting base 253 and the eighth motor mounting base can be integrally formed or assembled as separate components.

[0078] When the eighth motor 248 rotates, it drives the fifth gear 249 to rotate, causing the fifth gear 249 to move along the rack 247. This, in turn, moves the eighth motor mounting base, which in turn moves the fourth mounting base 253, which in turn moves the first operating lever 105, thus achieving the first operating lever 105's degree of freedom in the Y direction. When the ninth motor 252 rotates, it drives the sixth gear 250 to rotate. The sixth gear 250 drives the seventh gear 251 to rotate. The first operating lever 105 is connected to the output end of the seventh gear 251, which can drive the first operating lever 105 to rotate, thus achieving the first operating lever 105's degree of freedom in the N direction.

[0079] Furthermore, in this embodiment, the force feedback device may also include: a second guide rail 254 and a second slider 255. The second slider 255 is disposed on the second guide rail 254 and is connected to the fourth mounting base 253. When the fifth gear 249 rotates, it can drive the fourth mounting base 253 to slide along the second guide rail 254.

[0080] Furthermore, in the embodiments described above, the angle sensor can be located at each motor or at each gear. The force sensor can be located on the operating lever and the mounting base. The working principles of the angle sensor and the force sensor are the same as in the first embodiment, and therefore will not be described again.

[0081] like Figure 10 and Figure 11 As shown, in one embodiment of the present invention, the force feedback device further includes a touch sensor 107. The touch sensor 107 is disposed on the handle 101 or the lever of the operating mechanism. The touch sensor 107 is connected to the drive circuit and is arranged around the circumference of the handle 101 or the lever. The touch sensor 107 is triggered only when the operator fully grips the handle 101 or the lever, and sends a signal to the drive circuit. Only after receiving this signal can the drive circuit send the action signal of the handle 101 to the power mechanism 500, so as to avoid the operator accidentally touching the handle 101, causing the endoscope 800 or the operating instrument 802 to move, thereby causing injury to the personnel.

[0082] This invention also provides an operating table 300, including a force feedback device.

[0083] Specifically, the control panel 300 includes a housing 301, and the motion mechanism of the force feedback device is located inside the housing 301.

[0084] Specifically, such as Figure 12 The diagram shows an operating console 300 corresponding to the force feedback device provided in the first embodiment of the present invention. In this embodiment, a knob 302 and a button 303 are provided on the housing 301. The knob 302 and the button 303 can provide other functions for the operating console 300. The connecting rod 102 and the power rod 103 of the operating mechanism are located inside the housing 301, and the drive circuit is also located inside the housing 301. The handle 101 of the operating mechanism is located outside the housing 301.

[0085] Figure 13 In this embodiment of the present invention, a control panel 300 corresponding to the force feedback device provided in the second embodiment of the present invention is provided. In this embodiment, the force feedback device and the drive circuit are disposed inside the housing 301, and the third operating lever 104 extends through the housing 301 to the outside of the housing 301. Furthermore, in this embodiment, a display screen 304 is also provided on the housing 301.

[0086] Figure 14 The operating table 300 corresponding to the force feedback device provided in the third embodiment of the present invention has the force feedback device and drive circuit disposed inside the housing 301, and the handle 101 disposed outside the housing 301. The first operating lever 105 and the second operating lever 106 extend through the housing 301 to the outside of the housing 301. In this embodiment, the handle 101 can control the endoscope 800 to perform bending or turning movements, and the first operating lever 105 and the second operating lever 106 can control the endoscope 800 to perform forward, backward, or rolling movements, realizing multi-degree-of-freedom movement of the endoscope 800.

[0087] The operating table provided in this embodiment of the invention reduces its size and improves operational accuracy by incorporating a force feedback device. Simultaneously, the operating table can compare the resistance encountered when the endoscope or operating instrument moves within the human body cavity, facilitating operator adjustments to the operating force and further improving the accuracy of the endoscope or operating instrument's movement within the body.

[0088] like Figure 15 As shown, this embodiment of the invention also provides an endoscopic examination system, including an endoscope 800 and an operating table 300, wherein the operating table 300 is electrically connected to the endoscope 800.

[0089] Specifically, the operating table 300 is electrically connected to the endoscope 800, and operating the operating table 300 can control the endoscope 800 to move forward, backward or rotate inside the human body.

[0090] Furthermore, in this embodiment, the endoscopic examination system also includes a power mechanism 500, a display mechanism 600, and an image processing mechanism 700.

[0091] Specifically, the operating table 300 is connected to the endoscope 800 via the power mechanism 500, the display mechanism 600 is communicatively connected to the endoscope 800 for displaying images captured by the endoscope 800, and the image processing mechanism 700 is communicatively connected to the endoscope 800 for processing the captured images. Specifically, the force feedback device of the operating table 300 is equipped with an angle sensor, which is connected to a drive circuit. The drive circuit sends the acquired rotation angle as a control signal to the power mechanism 500, causing the power mechanism 500 to drive the endoscope 800 to perform forward, backward, or rotational movements.

[0092] Furthermore, such as Figure 16 As shown, the endoscope 800 includes a conduit 801, an operating instrument 802, a cable 803, a connecting structure 804, a camera 805, and an illumination device. Specifically, the endoscope 800 includes a conduit 801, with the operating instrument 802 disposed within the conduit 801 and extending outwards through it. A camera 805 is mounted at the end of the conduit 801 to capture images of the human body. An illumination device is also located at the end of the conduit 801 to provide light for the camera 805. The images acquired by the camera 805 are transmitted to the image processing mechanism 700 via the cable 803. The conduit 801 has a controllable flexible section, connected to the power mechanism 500 via the connecting structure 804. The operator operates the operating table 300, transmitting their movements through the operating table 300 and the power mechanism 500 to the flexible section, controlling its forward, backward, or rotation movements, thereby controlling the endoscope 800's forward, backward, or rotation movements. Furthermore, the power mechanism 500 is also connected to the operating instrument 802, and the operating console 300 can also realize the forward, backward, or rotation of the operating instrument 802. Furthermore, the operator can view the information about the human body acquired by the camera 805 on the display mechanism 600.

[0093] The endoscopic examination system provided in this embodiment of the invention, by setting up an operating table, realizes multiple degrees of freedom of movement of the endoscope inside the human body. At the same time, it improves the movement accuracy of the endoscope, increases the examination efficiency, and reduces the discomfort of the human body during the examination.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A force feedback device, characterized in that, include: Multiple motion mechanisms, including a first transmission mechanism and a second transmission mechanism, wherein the output end of the first transmission mechanism is connected to the second transmission mechanism, and the second transmission mechanism is capable of operating along the motion degree of freedom of the output end of the first transmission mechanism; the first transmission mechanism is used to provide the operating mechanism with a degree of freedom in a first direction, and the second transmission mechanism is used to provide the operating mechanism with a degree of freedom in a second direction. The operating mechanism is connected to the output end of the second transmission mechanism, and the operating mechanism includes: a connecting rod and a power rod; The first transmission mechanism includes: a first motor and a first gear, wherein the first gear is connected to the first motor; The second transmission mechanism includes: The second gear meshes with the first gear; A first mounting base is provided, and a second gear is disposed on one side of the first mounting base. The second gear can drive the first mounting base to rotate, and the first mounting base is connected to the connecting rod. A second motor and a third gear, wherein the third gear is connected to the second motor and is connected to the power rod in a transmission connection, and the third gear can drive the power rod to rotate.

2. The force feedback device according to claim 1, characterized in that, It also includes multiple position sensors, each of which is disposed in each of the motion mechanisms.

3. The force feedback device according to claim 2, characterized in that, It also includes multiple force sensors, which are respectively disposed in the second transmission mechanism or the operating mechanism.

4. The force feedback device according to claim 3, characterized in that, The connecting rod is connected to the power rod, and the power rod is connected to the second transmission mechanism. The power rod is equipped with the force sensor.

5. The force feedback device according to claim 4, characterized in that, The force sensor is provided on the first mounting base, and the angle sensor is provided on the first motor and the second motor.

6. The force feedback device according to claim 5, characterized in that, The plurality of motion mechanisms include a third transmission mechanism and a linear motion mechanism, wherein the third transmission mechanism includes a synchronous belt drive assembly; The linear motion mechanism includes: A third motor, the output end of which is connected to the operating mechanism; The second mounting base is on which the third motor is mounted. The second mounting base is connected to the driven end of the synchronous belt drive assembly. The second mounting base can move linearly under the drive of the synchronous belt drive assembly. The force sensor is disposed on the second mounting base and the operating mechanism, and the angle sensor is disposed on the synchronous belt drive assembly, or the angle sensor is disposed on the synchronous belt drive assembly and the third motor.

7. The force feedback device according to claim 2, characterized in that, Also includes: rack; The plurality of motion mechanisms include: a fourth transmission mechanism, a fifth transmission mechanism, a sixth transmission mechanism, and a rotating mechanism, wherein the rotating mechanism is mounted on the driven end of the fourth transmission mechanism, the sixth transmission mechanism is mounted on the driven end of the fifth transmission mechanism, and the fourth transmission mechanism and the fifth transmission mechanism are connected to the rack and pinion drive. The operating mechanism includes a first operating lever and a second operating lever, with the first operating lever sleeved outside the second operating lever. The rotating mechanism and the sixth transmission mechanism are respectively connected to the second operating lever and the first operating lever.

8. The force feedback device according to claim 1, characterized in that, The operating mechanism also includes a touch sensor, which is disposed on the operating mechanism.

9. An operating console, characterized in that, The force feedback device includes any one of claims 1-8.

10. An endoscopic examination system, characterized in that, It includes an endoscope and the operating table of claim 9, wherein the operating table is electrically connected to the endoscope.

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