A master control mechanism and surgical robot

Abstract

This invention discloses a master-end control mechanism and a surgical robot. The master-end control mechanism includes a base assembly, a handle assembly, and a force feedback assembly. The base assembly has a first end and a second end opposite to the first end. The handle assembly is disposed on the base assembly and configured to move in a first direction toward the first end and in a second direction toward the second end. The handle assembly is equipped with a force sensor to sense the resistance encountered during movement. The force feedback assembly is disposed on the base assembly and includes a drive device and a moving part. The drive device is configured to drive the moving part to move in the first direction and in the second direction. The moving part is connected to the handle assembly via a feedback elastic element to provide a feedback force to the handle assembly opposite to its direction of movement. According to the master-end control mechanism of this invention, the resistance encountered by the slave-end actuator can be simulated, reproducing the realistic sensations experienced by a doctor during operation.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically to a master control mechanism and a surgical robot. Background Technology

[0002] With the increasing aging of society, the incidence of valvular degenerative diseases in the elderly is constantly rising, among which aortic stenosis has become the most common valvular heart disease in this population. Currently, treatment options for this disease include open-heart surgery and TAVR (transcatheter aortic valve replacement). TAVR surgery involves inserting an interventional catheter through the femoral artery to deliver an artificial heart valve to the aortic valve area, opening it to complete the artificial valve placement and restore valve function. Its advantages include no need for open-heart surgery, minimal trauma, and rapid recovery.

[0003] However, this type of DSA-guided vascular interventional surgery requires doctors to be exposed to X-rays throughout the procedure. Long-term, high-level radiation exposure can lead to decreased white blood cell counts and weakened immunity, seriously threatening the doctor's health. Wearing radiation protective clothing also depletes the doctor's physical strength, significantly impacting the precision of the surgery. Therefore, the emergence of interventional surgical robots has significant clinical value. Doctors can remotely control the robot's telescopic arm to perform surgery, avoiding radiation exposure while simultaneously improving surgical precision.

[0004] However, there will inevitably be differences in feel between directly operating the delivery device with the valve loaded and operating the remote control of the robot, which may affect the surgery and the doctor's sense of presence and experience.

[0005] Therefore, a master-end manipulation mechanism and surgical robot are needed to at least partially solve the above problems. Summary of the Invention

[0006] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. The summary section of this invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0007] To at least partially solve the above problems, a first aspect of the present invention provides a master-end control mechanism for a surgical robot, the master-end control mechanism comprising:

[0008] A base assembly having a first end and a second end opposite to the first end;

[0009] A handle assembly disposed on the base assembly and configured to move in a first direction toward the first end and configured to move in a second direction toward the second end, the handle assembly being provided with a force sensor to sense the resistance encountered when the handle assembly moves;

[0010] A force feedback component is disposed on the base assembly. The force feedback component includes a driving device and a moving part. The driving device is configured to drive the moving part to move along a first direction and to drive the moving part to move along a second direction. The moving part is connected to the handle assembly through a feedback elastic element to provide a feedback force to the handle assembly opposite to the direction of movement of the handle assembly.

[0011] According to the present invention, the master-end control mechanism can simulate the resistance encountered by the slave-end actuator, reproduce the real feeling of the doctor during operation, and improve the doctor's performance on the spot.

[0012] Optionally, the base assembly includes:

[0013] Base;

[0014] The first support is therefore mounted on the base.

[0015] The second support is therefore mounted on the base, and the second support is spaced apart from the first support.

[0016] A first axis is connected between the first support and the second support, wherein the handle assembly is sleeved on the first axis and movable along the first axis.

[0017] Optionally, the base assembly further includes a center baffle, which is disposed on the base and located between the first support and the second support, and the center baffle is disposed to the side of the first shaft;

[0018] The main end operating mechanism further includes a first baffle, which is sleeved on the first shaft and movable along the first shaft. The first baffle is closer to the first end than the middle baffle. A first elastic element is connected between the first baffle and the first support to provide an elastic force to the first baffle that tends towards the middle baffle.

[0019] Wherein, the edge of the first baffle extends along the width direction of the main end operating mechanism to the middle baffle, so that the movement of the first baffle under the action of elastic force is restricted by the middle baffle, and the handle assembly is located on the side of the first baffle away from the first end, so that the first baffle can follow the handle assembly to move in the first direction, and can return the handle assembly to the middle baffle under the action of the first elastic element.

[0020] Optionally, the main end operating mechanism further includes a second baffle, which is sleeved on the first shaft and movable along the first shaft, and the second baffle is closer to the second end relative to the middle baffle. A second elastic element is connected between the second baffle and the second support to provide an elastic force to the second baffle that tends towards the middle baffle.

[0021] The second baffle extends from the edge of the main end control mechanism along its width direction to the middle baffle, such that the movement of the second baffle under the action of elastic force is restricted by the middle baffle. The handle assembly is located between the first baffle and the second baffle, such that the second baffle can follow the handle assembly to move along the second direction and can push the handle assembly back to the middle baffle under the action of the second elastic element.

[0022] Optionally, the base assembly further includes a third support, which is disposed on the base and close to the first end. A second shaft is provided between the third support and the second support. The second shaft is parallel to the first shaft, and the first baffle is sleeved on the second shaft and movable along the second shaft.

[0023] The force feedback component is disposed at the third support, the moving part includes a first linear bearing, the first linear bearing is sleeved on the second shaft so as to be able to move along the second shaft, the feedback elastic element is disposed between the first linear bearing and the first baffle, and the feedback elastic element is sleeved on the second shaft.

[0024] Optionally, the force feedback component includes a guide rail disposed on the base component, the moving part further includes a movable member, the driving device is connected to the movable member to drive the movable member to move along the guide rail, and the first linear bearing is connected to the movable member.

[0025] Optionally, the force feedback component further includes:

[0026] A base frame is provided along the length of the main end operating mechanism, and the base frame has an upward-facing groove, in which the guide rail is disposed;

[0027] Side plates, two of which are disposed at both ends of the base frame;

[0028] A lead screw, which is connected between the two side plates, and the movable member is configured as a sliding pair of the lead screw;

[0029] The drive device is disposed on the side plate and connected to the lead screw, so as to drive the lead screw to rotate.

[0030] Optionally, the force sensor is disposed on the side of the handle assembly near the first baffle, so as to sense the first resistance encountered by the handle assembly when it moves in the first direction when it comes into contact with the first baffle.

[0031] Optionally, the force sensor has a through-hole through which the second shaft extends; and / or

[0032] The second axis passes through the second baffle, and the second baffle is configured to move along the second axis.

[0033] Optionally, the main control mechanism may further include a speed control component.

[0034] Optionally, the speed control component includes a sensing part and a trigger part. The sensing part is disposed on the base component and is configured to sense the movement amplitude of the trigger part. The trigger part is configured to follow the movement of the handle component.

[0035] Optionally, the trigger portion is connected to the handle assembly to be able to follow the movement of the handle assembly along the first direction and / or the second direction.

[0036] Optionally, the speed regulating component further includes a substrate, the substrate being disposed parallel to the first direction and the second direction, and the sensing unit being disposed on the substrate, the sensing unit including:

[0037] A first sensing unit is configured to sense a first movement amplitude of the trigger unit along the first direction;

[0038] The second sensing unit is configured to sense the second movement amplitude of the trigger unit along the second direction.

[0039] Optionally, when the handle assembly moves along the first direction, the first sensing unit can sense the first movement amplitude of the trigger unit along the first direction, and when the handle assembly moves along the second direction, the second sensing unit can sense the second movement amplitude of the trigger unit along the second direction.

[0040] Optionally, both the first sensing unit and the second sensing unit include at least two photoelectric sensors, which are arranged side by side along the length of the main end control mechanism, so that the sensing unit can sense the gradient change in the movement amplitude of the handle assembly.

[0041] Optionally, the end of the photoelectric sensor is provided with a groove, and the grooves of at least two photoelectric sensors correspond to each other to form a sensing channel; so that when the trigger part moves along the first direction and / or the second direction, the trigger part can enter the sensing channel.

[0042] Optionally, the first baffle is sleeved on the first shaft via a linear bearing, and / or the second baffle is sleeved on the first shaft via a linear bearing.

[0043] Optionally, the elastic coefficient of the feedback elastic element is 0.29 to 0.5 N / mm.

[0044] Optionally, the handle assembly includes:

[0045] An actuator is provided with a second linear bearing, and the handle assembly is configured to move along the first direction and the second direction via the second linear bearing;

[0046] An operating unit is located above the execution unit;

[0047] A connecting part is provided between the operating part and the executing part, and a wire groove is provided inside the connecting part.

[0048] Optionally, the operating unit includes:

[0049] A housing, which is connected to the connecting portion;

[0050] A central shaft is disposed within the housing, and a rotary encoder is provided at the end of the central shaft to sense the rotation of the central shaft;

[0051] A support bearing, wherein the outer ring of the support bearing is connected to the housing, and the inner ring of the support bearing is connected to the central shaft;

[0052] A knob is located at the end of the central shaft away from the rotary encoder, and the knob is configured to drive the central shaft to rotate together.

[0053] Optionally, the speed control component includes a magnetic grating sensor, the magnetic grating sensor comprising:

[0054] A magnetic strip, wherein the magnetic strip is arranged parallel to the first direction and the second direction;

[0055] A magnetic encoder configured to follow the movement of the handle assembly, so that the magnetic sensor can obtain the range of movement of the handle assembly.

[0056] A second aspect of the present invention provides a surgical robot, comprising:

[0057] The main control mechanism as described in the first aspect above;

[0058] A slave actuator, the slave actuator including a force sensing device configured to sense a second resistance encountered by the slave actuator when performing a propulsive action; and

[0059] A control device is signal-connected to the sensing unit of the master-end control mechanism and the slave-end actuator. The control device is configured to control the slave-end actuator to perform a pushing action based on a first movement amplitude of the handle assembly along the first direction sensed by the sensing unit, and to control the slave-end actuator to perform a retracting action based on a second movement amplitude of the handle assembly along the second direction sensed by the sensing unit.

[0060] The control device is also signal-connected to the force sensor, the drive device, and the force sensing device. The control device is further configured to control the drive device to drive the moving part in the direction of movement based on the relationship between the first resistance encountered by the handle assembly when it moves along the first direction and the second resistance encountered by the slave actuator when it performs the propulsion action, so as to control the magnitude of the feedback force.

[0061] The surgical robot according to the present invention can achieve similar technical effects to the master end control mechanism of the first aspect described above.

[0062] Optionally, the control device is configured to control the drive device to drive the moving part to move along the first direction when the first resistance is greater than the second resistance, so as to reduce the feedback force.

[0063] Optionally, the control device is configured to control the drive device to drive the moving part to move along the second direction when the first resistance is less than the second resistance, so as to increase the feedback force.

[0064] Optionally, the control device is configured to control the drive device to stop working when the first resistance is equal to the second resistance, so as to maintain the feedback force unchanged.

[0065] Optionally, the speed of the advancing action is positively correlated with the first movement amplitude, and the speed of the retreating action is positively correlated with the second movement amplitude.

[0066] Optionally, the control device is configured to output a linear speed signal of the propulsion action to the slave actuator based on the linear change of the first movement amplitude, and is configured to output a linear speed signal of the backward movement to the slave actuator based on the linear change of the second movement amplitude.

[0067] Furthermore, the magnitude of the linear velocity signal increases linearly along both the first and second directions.

[0068] Optionally, the control device is configured to output a gradient speed signal of the propulsion action to the slave actuator based on the gradient change of the first movement amplitude, and is configured to output a gradient speed signal of the backward movement to the slave actuator based on the gradient change of the second movement amplitude.

[0069] Furthermore, the magnitude of the gradient velocity signal increases gradually along the first and second directions.

[0070] Optionally, the sensing unit includes a first sensing unit and a second sensing unit. Both the first and second sensing units include at least two photoelectric sensors, which are arranged side-by-side along the length of the main-end control mechanism. This allows the first sensing unit to sense the gradient change in the first movement amplitude of the handle assembly, and the second sensing unit to sense the gradient change in the second movement amplitude of the handle assembly.

[0071] Each of the photoelectric sensors corresponds to a gradient velocity signal. The velocity magnitudes of the velocity signals corresponding to the at least two photoelectric sensors of the first sensing unit along the first direction increase sequentially, and the velocity magnitudes of the velocity signals corresponding to the at least two photoelectric sensors of the second sensing unit along the second direction increase sequentially.

[0072] Optionally, the handle assembly includes a rotary encoder and a knob, the knob being connected to the rotary encoder so that the knob can drive the rotary encoder to rotate together, the rotary encoder being configured to sense the rotation of the knob;

[0073] The control device is connected to the rotary encoder via a signal, and the control device is configured to control the slave actuator to perform a valve release action or a valve retraction action according to the clockwise or counterclockwise rotation of the knob. Attached Figure Description

[0074] The following drawings, which are incorporated herein by reference as part of this invention, are provided for understanding the invention. The drawings illustrate embodiments of the invention and their descriptions, serving to explain the principles of the invention.

[0075] In the attached image:

[0076] Figure 1 A perspective view of the main end control mechanism according to a first preferred embodiment of the present invention;

[0077] Figure 2 This is a perspective view of the main end control mechanism according to a first preferred embodiment of the present invention.

[0078] Figure 3 for Figure 1 A schematic diagram of the handle assembly of the main control mechanism;

[0079] Figure 4 for Figure 1 A partial schematic diagram of the force feedback component of the main control mechanism;

[0080] Figure 5 for Figure 1 A schematic diagram of the base assembly and speed control assembly of the main control mechanism;

[0081] Figure 6 This is a perspective view of the main end control mechanism according to a second preferred embodiment of the present invention.

[0082] Explanation of reference numerals in the attached figures:

[0083] 100 / 200: Main end control mechanism; 110: Base assembly; 111: First end

[0084] 112: Second end; 113: Base; 114: First support

[0085] 115: Second support; 116 / 216: Center baffle; 117: Third support

[0086] 118: First axis; 119: Second axis; 120: Handle assembly

[0087] 121: Actuator; 122: Second linear bearing; 123: Force sensor

[0088] 124: Operating section; 125: Housing; 129: Knob

[0089] 130: Connecting part; 140: First baffle

[0090] 141: First trigger part; 142: Second baffle; 143: Second trigger part

[0091] 144: First elastic element; 145: Second elastic element; 150: Speed ​​regulating assembly.

[0092] 151 / 251: First sensing unit; 152: Second sensing unit; 153: Substrate

[0093] 154: Photoelectric sensor; 155: Sensing channel; 256: Magnetic encoder.

[0094] 257: Magnetic strip; 258: Connecting plate; 160: Force feedback component

[0095] 161: Drive unit; 162: Moving part; 163: Feedback elastic element

[0096] 164: First linear bearing; 165: Movable component; 166: Lead screw

[0097] 167: Base frame; 168: Side plate; 169: Guide rail Detailed Implementation

[0098] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0099] To fully understand the present invention, a detailed description will be set forth in the following description. It should be understood that these embodiments are provided so that the disclosure of the present invention is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. Obviously, the implementation of embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of the present invention are described in detail below; however, in addition to these detailed descriptions, the present invention may have other embodiments.

[0100] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0101] The ordinal numbers such as "first" and "second" used in this invention are merely identifiers and do not have any other meaning, such as a specific order. Furthermore, for example, the term "first component" does not imply the existence of a "second component," and the term "second component" does not imply the existence of a "first component." It should be noted that the terms "upper," "lower," "front," "rear," "left," "right," "inner," "outer," and similar expressions used herein are for illustrative purposes only and are not intended to be limiting.

[0102] A preferred embodiment of the surgical robot of the present invention (not shown) includes a master-end manipulation mechanism 100, a slave-end execution mechanism (not shown), and a control device (not shown). The slave-end execution mechanism is used to perform operations on the patient within the operating room, such as inserting or withdrawing guidewires and / or catheters, and releasing or retrieving valves. The master-end manipulation mechanism 100 is used by the physician outside the operating room. The physician controls the movement of the slave-end execution mechanism by operating the master-end manipulation mechanism 100.

[0103] Now, an exemplary embodiment of the master-end control mechanism 100 according to the present invention will be described in more detail with reference to the accompanying drawings. Wherein, Figures 1 to 5 A first preferred embodiment of the master-end control mechanism 100 of the present invention is shown. Figure 6 A second preferred embodiment of the master end control mechanism 200 of the present invention is shown.

[0104] First preferred embodiment

[0105] refer to Figures 1 to 5 The main control mechanism 100 includes a base assembly 110, a handle assembly 120, a first baffle 140, a second baffle 142, a speed control assembly 150, and a force feedback assembly 160.

[0106] Base assembly 110 reference Figure 1 , Figure 2 and Figure 5 The base assembly 110 has a first end 111 and a second end 112 opposite to the first end 111. The base assembly 110 includes a base 113, with its two ends along its length configured as the first end 111 and the second end 112 described above. A first support 114 and a second support 115 are provided on the base 113. The second support 115 is positioned close to the second end 112, or in other words, the second support 115 is located at the second end 112. The first support 114 is positioned away from the second end 112 and is spaced apart from and arranged side-by-side with the first support 114. Optionally, the first support 114 and the second support 115 may be spaced apart from each other at the center of the base 113.

[0107] The first support 114 and the second support 115 are both positioned facing the length direction of the base 113, and are preferably parallel to each other. Furthermore, the first support 114 and the second support 115 are connected by a first shaft 118 extending along the length direction of the base 113. Preferably, the two first shafts 118 are arranged side-by-side at the same height.

[0108] A center baffle 116 is also provided between the first support 114 and the second support 115. The center baffle 116 is located at the edge of the base 113 along its width direction. Alternatively, the center baffle 116 is located outside the first shaft 118. Preferably, the two center baffles 116 are arranged opposite to each other, that is, the first shaft 118 is located between the two center baffles 116.

[0109] A first baffle 140 and a second baffle 142 are fitted onto the first shaft 118, allowing the two baffles to move along the extending direction of the first shaft 118. To facilitate smoother movement, it is preferable that both the first baffle 140 and the second baffle 142 are fitted onto the first shaft 118 via linear bearings. Specifically, the first baffle 140 is located between the first support 114 and the intermediate baffle 116, and the second baffle 142 is located between the second support 115 and the intermediate baffle 116. In other words, the first baffle 140 is further away from the second end 112 than the second baffle 142.

[0110] A first elastic element 144 is sleeved on a first shaft 118 between the first baffle 140 and the first support 114. The first elastic element 144 is configured to provide an elastic force to the first baffle 140, causing the first baffle 140 to move towards the center baffle 116. A second elastic element 145 is sleeved on the first shaft 118 between the second baffle 142 and the second support 115. The second elastic element 145 is configured to provide an elastic force to the second baffle 142, causing the second baffle 142 to move towards the center baffle 116. Preferably, both the first elastic element 144 and the second elastic element 145 are configured as compression springs.

[0111] Furthermore, the edges of the first baffle 140 and the second baffle 142 extend along the width direction of the base 113 to the middle baffle 116. That is, the width of the first baffle 140 and the second baffle 142 is greater than the distance between the two middle baffles 116, so that the movement of the first baffle 140 and the second baffle 142 under the action of elastic force is restricted by the middle baffle 116. That is, the first baffle 140 and the second baffle 142 automatically return to the middle baffle 116 and contact it under the action of elastic force.

[0112] The handle assembly 120 is sleeved on the first shaft 118 and located between the first baffle 140 and the second baffle 142. The handle assembly 120 is configured to be movable along the extending direction of the first shaft 118. Preferably, the handle assembly 120 is sleeved on the first shaft 118 via a second linear bearing 122.

[0113] For example, when the operator moves the handle assembly 120 in a first direction toward the first end 111, it can drive the first baffle 140 to move along the first direction as well, while the second baffle 142 remains stationary. Conversely, when the doctor moves the handle assembly 120 in a second direction toward the second end 112, it can drive the second baffle 142 to move along the second direction as well, while the first baffle 140 remains stationary. When the operator releases the handle assembly 120, the first baffle 140 or the second baffle 142 can be pushed back to the middle baffle 116 by the elastic force of the first elastic member 144 or the second elastic member 145. Since the middle baffle 116 blocks between the first baffle 140 and the second baffle 142, the elastic force applied by the first elastic member 144 to the first baffle 140 will not be transmitted to the second baffle 142 and the second elastic member 145, and the elastic force applied by the second elastic member 145 to the second baffle 142 will not be transmitted to the first baffle 140 and the first elastic member 144. This enables the interlocking of the first baffle 140 and the second baffle 142, preventing vibration when the handle assembly 120 is moved and reset.

[0114] Speed ​​control component 150 reference Figure 1 , Figure 2 and Figure 5 It is disposed on the base assembly 110. Specifically, the speed regulating assembly 150 includes a base plate 153, a first sensing part 151, and a second sensing part 152. The base plate 153 is connected to the first support 114 and the second support 115 in an upward or downward orientation. The first sensing part 151 and the second sensing part 152 are disposed on the base plate 153. The first sensing part 151 corresponds to the area between the center baffle 116 and the first support 114, and the second sensing part 152 corresponds to the area between the center baffle 116 and the second support 115.

[0115] Furthermore, in this embodiment, the speed control assembly 150 further includes a first trigger portion 141 and a second trigger portion 143. The first trigger portion 141 is disposed on the first baffle 140 and can interact with the first sensing portion 151. The second trigger portion 143 is disposed on the second baffle 142 and can interact with the second sensing portion 152. Thus, when the handle assembly 120 moves along a first direction, the first sensing portion 151 senses a first movement amplitude of the first trigger portion 141 along the first direction. When the handle assembly 120 moves along a second direction, the second sensing portion 152 senses a second movement amplitude of the second trigger portion 143 along the second direction. In other alternative embodiments, the trigger portion may be disposed on the handle assembly 120, and only one trigger portion may be disposed, so that the trigger portion can move together with the handle assembly 120.

[0116] The control unit of the surgical robot is signal-connected to the first sensing unit 151, the second sensing unit 152, and the slave actuator of the surgical robot. The control unit is configured to control the slave actuator of the surgical robot to perform a propulsion action based on a first movement amplitude sensed by the first sensing unit 151, wherein the speed of the propulsion action is positively correlated with the first movement amplitude. Furthermore, based on a second movement amplitude sensed by the second sensing unit 152, the control unit controls the slave actuator of the surgical robot to perform a reversing action, wherein the speed of the reversing action is positively correlated with the second movement amplitude.

[0117] That is, along the direction away from the middle baffle 116, as the first or second movement amplitude increases, the speed of the pushing or retracting action of the driven actuator also gradually increases.

[0118] For example, when both the first baffle 140 and the second baffle 142 are in contact with the middle baffle 116, the first trigger part 141 does not interact with the first sensing part 151, and the second trigger part 143 does not interact with the second sensing part 152. The control device controls the slave actuator to remain stationary, or to stop the pushing or retracting action.

[0119] When the first elastic element 144 between the first baffle 140 and the first support 114 is compressed to its maximum value, the first movement amplitude of the first trigger part 141 reaches its maximum, and the control device controls the slave actuator to perform a pushing action at maximum speed. When the second elastic element 145 between the second baffle 142 and the second support 115 is compressed to its maximum value, the second movement amplitude of the second trigger part 143 reaches its maximum, and the control device controls the slave actuator to perform a retracting action at maximum speed.

[0120] More specifically, the first sensing unit 151 and the second sensing unit 152 are capable of sensing gradient changes in the first movement amplitude of the first trigger unit 141 and the second movement amplitude of the second trigger unit 143 along the first direction and the second movement amplitude along the second direction, respectively. The control device is configured to output a gradient speed signal for a propulsive action to the slave actuator based on the gradient change in the first movement amplitude, and is configured to output a gradient speed signal for a reversing action to the slave actuator based on the gradient change in the second movement amplitude. Furthermore, along the direction away from the center baffle 116, as the gradient of the first or second movement amplitude increases, the speed of the propulsive or reversing action of the slave actuator also increases gradient.

[0121] In one alternative embodiment, both the first sensing unit 151 and the second sensing unit 152 include at least two photoelectric sensors 154, and the at least two photoelectric sensors 154 are arranged side by side along the length direction of the main end control mechanism 100. Each photoelectric sensor 154 corresponds to a gradient (level) speed signal, and along the direction away from the middle baffle 116, the speed magnitudes of the speed signals corresponding to the at least two photoelectric sensors 154 increase in a stepwise manner.

[0122] For example, in this preferred embodiment, both the first sensing unit 151 and the second sensing unit 152 include three photoelectric sensors 154, corresponding to high, medium, and low speeds respectively. Furthermore, along the direction away from the center baffle 116, the speed signals corresponding to the three photoelectric sensors 154 increase sequentially, i.e., first low, then medium, and then high. This allows for appropriate control of the advancing or retreating speed, ensuring both surgical speed and surgical safety.

[0123] Optionally, the first sensing unit 151 and the second sensing unit 152 may also include more photoelectric sensors 154, such as four, five, six, seven, etc., to correspond to more levels of speed control.

[0124] The end of the photoelectric sensor 154 is preferably provided with a groove, and the grooves of the three photoelectric sensors 154 are positioned to correspond to or connect with each other to form a sensing channel 155.

[0125] The first trigger portion 141 and the second trigger portion 143 extend toward the first sensing portion 151 and the second sensing portion 152, respectively, so that when the first trigger portion 141 and the second trigger portion 143 move along the first direction and the second direction, respectively, the first trigger portion 141 and the second trigger portion 143 can enter the sensing channel 155. This enables interaction with the photoelectric sensor 154.

[0126] Optionally, the distance between the three photoelectric sensors 154 can be adjusted to divide the stroke of the handle assembly 120 into three intervals, corresponding to high, medium, and low speeds respectively. For example, the low-speed interval can be longer, the medium-speed interval slightly longer, and the high-speed interval the shortest, further ensuring the safety of the surgery.

[0127] In a preferred embodiment, the slave actuator of the surgical robot has a force sensing device for sensing a second resistance encountered by the slave actuator when performing a propulsion action. A force feedback assembly 160 is then used in the master actuator 100 to simulate this second resistance, providing the surgeon with a near-realistic tactile feedback.

[0128] Specifically, refer to Figures 1 to 5 The handle assembly 120 is provided with a force sensor 123 to sense a first resistance encountered when the handle assembly 120 moves in a first direction. Preferably, the force sensor 123 is located on the side of the handle assembly 120 facing the first baffle 140 towards the second end 112, so that it can contact the first baffle 140 and thus detect the first resistance applied to the handle assembly 120 by the first baffle 140. According to the relationship between action and reaction forces, this first resistance is also equivalent to the force applied by the handle assembly 120 to the first baffle 140.

[0129] Please refer to the force feedback component 160. Figure 1 , Figure 2 and Figure 4 The force feedback assembly 160 is mounted on the base 113. In this embodiment, a third support 117 is also provided on the base 113, located at the first end 111 of the base 113. The force feedback assembly 160 is also fixedly connected to the third support 117. Preferably, both the third support 117 and the first support 114 have openings in the middle to form a door-like shape, allowing components such as the force feedback assembly 160 to extend through.

[0130] The force feedback assembly 160 includes a base frame 167, which is disposed on the base 113 along its length. The cross-sectional shape of the base frame 167 can be concave, and side plates 168 are provided vertically at both ends of the base frame 167, so that the base frame 167 forms an upward-opening groove. A guide rail 169 is disposed in the groove. The force feedback assembly 160 also includes a drive device 161 and a moving part 162. The moving part 162 is disposed on the guide rail 169, and the drive device 161 drives the moving part 162 to move along the guide rail 169.

[0131] In a preferred embodiment, a lead screw 166 is disposed between the two side plates 168, and the extension direction of the lead screw 166 is the same as the extension direction of the guide rail 169. A movable part 162 is also disposed on the lead screw 166, and its configuration is a sliding pair of the lead screw 166. A drive device 161 is disposed on the side plate 168 to drive the lead screw 166 to rotate, thereby enabling the movable part 162 to move along the lead screw 166 and the guide rail 169.

[0132] A second shaft 119 is provided between the third support 117 and the second support 115, and the second shaft 119 is parallel to the first shaft 118. Thus, the first shaft 118, the second shaft 119, the lead screw 166, and the guide rail 169 all extend in the same direction. A first baffle 140 is sleeved on the second shaft 119 and is movable along the second shaft 119. In an optional embodiment, the second shaft 119 also extends through a second baffle 142, and the second baffle 142 is also configured to be movable along the second shaft 119. Exemplarily, the first baffle 140 can have the same structure as the second baffle 142, and both can be sleeved on the second shaft 119 via linear bearings.

[0133] The moving part 162 includes a movable member 165 and a first linear bearing 164. The movable member 165 is configured as a sliding pair of a lead screw 166 and is disposed between the lead screw 166 and the guide rail 169. The first linear bearing 164 is connected to the movable member 165 and sleeved on the second shaft 119. A feedback elastic member 163 is connected between the first linear bearing 164 and the first baffle 140, preferably sleeved on the second shaft 119. The feedback elastic member 163 is preferably configured as a compression spring to provide a feedback elastic force to the first baffle 140, causing it to tend to move towards the intermediate baffle 116, or in other words, to provide a feedback elastic force in a second direction. Preferably, the elastic coefficient of the feedback elastic member 163 is moderate, for example, 0.29–0.5 N / mm, to ensure a fast feedback response speed without generating large oscillations.

[0134] A drive unit 161 is mounted on a side plate 168 and connected to a lead screw 166. Its configuration allows it to drive the lead screw 166 to rotate, thereby causing the moving part 162 to move along the lead screw 166. For example, when the drive unit 161 drives the lead screw 166 to rotate forward, the moving part 162 can move in a first direction, and the feedback elastic force applied by the feedback elastic element 163 to the first baffle 140 decreases, thereby reducing the resistance applied by the first baffle 140 to the handle assembly 120. When the drive unit 161 drives the lead screw 166 to rotate in reverse, the moving part 162 can move in a second direction, and the feedback elastic force applied by the feedback elastic element 163 to the first baffle 140 increases, thereby increasing the resistance applied by the first baffle 140 to the handle assembly 120.

[0135] The control device is also connected to the force sensor 123, the drive device 161, and the force sensing device of the slave actuator. The control device is also configured to control the direction of movement of the drive device 161 driving the moving part 162 based on the relationship between the magnitude of the first resistance applied to the handle assembly by the first baffle 140 and the second resistance sensed by the slave actuator, so as to control the magnitude of the feedback force.

[0136] Specifically, the control device is configured such that when the first resistance is greater than the second resistance, the control drive device 161 drives the moving part 162 to move along the first direction to reduce the feedback force. When the first resistance is less than the second resistance, the control drive device 161 drives the moving part 162 to move along the second direction to increase the feedback force. When the first resistance is equal to the second resistance, the control drive device 161 stops working to maintain a constant feedback force.

[0137] Therefore, the force sensing device of the surgical robot can sense the second resistance when the slave actuator performs the propulsion action in real time. The control device can adjust the force feedback device to maintain the first resistance and the second resistance applied by the first baffle 140 to the handle assembly 120 approximately equal. This allows the actual force situation of the slave actuator to be fed back to the handle assembly 120, so that the operator can feel a near-real resistance, which is beneficial to the doctor's experience.

[0138] Please refer to the following for the specific structure of the handle assembly 120. Figure 3 It includes an actuator 121, an operating part 124, and a connecting part 130. The actuator 121 is sleeved on a first shaft 118 and is used to contact a first baffle 140 and a second baffle 142 to transmit movement of the handle assembly 120 to the first baffle 140 and the second baffle 142. A second linear bearing 122 and a force sensor 123 are both disposed on the actuator 121. Preferably, the force sensor 123 has a through hole through which the second shaft 119 extends, so that the feedback elastic element 163 is concentric with the force sensor 123, enabling more accurate sensing of the first resistance applied by the first baffle 140.

[0139] The operating part 124 is located above the execution part 121, and the connecting part 130 connects the operating part 124 and the execution part 121 and serves as a transition. A wire groove (not shown) is provided in the connecting part 130 to provide space for wiring.

[0140] The operating unit 124 is for operation by an operator. Specifically, the operating unit 124 includes a housing 125, a central shaft (not shown), a support bearing (not shown), and a knob 129. The housing 125 is connected to the connecting part 130. The central shaft is disposed within the housing 125, and a rotary encoder (not shown) is disposed at its end to sense the rotation of the central shaft. The outer ring of the support bearing is connected to the housing, and the inner ring of the support bearing is connected to the central shaft, so that the housing 125 does not rotate when the central shaft rotates. The knob 129 is disposed at the end of the central shaft away from the rotary encoder, and is capable of driving the central shaft to rotate.

[0141] When the operator turns knob 129, the central shaft rotates accordingly, and the rotary encoder records the angle of rotation. The control device is signal-connected to the rotary encoder and is configured to control the valve release or valve retraction action of the slave actuator based on the clockwise or counterclockwise rotation of the knob.

[0142] The housing 125 of the handle assembly 120 can be constructed in a shape that is thicker in the middle and thinner at both ends for easy gripping. Preferably, the outer surface of the housing 125 is provided with anti-slip texture.

[0143] The master-end manipulation mechanism 100 of the present invention can simulate the resistance encountered by the slave-end actuator, reproducing the real feeling of the doctor during operation and improving the doctor's performance. It can also control the speed of the slave-end actuator's advancing and retracting movements, improving surgical safety. Furthermore, it can control the release or retraction of the valve in the slave-end actuator. In summary, the master-end manipulation mechanism 100 of the present invention has excellent advantages such as multifunctionality, high safety, and the ability to reproduce a realistic feel.

[0144] Furthermore, the surgical robot of the present invention can also be equipped with a locking device. When the second resistance sensed by the force sensing device of the slave actuator is greater than a safety threshold, an emergency stop procedure is triggered, and the locking device is activated to lock all control functions of the surgical robot to reduce safety risks.

[0145] Second preferred embodiment

[0146] The second preferred embodiment of the present invention is a variation of the first preferred embodiment. Except for the first trigger unit 141, the first sensing unit 151, and the connecting plate 258, the main-end control mechanism 200 of the second preferred embodiment has a structure and / or configuration similar to the main-end control mechanism 100 of the first preferred embodiment. Therefore, elements having substantially the same function as those in the first preferred embodiment will be numbered the same here, and for the sake of brevity, will not be described in detail and / or illustrated further.

[0147] refer to Figure 6In this embodiment, a connecting plate 258 is connected between the first support 114 and the second support 115 to improve structural strength. In this embodiment, the center baffle 216 is not disposed on the base 113, but is disposed in the middle of the connecting plate 258, and the center baffle 216 protrudes from the connecting plate 258 toward the first support 114 and the second support 115 to restrict the movement of the first baffle 140 and the second baffle 142.

[0148] The speed control component is preferably configured as a magnetic grating sensor. The magnetic grating sensor may include a magnetic strip 257 and a magnetic grating encoder 256.

[0149] A magnetic strip 257 is disposed on the base 113 and extends along the length of the base 113. A magnetic encoder 256 is located above the magnetic strip 257 and is connected to the handle assembly 120 to sense the position of the handle assembly 120.

[0150] The magnetic encoder 256 is connected to the actuator 121 of the handle assembly 120 to follow the movement of the handle assembly 120 in a first direction or a second direction. When the handle assembly 120 moves in the first direction, the magnetic encoder can sense a first movement amplitude of the handle assembly 120 in the first direction. When the handle assembly 120 moves in the second direction, the magnetic encoder can also sense a second movement amplitude of the handle assembly 120 in the second direction.

[0151] The control device is configured to control the slave actuator of the surgical robot to perform a pushing motion and a retracting motion respectively, based on the first and second movement amplitudes sensed by the magnetic grating sensor, and the speeds of the pushing and retracting motions are positively correlated with the first and second movement amplitudes respectively.

[0152] Specifically, the magnetic grating sensor is configured to sense linear changes in the first and second movement amplitudes of the handle assembly 120. The control device is configured to output a linear speed signal for a propulsive action to the slave actuator based on the linear change in the first movement amplitude, and to output a linear speed signal for a reversing action to the slave actuator based on the gradient change in the second movement amplitude. Furthermore, the magnitude of the linear speed signal increases linearly along the first and second directions, or in other words, along the direction away from the center baffle 216.

[0153] Specifically, for example, the magnetic strip 257 can provide position coordinates for the magnetic encoder 256, which can determine the movement range of the handle assembly 120 by sensing the magnetic field of the magnetic strip 257 and then using the position coordinates.

[0154] When the operator does not operate the handle assembly 120, the handle assembly 120 is in a stationary state, located at the center baffle 216. This position is defined as the zero position, meaning the magnetic strip 257 records the coordinate 0 at this position. Based on the zero position, the magnetic strip 257 records positive and negative coordinate values ​​along the first and second directions, respectively. When the handle assembly 120 is pushed or pulled, it drives the magnetic encoder 256 to move along the first or second direction. At this time, the magnetic encoder 256 senses the coordinate value X recorded by the magnetic strip 257.

[0155] If X is positive, the slave actuator is controlled to perform a forward movement, and the larger the absolute value of X, the greater the forward speed. If X is negative, the slave actuator is controlled to perform a backward movement, and the larger the absolute value of X, the greater the backward speed. Releasing the handle assembly 120 at any time will automatically return it to the zero position, at which point X = 0, and the slave actuator will stop moving. This achieves stepless speed control of the forward and backward movements of the slave actuator.

[0156] The master-end manipulation mechanism 200 of the present invention can simulate the resistance encountered by the slave-end actuator, reproducing the real feeling of the doctor during operation and improving the doctor's performance. It can also control the speed of the slave-end actuator's advancing and retracting movements, improving surgical safety. Furthermore, it can control the release or retraction of the valve in the slave-end actuator. In summary, the master-end manipulation mechanism 200 of the present invention has excellent advantages such as multifunctionality, high safety, and the ability to reproduce realistic tactile sensations.

[0157] Alternatively, in another alternative implementation, hereby... Figure 6 In the second embodiment, two sets of force feedback components 160 can be provided, and the two sets of force feedback components 160 are respectively provided at the first end 111 and the second end 112, so as to provide feedback elastic force to the first baffle 140 to make it tend to move toward the middle baffle 216, and to provide feedback elastic force to the second baffle 142 to make it tend to move toward the middle baffle 216.

[0158] Specifically, the force sensing device is configured to sense not only the second resistance encountered by the slave actuator when it performs a propulsive action, but also a third resistance encountered by the slave actuator when it performs a reversing action. When the slave actuator performs a propulsive action, the force feedback component 160 located at the first end 111 provides a feedback elastic force corresponding to the second resistance to the first baffle 140 to simulate the realistic feel of the propulsive action. When the slave actuator performs a reversing action, the force feedback component 160 located at the second end provides a feedback elastic force corresponding to the third resistance to the second baffle 142 to simulate the realistic feel of the reversing action.

[0159] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the invention. Features described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0160] The present invention has been described through the above embodiments. However, it should be understood that the above embodiments are only for illustrative purposes. The present invention is not limited to the above embodiments. Many variations and modifications can be made according to the teachings of the present invention, and all such variations and modifications fall within the scope of protection claimed by the present invention.

Claims

1. A master-end control mechanism for a surgical robot, characterized in that, include: A base assembly having a first end and a second end opposite to the first end, the base assembly comprising: Base The first support is therefore mounted on the base. The second support is therefore mounted on the base, and is spaced apart from the first support. A first shaft is connected between the first support and the second support. A center baffle is disposed on the base and located between the first support and the second support, and the center baffle is disposed to the side of the first shaft; A handle assembly is disposed on the base assembly and configured to move in a first direction toward the first end, and configured to move in a second direction toward the second end. The handle assembly is provided with a force sensor to sense the resistance encountered when the handle assembly moves, and the handle assembly is sleeved on the first axis and movable along the first axis. A force feedback component is disposed on the base assembly. The force feedback component includes a driving device and a moving part. The driving device is configured to drive the moving part to move along a first direction and to drive the moving part to move along a second direction. The moving part is connected to the handle assembly through a feedback elastic element to provide a feedback force to the handle assembly opposite to the direction of movement of the handle assembly. A first baffle is sleeved on the first shaft and movable along the first shaft, and the first baffle is closer to the first end relative to the middle baffle. A first elastic element is connected between the first baffle and the first support to provide an elastic force to the first baffle that tends towards the middle baffle. Wherein, the edge of the first baffle extends along the width direction of the main end operating mechanism to the middle baffle, so that the movement of the first baffle under the action of elastic force is restricted by the middle baffle, and the handle assembly is located on the side of the first baffle away from the first end, so that the first baffle can follow the handle assembly to move in the first direction, and can return the handle assembly to the middle baffle under the action of the first elastic element.

2. The main-end control mechanism according to claim 1, characterized in that, The main end operating mechanism further includes a second baffle, which is sleeved on the first shaft and movable along the first shaft. The second baffle is closer to the second end than the middle baffle. A second elastic element is connected between the second baffle and the second support to provide an elastic force to the second baffle that tends towards the middle baffle. The second baffle extends from the edge of the main end control mechanism along its width direction to the middle baffle, such that the movement of the second baffle under the action of elastic force is restricted by the middle baffle. The handle assembly is located between the first baffle and the second baffle, such that the second baffle can follow the handle assembly to move along the second direction and can push the handle assembly back to the middle baffle under the action of the second elastic element.

3. The main-end control mechanism according to claim 2, characterized in that, The base assembly further includes a third support, which is disposed on the base and close to the first end. A second shaft is provided between the third support and the second support. The second shaft is parallel to the first shaft, and the first baffle is sleeved on the second shaft and movable along the second shaft. The force feedback component is disposed at the third support, the moving part includes a first linear bearing, the first linear bearing is sleeved on the second shaft so as to be able to move along the second shaft, the feedback elastic element is disposed between the first linear bearing and the first baffle, and the feedback elastic element is sleeved on the second shaft.

4. The main-end control mechanism according to claim 3, characterized in that, The force feedback component includes a guide rail disposed on the base component. The moving part further includes a movable member. The driving device is connected to the movable member to drive the movable member to move along the guide rail. The first linear bearing is connected to the movable member.

5. The main-end control mechanism according to claim 4, characterized in that, The force feedback component also includes: A base frame is provided along the length of the main end operating mechanism, and the base frame has an upward-facing groove, in which the guide rail is disposed; Side plates, two of which are disposed at both ends of the base frame; A lead screw, which is connected between the two side plates, and the movable member is configured as a sliding pair of the lead screw; The drive device is disposed on the side plate and connected to the lead screw, so as to drive the lead screw to rotate.

6. The main-end control mechanism according to claim 3, characterized in that, The force sensor is disposed on the side of the handle assembly near the first baffle, so as to sense the first resistance encountered by the handle assembly when it moves in the first direction when it comes into contact with the first baffle.

7. The main-end control mechanism according to claim 6, characterized in that, The force sensor has a through-hole through which the second shaft extends; and / or The second axis passes through the second baffle, and the second baffle is configured to move along the second axis.

8. The main-end control mechanism according to claim 1, characterized in that, The main control mechanism also includes a speed control component.

9. The main-end control mechanism according to claim 8, characterized in that, The speed control component includes a sensing part and a triggering part. The sensing part is disposed on the base component and is configured to sense the movement amplitude of the triggering part. The triggering part is configured to follow the movement of the handle component.

10. The main-end control mechanism according to claim 9, characterized in that, The trigger portion is connected to the handle assembly so as to follow the movement of the handle assembly along the first direction and / or the second direction.

11. The main-end control mechanism according to claim 9, characterized in that, The speed regulating component further includes a substrate, which is arranged parallel to the first direction and the second direction. The sensing unit is disposed on the substrate and includes: A first sensing unit is configured to sense a first movement amplitude of the trigger unit along the first direction; The second sensing unit is configured to sense the second movement amplitude of the trigger unit along the second direction.

12. The main-end control mechanism according to claim 11, characterized in that, When the handle assembly moves along the first direction, the first sensing unit can sense the first movement amplitude of the trigger unit along the first direction; when the handle assembly moves along the second direction, the second sensing unit can sense the second movement amplitude of the trigger unit along the second direction.

13. The main-end control mechanism according to claim 12, characterized in that, Both the first sensing unit and the second sensing unit include at least two photoelectric sensors, which are arranged side by side along the length of the main end control mechanism, so that the sensing unit can sense the gradient change in the movement amplitude of the handle assembly.

14. The main-end control mechanism according to claim 13, characterized in that, The end of the photoelectric sensor is provided with a groove, and the grooves of at least two photoelectric sensors correspond to each other to form a sensing channel; so that when the trigger part moves along the first direction and / or the second direction, the trigger part can enter the sensing channel.

15. The main-end control mechanism according to any one of claims 2-7, characterized in that, The first baffle is sleeved on the first shaft via a linear bearing, and / or The second baffle is sleeved on the first shaft via a linear bearing.

16. The main-end control mechanism according to any one of claims 1-14, characterized in that, The elastic coefficient of the feedback elastic element is 0.29~0.5N / mm.

17. The main-end control mechanism according to any one of claims 1-14, characterized in that, The handle assembly includes: An actuator is provided with a second linear bearing, and the handle assembly is configured to move along the first direction and the second direction via the second linear bearing; An operating unit is located above the execution unit; A connecting part is provided between the operating part and the executing part, and a wire groove is provided inside the connecting part.

18. The main-end control mechanism according to claim 17, characterized in that, The operating unit includes: A housing, which is connected to the connecting portion; A central shaft is disposed within the housing, and a rotary encoder is provided at the end of the central shaft to sense the rotation of the central shaft; A support bearing, wherein the outer ring of the support bearing is connected to the housing, and the inner ring of the support bearing is connected to the central shaft; A knob is located at the end of the central shaft away from the rotary encoder, and the knob is configured to drive the central shaft to rotate together.

19. A surgical robot, characterized in that, include: The main control mechanism as described in any one of claims 1-18; The slave actuator includes a force sensing device configured to sense a second resistance encountered by the slave actuator when it performs a propulsion action. as well as A control device is signal-connected to the sensing unit of the master-end control mechanism and the slave-end actuator. The control device is configured to control the slave-end actuator to perform a pushing action based on a first movement amplitude of the handle assembly along the first direction sensed by the sensing unit, and to control the slave-end actuator to perform a retracting action based on a second movement amplitude of the handle assembly along the second direction sensed by the sensing unit. The control device is also signal-connected to the force sensor, the drive device, and the force sensing device. The control device is further configured to control the drive device to drive the moving part in the direction of movement based on the relationship between the first resistance encountered by the handle assembly when it moves along the first direction and the second resistance encountered by the slave actuator when it performs the propulsion action, so as to control the magnitude of the feedback force.

20. The surgical robot according to claim 19, characterized in that, The control device is configured to control the drive device to drive the moving part to move along the first direction when the first resistance is greater than the second resistance, so as to reduce the feedback force.

21. The surgical robot according to claim 19, characterized in that, The control device is configured to control the drive device to drive the moving part to move along the second direction when the first resistance is less than the second resistance, so as to increase the feedback force.

22. The surgical robot according to claim 19, characterized in that, The control device is configured to stop working when the first resistance equals the second resistance, so as to maintain the feedback force unchanged.

23. The surgical robot according to any one of claims 19-22, characterized in that, The speed of the advancing action is positively correlated with the first movement amplitude, and the speed of the retreating action is positively correlated with the second movement amplitude.

24. The surgical robot according to claim 23, characterized in that, The control device is configured to output a linear speed signal of the propulsion action to the slave actuator based on the linear change of the first movement amplitude, and is configured to output a linear speed signal of the backward movement to the slave actuator based on the linear change of the second movement amplitude. Furthermore, the magnitude of the linear velocity signal increases linearly along both the first and second directions.

25. The surgical robot according to claim 23, characterized in that, The control device is configured to output a gradient speed signal of the propulsion action to the slave actuator according to the gradient change of the first movement amplitude, and is configured to output a gradient speed signal of the backward action to the slave actuator according to the gradient change of the second movement amplitude. Furthermore, the magnitude of the gradient velocity signal increases gradually along the first and second directions.

26. The surgical robot according to claim 25, characterized in that, The sensing unit includes a first sensing unit and a second sensing unit. Both the first and second sensing units include at least two photoelectric sensors, which are arranged side-by-side along the length of the main-end control mechanism. This allows the first sensing unit to sense the gradient change in the first movement amplitude of the handle assembly, and the second sensing unit to sense the gradient change in the second movement amplitude of the handle assembly. Each of the photoelectric sensors corresponds to a gradient velocity signal. The velocity magnitudes of the velocity signals corresponding to the at least two photoelectric sensors of the first sensing unit along the first direction increase sequentially, and the velocity magnitudes of the velocity signals corresponding to the at least two photoelectric sensors of the second sensing unit along the second direction increase sequentially.

27. The surgical robot according to claim 19, characterized in that, The handle assembly includes a rotary encoder and a knob, the knob being connected to the rotary encoder so that the knob can drive the rotary encoder to rotate together, and the rotary encoder being configured to sense the rotation of the knob; The control device is connected to the rotary encoder via a signal, and the control device is configured to control the slave actuator to perform a valve release action or a valve retraction action according to the clockwise or counterclockwise rotation of the knob.

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