A power assisting operation structure and a surgical cart

Abstract

The application discloses a power-assisted operation structure, which comprises a supporting member installed on an equipment, and an operating member, two ends of which are connected with the supporting member through power-assisted collecting units; at least one end of the power-assisted collecting unit is slidably installed on the supporting member; the power-assisted collecting unit is used for collecting motion information of the two ends of the operating member, and a driving device performs power-assisted operation according to the motion information. In the application, an operator can control a surgical trolley by the force when pushing or pulling a handrail, and the control of the surgical trolley is perfectly matched with the intention of the operator, so that the convenience and smoothness of operation are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an assistive operating structure and a surgical cart. Background Technology

[0002] As an integral part of surgical robot equipment, the primary function of the servo handle is to facilitate the operator's movement and operation of the surgical robot. Most existing surgical robots are large and heavy, making it difficult and cumbersome for operators to control forward, backward, or turning solely through the servo handle. Therefore, most heavy devices incorporate additional drive mechanisms on their chassis to provide auxiliary power. Operators input signals to activate these mechanisms, enabling the robot to move in the desired direction. However, current drive systems offer a relatively poor user experience, particularly in terms of smoothness and convenience of turning, significantly reducing the efficiency of equipment transport. This is especially critical for surgical robots, where efficient equipment transport and convenient, efficient movement of equipment during surgery to free up surgical space are paramount.

[0003] In view of the above, it is particularly important to provide a convenient and flexible rudder handle assist structure to control the movement of surgical robot equipment. Summary of the Invention

[0004] Purpose of the invention: To address the above-mentioned shortcomings, the present invention provides an assisted operating structure and surgical cart. The control of the surgical cart perfectly matches the operator's intentions, greatly improving the convenience and smoothness of operation and enhancing the user experience.

[0005] Technical solution:

[0006] An assisted operation structure includes:

[0007] Support components, installed on the equipment;

[0008] The operating component has two ends connected to the support component via assisted acquisition units; wherein, at least one assisted acquisition unit is slidably mounted on the support component.

[0009] The assist acquisition unit is used to acquire motion information at both ends of the operating component, and the driving device performs assist operation based on the motion information.

[0010] Specifically, the assist acquisition unit is a torque sensor, and the motion of the operating component is converted into rotational motion through adapters at both ends. The torque sensor acquires the torque information of the rotational motion.

[0011] More specifically, the adapter includes a rotating component that is rotatably connected to the torque sensor and a connecting rod connecting the rotating component and the operating component. The connecting rod transmits the motion of the operating component to the rotating component, and then the rotating component converts the motion of the operating component into rotational motion.

[0012] Furthermore, pin holes for the connecting rod are provided at both ends of the operating member, and the end of the connecting rod is rotatably installed in the pin holes.

[0013] Furthermore, the assisted acquisition unit and the support component are installed together via a guide rail and a slider in a sliding fit.

[0014] Furthermore, the feature is that the assist acquisition unit is fixedly installed on a mounting base, and the mounting base and the support member are installed through a guide rail and a slider in sliding cooperation between them.

[0015] Furthermore, the characteristic is that both ends of the operating member are connected to the torque sensor through connecting rods parallel to the length direction of the operating member.

[0016] Furthermore, the first end of the operating member is connected to a torque sensor via a connecting rod parallel to the length direction of the operating member, and the second end is connected to a torque sensor via a connecting rod perpendicular to the length direction of the operating member.

[0017] Furthermore, the feature is that the assist acquisition unit corresponding to the second end of the operating component is rigidly connected to the support component.

[0018] Specifically, the feature is that the operating member is provided with a clutch unit, the clutch unit including a switch for braking the device and a resettable pressing member for pressing to trigger the switch.

[0019] More specifically, the pressing member is characterized by a boss structure, the clutch unit further includes a bracket adapted to the boss structure, the switch is installed in the bracket, and the pressing member is repositionably installed in the bracket by a spring.

[0020] Furthermore, the feature is that a linear bearing is provided on the inner side of the pressing member, and a guide shaft is provided at a corresponding position in the bracket to cooperate with the linear bearing to guide the pressing member.

[0021] Furthermore, the clutch unit is characterized in that there are two sets, which are symmetrically installed on the operating component.

[0022] Furthermore, the device is characterized in that it performs a braking operation when the switches in both clutch units are triggered.

[0023] The present invention also provides a surgical cart having the aforementioned assistive operation structure.

[0024] Beneficial effects: The assisted operation structure of this invention adopts a sensor-assisted structure. By collecting the corresponding torque information generated when the operator directly pushes or pulls the handrail, the forward, backward, and turning operations of the surgical cart can be controlled. Different torque information can be generated according to the magnitude of the pushing or pulling force, thereby controlling the speed and turning angle of the surgical cart. Thus, the operator can control the surgical cart by the magnitude of the force when pushing or pulling the handrail, and the control of the surgical cart is perfectly matched with the operator's intention, greatly improving the convenience and smoothness of operation. At the same time, the handrail and support frame of this invention adopt a sliding rail structure. The relative sliding can decompose the ineffective force in the length direction of the handrail, making the calculation and control of the surgical cart movement through torque control simpler and more efficient. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the assistive operation structure of the present invention;

[0026] Figure 2 for Figure 1 A magnified view of a section at point A in the middle;

[0027] Figure 3 for Figure 1 A magnified view of a section at point B in the middle;

[0028] Figure 4 This is a schematic diagram of the clutch assembly;

[0029] Figure 5 This is a diagram showing the internal structure of the clutch assembly;

[0030] Figure 6 This is an initial state diagram of the assist operation structure of the present invention;

[0031] Figure 7 This is a bottom view of the push-pull and pull-back control of the present invention; wherein, Figure 7 (a) and Figure 7 (b) Top views of the push and pull controls, respectively;

[0032] Figure 8 This is a schematic diagram of the left and right turn control principle of the present invention;

[0033] Figure 9 This is a schematic diagram of an assistive operation structure according to another embodiment of the present invention;

[0034] Figure 10 for Figure 9 A magnified view of a section at point A in the middle;

[0035] Figure 11 This is a bottom view of a clutch assembly according to another embodiment of the present invention;

[0036] Figure 12 This is a bottom view of the push-pull and pull-back control according to another embodiment of the present invention; wherein, Figure 12 (a) and Figure 12 (b) Top views of the push and pull controls, respectively;

[0037] Figure 13 for Figure 12 A schematic diagram of force analysis;

[0038] Figure 14 This is a bottom view of the left and right turn controls of the present invention; wherein, Figure 14 (a) and Figure 14 (b) Top views of the push and pull controls, respectively;

[0039] Figure 15 for Figure 14 A schematic diagram of force analysis.

[0040] Among them, 1. connecting frame, 2. support frame, 3. sensor assembly, 4. handrail, 5. clutch assembly;

[0041] 21. Guide rail base; 22. Guide rail;

[0042] 31. Slider; 32. Mounting base; 33. Torque sensor; 34. Adapter; 34A. First adapter; 34B. Second adapter; 341. Rotating component; 342. Connecting rod;

[0043] 41. Pin hole; 42. Butt block; 43. Mating pin hole;

[0044] 51. Clutch bracket; 52. Pressing block; 53. Guide shaft; 54. Linear bearing; 55. Return spring; 56. Switch; 57. Cover plate; 521. Protrusion; 522. Mating part; Detailed Implementation

[0045] The present invention will be further explained below with reference to the accompanying drawings and specific embodiments.

[0046] Reference Figure 1 The power-assisted operation structure of the present invention includes a connecting frame 1, a support frame 2, a handrail 4, and a clutch assembly 5 disposed on the handrail 4; wherein, the connecting frame 1 is fixedly connected to the main body of the equipment by screws, there are two support frames 2, which are symmetrically fixedly installed on both sides of the connecting frame 1 by screws, and both ends of the handrail 4 are connected to the end of a support frame 2 through sensor assemblies 3.

[0047] In this invention, the operator uses the handrail 4 as a control component to operate the equipment, such as the forward, backward, turning and speed control of various movements of the surgical cart in this embodiment; while the sensor component 3 can collect torque information that converts the motion of both ends of the handrail 4 into rotational motion through the adapter, and then the drive device of the equipment performs assisted operation according to the corresponding torque information.

[0048] Furthermore, the support frame 2 is installed at an angle on the side of the connecting frame 1, and the distance between the free ends of the two support frames 2 is greater than the distance between the installation ends of the two support frames and the connecting frame 1; even further, the sides of the two support frames 2 are fixedly connected to the connecting frame 1 by a support rod perpendicular to the side of the connecting frame 1, thereby strengthening the installation of the support frame 2.

[0049] Of course, in this invention, the support frame 2 can be directly installed on the main body of the equipment as a support component, without the need for installation through the aforementioned connecting frame 1.

[0050] Reference Figure 2 , 3 The sensor assembly 3 includes a mounting base 32 that mates with the end of the support frame 2, a torque sensor 33 mounted on the mounting base 32, and an adapter 34 that rotatably mates with the torque sensor 33. The axis of rotation of the adapter 34 is perpendicular to the plane formed by the support frame 2 and the handrail 4. The adapter 34 is mates with the end of the handrail 4, and the torque of the adapter 34 is detected by the torque sensor 33. Specifically, the mounting base 32 is slidably mounted on the end of the support frame 2. More specifically, a guide rail seat 21 is provided on the end of the support frame 2, and a guide rail 22 in the same direction as the length of the handrail 4 is provided on the guide rail seat 21. A slider 31 is slidably mounted on the guide rail 22, and the mounting base 32 and the slider 31 are fixedly connected by screws.

[0051] In this invention, the guide rail 22 on the guide rail base 21 can be designed as a long groove in the same direction as the length of the handrail 4, and the slider 31 is designed with a protrusion that corresponds to and cooperates with the long groove; of course, the guide rail 22 on the guide rail base 21 can also be designed as a protrusion in the same direction as the length of the handrail 4, and the slider 31 is designed with a long groove that corresponds to and cooperates with the protrusion.

[0052] The adapter 34 includes a rotating member 341 and a connecting rod 342. The rotating member 341 is rotatably mounted on the mounting base 32 relative to the torque sensor 33 via its rotating shaft. The connecting rod 342 is disposed on the side wall of the rotating member 341 and extends radially outward along the rotating member 341.

[0053] Specifically, the torque sensor 33 is fixedly mounted on the mounting base 32, and the adapter 34 is rotatably mounted on the torque sensor 33 via its shaft.

[0054] In this invention, the torque sensor 33 can also be designed to be directly installed in conjunction with the end of the support frame 2.

[0055] Furthermore, both ends of the handrail 4 are provided with pin holes 41 that are in the same direction as its length and correspond to the connecting rod 342 of the adapter 34, so that the adapter 34 can achieve a transmission with the handrail 4 through its connecting rod 342.

[0056] Furthermore, the end of the connecting rod 342 is rotatably mounted in the pin hole 41 via a pin.

[0057] Specifically, the mounting base 32 and the slider 31 are connected in an L-shape.

[0058] In this invention, the mounting base 32 and the slider 31 can be designed as an integrated structure.

[0059] Reference Figure 4 , 5 The clutch assembly 5 includes a clutch bracket 51, a switch 56 disposed within the clutch bracket 51, and a resettable pressing block 52 disposed inside the armrest 4 for triggering the switch 56. Specifically, the clutch bracket 51 has a rectangular cross-section with an opening in the middle of the side facing the connecting frame 1. The space at both ends of the clutch bracket 51 forms the space for the pressing block 52 to perform the clutch function. The pressing block 52 includes a protrusion 521 in the middle and mating parts 522 at both ends. When the pressing block 52 is installed in the clutch bracket 51, the mating parts 522 at both ends are located in the space at both ends of the clutch bracket 51, and the protrusion 521 protrudes from the opening in the middle of the clutch bracket 51. A switch 56 is provided in the clutch bracket 51 at a position corresponding to the protrusion 521. The switch 56 is triggered after the pressing block 52 is pressed and deactivated after the pressing block 52 is reset. After being triggered, the switch 56 outputs a signal to release the brake of the equipment, facilitating the operator to move the equipment. A return spring 55 is provided between the mating part 522 of the pressing block 52 and the inner wall of the clutch bracket 51 at the corresponding position to realize the reset of the pressing block 52. Furthermore, a linear bearing 54 is provided on the side of the mating part 522 of the pressing block 52 facing the clutch bracket 51, and a guide shaft 53 is provided on the inner wall of the clutch bracket 51 at the position corresponding to the linear bearing 54. Thus, the mating part 522 of the pressing block 52 guides the pressing of the pressing block 52 through the cooperation of the linear bearing 54 and the guide shaft 53.

[0060] In this invention, there are two sets of clutch components 5, which are symmetrically installed on the handrail 4. By setting two sets of clutch components 5, accidental activation can be prevented. Only when the switches 56 in both sets of clutch components 5 are triggered will a signal be output to the device to perform a brake release operation on the device, thereby preventing the device from being braked and causing misoperation when either set of clutch components 5 is accidentally triggered.

[0061] Cover plates 57 are provided on both the upper and lower sides of the clutch bracket 51 to protect and cover the entire clutch assembly 5.

[0062] Furthermore, the clutch bracket 51 is disposed inside the armrest 4, thereby forming an active space between the clutch bracket 51 and the armrest 4 for pressing and resetting the press block 52.

[0063] The working principle of this invention is as follows:

[0064] like Figure 6 As shown, in the initial state, the distance between the axes of the rotating parts 341 of the adapter 34 of the two sensor assemblies 3 is L, that is, the distance between the axes of the two torque sensors is L; at this time, the distance between the end of the connecting rod 342 and the pin hole 41 and the axis of the rotating parts 341 of the adapter 34 is the largest.

[0065] like Figure 7 As shown in (a) and 7(b), when the operator needs to push or pull the surgical cart forward or backward, both hands press the pressing blocks 52 of the two clutch components 5 to simultaneously trigger the switches 56 therein, releasing the brakes on the surgical cart; then both hands simultaneously push forward or pull backward on the handrail 4 at the clutch components 5, and the handrail 4, under the force, drives the adapter 34 as follows. Figure 7 The opposite rotations are shown in (a) or 7(b). Specifically, when the operator pushes the handrail 4 forward, the adapter 34 at the left end of the handrail 4 rotates clockwise and the adapter 34 at the right end of the handrail 4 rotates counterclockwise. When the operator pulls the handrail 4 backward, the adapters 34 at both ends of the handrail 4 rotate in the opposite direction.

[0066] At this time, the handrail 4 moves forward or backward, causing the rotating component 341 to rotate, thus reducing the distance between the axes of the two rotating components 341, and consequently reducing the distance between the axes of the two torque sensors. The structure of the slider 31 and guide rail 22 drives the relative movement of the two rotating components 341, realizing the rotation of the rotating components 341. Simultaneously, it can dissolve the ineffective force along the length of the handrail generated when pushing or pulling the handrail 4 forward or backward, making the calculation and control of the surgical cart movement through torque control simpler and more efficient. The handrail 4 then transmits the thrust received to the connecting rod 342 of the corresponding adapter 34. The two connecting rods 342 respectively transmit the thrust F received to the corresponding torque sensor 33 through the rotation of the rotating component 341. The drive motor controls the movement of the equipment based on the torque information collected by the torque sensor 33.

[0067] In this invention, when pushing forward or pulling backward along a straight line, the force applied by both hands is basically the same, that is, F. 推力1 =F 推力2Furthermore, the push switch 56 is designed in a centrally symmetrical position, and the lever arms of the two torque sensors 33 are basically the same. At this time, the torque signal values ​​obtained by the torque sensors on both sides are the same, but the directions are opposite. Based on the output torque signal, the chassis rollers are driven forward or backward by the drive motor. At the same time, the driving speed of the equipment is controlled according to the torque signal value. Therefore, the present invention can perfectly match the operator's intention in forward or backward operation through the handrail 4, which greatly facilitates the operator's operation.

[0068] When the operator needs to turn left or right to push the surgical cart, press the pressing blocks 52 of the two clutch components 5 with both hands to simultaneously trigger the switches 56 to release the brakes on the surgical cart; then, push forward or pull backward on the handrails 4 at the clutch components 5 with both hands at the same time, and the pushing or pulling force applied by the operator's left and right hands is different.

[0069] like Figure 8 As shown, when turning left, with Figure 7 As shown in the figure, the force F2 applied by the operator's right hand is greater than the force F1 applied by the left hand, which is approximately equivalent to a single resultant force F3 slightly to the right of the center. At this time, the actual force arms of the two torque sensors 33 are different. The force arm of the left torque sensor 33 is greater than that of the right torque sensor 33, so the torque values ​​detected by the two torque sensors are different. Based on the difference in torque values, the steering speed and angle of the equipment can be precisely controlled by the drive motor.

[0070] Similarly, when turning right, the force F2 applied by the operator's right hand is less than the force F1 applied by the left hand, which is equivalent to a single resultant force F3 slightly to the left of the center. At this time, the lever arm of the torque sensor 33 on the left is less than the lever arm of the torque sensor 33 on the right. Correspondingly, the torque values ​​detected by the two torque sensors are different. Based on the difference in torque values, the steering speed and angle of the equipment can be precisely controlled by the drive motor.

[0071] In another embodiment of the present invention, the sensor assembly 3 that cooperates with one end of the handrail 4 may be designed to slide along the length of the handrail 4, while the sensor assembly 3 at the other end of the handrail 4 may be designed to be non-sliding.

[0072] Reference Figure 9 , 10 Compared with the previous embodiment, this embodiment improves the structure of the sensor assembly 3 that connects one end of the handrail 4 to the support frame 2. Specifically, the pin hole 41 at one end of the handrail 4 is configured to be in the same direction as the length of the handrail 4, and the corresponding mating part is the first adapter 34A. The structure of the first adapter 34A is the same as that of the adapter 34 in the previous embodiment, and in this embodiment it is the same as that of the adapter 34. Figure 9The structure of the adapter at the right end of the middle handrail 4; and the pin hole provided at the other end of the handrail 4 is a mating pin hole 43, which is set perpendicular to the length direction of the handrail 4. Specifically, in this embodiment, the mating pin hole 43 is provided on the mating block 42 extending from the end of the handrail 4, and the second adapter 34B is mated with this end of the handrail 4. The connecting rod of the second adapter 34B is correspondingly provided, so that the two form a mating with each other perpendicular to the length direction of the handrail 4. In this embodiment, it is... Figure 9 The structure of the adapter at the left end of the center armrest 4 is shown in the detailed structural diagram. Figure 10 The structural design of the second adapter 34B is the same as that of the adapter 34 in the previous embodiment. Therefore, the rotating part and the connecting rod are represented by the same markings as in the aforementioned embodiment. This design ensures that when operating the handrail 4, the engagement pin hole 43 at that end of the handrail 4 and the corresponding connecting rod of the second adapter 34B are perpendicular to the length direction of the handrail 4. That is, the force direction of the second adapter 34B is the radial direction of its rotation axis, thus preventing the second adapter 34B from rotating. Correspondingly, in this embodiment, the torque sensor 33 corresponding to the second adapter 34B can be rigidly engaged with the support frame 2. For example, the mounting base 32 corresponding to the second adapter 34B is rigidly connected to the corresponding end of the support frame 2.

[0073] like Figure 11 As shown, in the initial state of the power steering mechanism of this embodiment, the distance between the axes of the rotating parts 341 of the adapter rods of the two sensor assemblies 3 is L, that is, the distance between the axes of the two torque sensors 33 is L; at this time, with Figure 11 Based on this, the distance between the connection point of the right end pin hole 41 of the handrail 4 and the end of the connecting rod 342 and the axis of the rotating part 341 at that end is the largest.

[0074] like Figure 12 As shown in (a) and 12(b), when the operator needs to push or pull the surgical cart forward or backward, they press the pressing blocks 52 of the two sets of clutch components 5 with both hands to simultaneously trigger the switches 56 therein, releasing the brakes on the surgical cart; then, both hands simultaneously push forward or pull backward on the handrail at the clutch components 5. Specifically, when the operator pushes or pulls the handrail 4 forward or backward, the second adapter 34B, which cooperates with the left end of the handrail 4, cannot rotate, while the first adapter 34A, which cooperates with the right end of the handrail 4, rotates counterclockwise or clockwise. Pushing or pulling the handrail 4 forward or backward causes the axial distance between the torque sensors to gradually decrease, thereby reducing the axial distance between the two torque sensors. This causes the rotating part 341 of the first adapter 34A at the right end of the handrail 4 to slide to the left through the structure of the slider 31 and the guide rail 22, satisfying the rotation action of the first adapter 34A.

[0075] like Figure 13As shown, during the forward or backward pushing or pulling action, the forward pushing or pulling force of the left and right hands can be equivalent to a central pushing or pulling force F3. At this time, the lever arm between the equivalent force F3 and the torque sensor 33 at the left end of the armrest 4 is 0, and the lever arm between the equivalent force F3 and the torque sensor 33 at the right end of the armrest 4 is r1. At this time, the torque sensor 33 at the left end of the armrest 4 outputs a torque of 0, and the torque sensor 33 at the right end of the armrest 4 outputs a torque value. Based on the output torque signal, the chassis rollers are driven forward and backward by the drive motor, and the driving speed is controlled according to the torque signal value.

[0076] like Figure 14 (a) and 14(b), when the operator needs to turn left (or right) to push the surgical cart, they press the pressing blocks 52 of the two sets of clutch components 5 with both hands to simultaneously trigger the switches 56 to release the brakes on the surgical cart; at this time, pulling the handle 4 to the left (or right) will cause the second adapter 34B at the left end to move horizontally through the connecting rod 342 that cooperates with the left end of the handle 4. At this time, the rotating part 341 of the second adapter 34B at this end rotates clockwise (or counterclockwise) under the drive of the connecting rod 342. Correspondingly, the end of the connecting rod 342 of the second adapter 34B and the pin hole The distance between the connection point of 41 and the axis of the rotating part 341 of the second adapter 34B should decrease (or increase), while the distance between the connection point of the connecting rod 342 of the first adapter 34A and the pin hole 41 and the axis of its rotating part 341 remains constant. This makes the axis spacing between the two torque sensors 33 decrease (or increase). The structure of the slider 31 and the guide rail 22 drives the rotating part 341 of the first adapter 34A to slide to the left (pulling the handrail 4 to the right is equivalent to sliding to the right) to satisfy the rotation action of the second adapter 34B.

[0077] like Figure 15 As shown, when turning left or right, the forces F1 and F2 applied by the operator's left and right hands are equivalent to a resultant force F3 in the same direction. At this time, the lever arm of the equivalent force F3 with the torque sensor 33 at the left end of the handrail 4 is r2, and the lever arm with the torque sensor 33 at the right end of the handrail 4 is 0. At this time, the torque sensor 33 at the left end of the handrail 4 outputs the corresponding torque signal value, and the torque value output by the torque sensor 33 at the right end of the handrail 4 is 0. Based on the output torque signal, the chassis rollers are driven by the drive motor to turn in different directions and at different turning angles.

[0078] Another embodiment of the present invention provides a surgical vehicle based on the aforementioned assisted operation structure, including various existing surgical vehicles and the aforementioned assisted operation structure installed on the surgical vehicle.

[0079] The rudder handle of this invention adopts a sensor-assisted structure. The designed sensor can collect the corresponding torque information generated when the operator directly pushes or pulls the handle. Then, based on the corresponding torque information, the forward, backward, and turning operations of the surgical cart are controlled. At the same time, this invention can also generate different torque information according to the magnitude of the pushing or pulling force when the operator pushes or pulls the handle, and control the speed and turning angle of the surgical cart accordingly. The control of the surgical cart is perfectly matched with the operator's intention, which greatly improves the convenience and smoothness of operation, enhances the operating experience, and thus greatly improves the efficiency of the operator in transporting equipment.

[0080] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations (such as quantity, shape, position, etc.) can be made to the technical solution of the present invention, and these equivalent transformations all fall within the protection scope of the present invention.

Claims

1. A power-assisted operation structure, characterized in that, include: Support components, installed on the equipment; The operating component has two ends connected to the support component via assisted acquisition units, and its motion is converted into rotational motion via an adapter; wherein, at least one end of the assisted acquisition unit is slidably mounted on the support component; The assist acquisition unit is a torque sensor, used to acquire torque information of the rotational motion; The adapter includes a rotating component that is rotatably connected to the torque sensor and a connecting rod connecting the rotating component and the operating component. The connecting rod transmits the motion of the operating component to the rotating component, and the rotating component converts the motion of the operating component into rotational motion. A drive device is used to assist operation based on the torque information of the rotational motion.

2. The assistive operation structure according to claim 1, characterized in that, Both ends of the operating component are provided with pin holes for the connecting rod to pass through, and the end of the connecting rod is rotatably installed in the pin hole.

3. The assistive operation structure according to claim 1, characterized in that, The assisted acquisition unit and the support component are installed together via a guide rail and a slider.

4. The assistive operation structure according to claim 3, characterized in that, The assisted acquisition unit is fixedly installed on a mounting base, and the mounting base and the support are installed through a guide rail and a slider in sliding cooperation between them.

5. The assistive operation structure according to claim 1, characterized in that, Both ends of the operating component are connected to the torque sensor via connecting rods parallel to the length direction of the operating component.

6. The assistive operation structure according to claim 1, characterized in that, The first end of the operating component is connected to a torque sensor via a connecting rod parallel to the length direction of the operating component, and the second end is connected to a torque sensor via a connecting rod perpendicular to the length direction of the operating component.

7. The assistive operation structure according to claim 6, characterized in that, The second end of the operating component is rigidly connected to the assist acquisition unit and the support component.

8. The assistive operation structure according to claim 1, characterized in that, The operating element is provided with a clutch unit, which includes a switch for braking the device and a resettable press element for pressing to trigger the switch.

9. The assistive operation structure according to claim 8, characterized in that, The pressing component has a boss structure, and the clutch unit also includes a bracket adapted to the boss structure. The switch is installed in the bracket, and the pressing component is repositionably installed in the bracket by a spring.

10. The assistive operation structure according to claim 9, characterized in that, A linear bearing is provided on the inner side of the pressing component, and a guide shaft is provided at a corresponding position in the bracket to cooperate with the linear bearing to guide the pressing component.

11. The assistive operation structure according to claim 8, characterized in that, The clutch unit consists of two sets, which are symmetrically installed on the operating component.

12. The assistive operation structure according to claim 11, characterized in that, When the switches in both clutch units are triggered, the device is braked.

13. A surgical cart, characterized in that, It is provided with the assist operation structure as described in any one of claims 1 to 12.

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