An operating handle and surgical robot

Abstract

This specification provides an operating handle and a surgical robot. The operating handle includes: a base; a switch assembly disposed on the base, the switch assembly including a switch key having an open position and a closed position; and a clutch button disposed on the base, the clutch button including an operating part and a drive part connected to the operating part. The operating part is operable to slide on the base in a back-and-forth direction, the drive part has a drive groove, and the switch key is disposed in the drive groove. During the forward and backward sliding of the operating part, the rear wall and front wall of the drive groove respectively push the switch key, thereby switching the switch key between the open and closed positions. This operating handle and the surgical robot using this operating handle have a long clutch button travel, good tactile feel, and are less prone to accidental activation.

Description

Technical Field

[0001] This manual relates to the field of medical devices, and in particular to an operating handle and a surgical robot. Background Technology

[0002] Surgical robot systems typically employ a master-slave control method to achieve precise and delicate surgical operations. These systems usually require control of multiple robotic arms via a control handle, necessitating a clutch function to switch control between different arms. Conventional control handles are small, requiring a correspondingly smaller clutch mechanism. However, this small size results in a short and fixed clutch travel. Therefore, existing control handle technologies cannot simultaneously achieve both small size and long travel, leading to poor ergonomics, accidental activation, and insufficient smoothness and reliability.

[0003] Therefore, this application provides an operating handle and a surgical robot, which have a compact structure, a long and adjustable stroke, good smoothness, and high reliability. Summary of the Invention

[0004] One embodiment of this specification provides an operating handle, the operating handle comprising: a base; a switch assembly disposed on the base, the switch assembly including a switch key having an open position and a closed position; and a clutch button disposed on the base, the clutch button including an operating part and a driving part connected to the operating part. The operating part is operable to slide on the base in a front-back direction, the driving part having a driving groove, and the switch key being disposed in the driving groove. During the forward and backward sliding of the operating part, the rear wall and front wall of the driving groove respectively push the switch key, thereby switching the switch key between the open and closed positions.

[0005] In some embodiments, the drive unit further includes an elastic structure disposed between the operating unit and the base; the elastic structure is compressed when the operating unit slides forward or backward.

[0006] In some embodiments, a guide structure is provided on the base for guiding the sliding of the operating part.

[0007] In some embodiments, the guide structure includes a guide post and a guide cylinder, the guide cylinder being sleeved outside the guide post, the guide post being fixed to the operating part, and the guide cylinder being fixed to the base.

[0008] In some embodiments, the guide structure includes a guide ring that surrounds the guide post and is fixed to the operating part; the elastic structure includes a spring that is sleeved outside the guide post and is located between the guide ring and the guide cylinder.

[0009] In some embodiments, the switch assembly includes a switch base and a circuit board; the switch key is slidably disposed on the switch base; the switch key is connected to the circuit board via different leads in the open position and the closed position.

[0010] In some embodiments, the length of the drive groove in the front-to-back direction is 0mm-4mm.

[0011] In some embodiments, a first clamp and a second clamp are further included; the first clamp and the second clamp are respectively rotatably connected to the base.

[0012] In some embodiments, both the first clip and the second clip are provided with one of a magnetic element and a magnetic induction device, and the base is provided with one of the magnetic element and the magnetic induction device; the first clip is provided with a first in-situ sensing device, and the second clip is provided with a second in-situ sensing device; both the first in-situ sensing device and the second in-situ sensing device are signal-connected to the magnetic induction device; wherein, the first in-situ sensing device and the second in-situ sensing device are respectively used to sense whether the operator's finger is in the working position of the first clip and the second clip; in response to the finger being in the working position of at least one of the first clip and the second clip, the magnetic induction device senses the magnetic field strength of the magnetic element.

[0013] One embodiment of this specification provides a surgical robot, which includes the operating handle described in any embodiment of this specification.

[0014] The beneficial effects that the operating handle in the embodiments of this specification may bring include, but are not limited to: (1) By setting a drive groove on the drive part, the total stroke of the operator sliding the clutch button is increased while ensuring the small size of the operating handle, improving the feel of sliding the clutch button and reducing the possibility of accidental touch; (2) The switch assembly adopts the existing finished switch on the market. By setting the clutch button, the stroke of the switch can be effectively increased without improving the structure of the finished switch itself, saving time, financial resources, manpower and other costs for customizing the switch; (3) It has the advantages of compact structure, good smoothness and high reliability. Attached Figure Description

[0015] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting; in these embodiments, the same reference numerals denote the same structures, wherein:

[0016] Figure 1 This is one of the structural schematic diagrams of the operating handle shown in some embodiments of this specification;

[0017] Figure 2 This is one of the cross-sectional views of the operating handle shown in some embodiments of this specification;

[0018] Figure 3 This is a second schematic diagram of the operating handle shown in some embodiments of this specification;

[0019] Figure 4 This is a second cross-sectional view of the operating handle shown in some embodiments of this specification;

[0020] Figure 5 This is the third schematic diagram of the structure of the operating handle shown in some embodiments of this specification.

[0021] The reference numerals in the attached drawings are as follows: 100, base; 110, first groove; 120, second groove; 130, connecting part; 200, switch assembly; 210, on / off switch; 220, switch base; 230, circuit board; 240, lead wire; 300, clutch button; 310, operating part; 311, anti-slip structure; 320, driving part; 321, driving groove; 322, elastic structure; 330, receiving groove; 400, guide structure; 410, guide post; 420, guide cylinder; 421, fixing piece; 422, fixing pin; 430, guide ring; 510, first clamping piece; 520, second clamping piece; 530, first presence sensing device; 540, second presence sensing device. Detailed Implementation

[0022] To more clearly illustrate the technical solutions of the embodiments in this specification, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this specification. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0023] It should be understood that the terms “system,” “device,” “unit,” and / or “module” used herein are one way to distinguish different components, elements, parts, sections, or assemblies at different levels. However, if other terms can achieve the same purpose, they may be replaced by other expressions.

[0024] As indicated in this specification and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0025] This specification relates to an operating handle and a surgical robot. The operating handle can be applied to the surgical robot and is detachably connected to other components of the surgical robot. The operating handle can also be signal-connected to other components of the surgical robot. By detachably connecting and signal-connecting the operating handle to other components of the surgical robot, a user can control these other components to perform surgery. In some embodiments, the other components of the surgical robot may include multiple robotic arms, and the operating handle can switch between or temporarily remove one robotic arm from the other.

[0026] Figure 1 This is one of the structural schematic diagrams of the operating handle shown in some embodiments of this specification. Figure 2 This is one of the cross-sectional views of the operating handle shown in some embodiments of this specification. See also... Figure 1 and Figure 2 The following embodiments are for your understanding, but the accompanying drawings are only illustrative of some of the embodiments and do not constitute a limitation on the embodiments.

[0027] like Figure 1 , Figure 2 As shown, in some embodiments, the operating handle may include a base 100, a switch assembly 200, and a clutch button 300, both of which are disposed on the base 100. The switch assembly 200 includes an on / off switch 210, which has an open position and an closed position. The clutch button 300 includes an operating part 310 and a driving part 320 connected to the operating part 310; the operating part 310 is operably slidable on the base 100 in a front-to-back direction, and the driving part 320 is provided with a driving groove 321, in which the on / off switch 210 is disposed. During the forward and backward sliding of the operating part 310, the rear and front walls of the driving groove 321 respectively push the on / off switch 210, thereby switching the on / off switch 210 between the open and closed positions.

[0028] The base 100 refers to the main structural frame of the operating handle. In some embodiments, the base 100 can be used to mount the switch assembly 200 and the clutch button 300. In some embodiments, the base 100 has a groove that can be used to accommodate the switch assembly 200.

[0029] In some embodiments, the groove may include a first groove 110 and a second groove 120.

[0030] In some embodiments, the first groove 110 and the second groove 120 may be used to accommodate the switch assembly 200.

[0031] In some embodiments, the first groove 110 is a through hole opened in the middle of the base 100, and the through hole is opened on the side of the base 100 adjacent to the side where the clutch button 300 is located.

[0032] In some embodiments, a second recess 120 is disposed on the side of the base 100 where the clutch button 300 is located. The number of second recesses 120 is related to the number of clutch buttons 300. For example, when there are two clutch buttons 300, there are two second recesses 120. Further description of the first recess 110 and the second recess 120 is provided below.

[0033] In some embodiments, one end of the base 100 is provided with a connecting portion 130 for connecting the actuator. The actuator includes, but is not limited to, a robotic arm, a robotic hand, etc.

[0034] Switch assembly 200 refers to an assembly that switches the on / off state of an operating handle. In some embodiments, switch assembly 200 includes a switch 210.

[0035] The switch 210 enables the switching of signal and / or power between the operating handle and the actuator. When the switch 210 is in the open position, a signal connection and / or electrical connection is established between the operating handle and the actuator; when the switch 210 is in the closed position, the signal connection and / or electrical connection is disconnected between the operating handle and the actuator. The open position refers to the position where the circuit is open, and the closed position refers to the position where the circuit is closed.

[0036] By operating the clutch button 300, the operator can switch the on / off switch 210 between the open and closed positions. Since the working spaces of the operating handle and the actuator are not one-to-one, when the actuator needs to move significantly, but the operating handle approaches or reaches the boundary of its working space after moving a certain distance, the operator can operate the clutch button 300 to move the on / off switch 210 to the closed position, thus disconnecting the signal and / or electrical connection between the operating handle and the actuator. After the signal and / or electrical connection is disconnected, the operator can adjust the operating arm to a suitable position and then operate the clutch button 300 again to move the on / off switch 210 to the open position, restoring the signal and / or electrical connection between the operating handle and the actuator. See below for further instructions on operating the clutch button 300.

[0037] The clutch button 300 may be a component that slides on the base 100 to drive the switch assembly 200 to move, thereby enabling the connection or disconnection of the operating handle from other actuators (e.g., a robotic arm).

[0038] In some embodiments, the clutch button 300 can control the on / off switch 210 to slide forward and backward, thereby increasing the travel distance of the on / off switch 210. When the operator slides the clutch button 300 forward or backward, the internal travel distance of the clutch button 300 is performed first, followed by the travel distance of the on / off switch 210, thus extending the overall travel distance of the operation. This makes the operator's feel more distinct and reduces accidental activation. Further explanation of the internal travel distance is provided below.

[0039] In some embodiments, there may be two clutch buttons 300 and two switch assemblies 200, respectively disposed on both radial sides of the base 100. The triggering directions of the two clutch buttons and two switch assemblies may be the same or opposite. By providing two clutch buttons 300, the operator can apply pressure from two opposite directions with two fingers, and can slide the clutch buttons 300 while gripping the operating handle.

[0040] In some embodiments, the number of clutch buttons 300 may be one or more, and this specification does not limit the number of clutch buttons 300.

[0041] In some embodiments, the clutch button 300 may include an operation unit 310 and a drive unit 320 connected to the operation unit 310.

[0042] The operating part 310 refers to a component that moves on the base 100 following the operator's operation. The operating part 310 can take many forms. For example, the operating part 310 can be a button, a key, etc. The operating part 310 can be mounted on the base 100 by a sliding structure to achieve sliding. Exemplary sliding structures include, but are not limited to, groove structures or slide rail structures. In some embodiments, when the operator's finger pushes or pulls the operating part 310, the operating part 310 can be operatively slid in the back-and-forth direction on the base 100.

[0043] In some embodiments, the surface of the operating part 310 may be provided with an anti-slip structure 311 to increase the friction between the operating part 310 and the finger. The anti-slip structure 311 can take many forms, such as anti-slip textures, anti-slip strips, or anti-slip sleeves. By providing an anti-slip structure on the surface of the operating part, the friction between the operating part and the finger is increased, improving the operator's sliding feel.

[0044] The drive unit 320 refers to the component that drives the switch assembly 200 to move, thereby enabling the connection or separation of the operating handle and other actuators.

[0045] In some embodiments, the operating part 310 may be sleeved on and connected to the driving part 320. When the operator slides the operating part 310, it causes the driving part 320 to slide on the base 100.

[0046] The drive unit 320 is provided with a drive groove 321, and the switch 210 is disposed in the drive groove 321. During the forward and backward sliding of the operation unit 310, the rear wall and front wall of the drive groove 321 respectively push the switch 210 to switch the switch 210 between the open and closed positions.

[0047] The following combination Figure 2 The process of using the clutch button 300 to complete the internal travel and using the drive unit 320 to drive the on / off key 210 to complete the switching travel will be described by way of example.

[0048] In the initial state, the rear wall of the drive groove 321 (i.e., the side wall of the drive groove 321 near the rear) abuts against the rear wall of the switch 210 (i.e., the side wall of the switch 210 near the rear). When the operator's finger slides the clutch button 300 backward, the front wall of the drive groove 321 (i.e., the side wall of the drive groove 321 near the front) gradually approaches the front wall of the switch 210 (i.e., the side wall of the switch 210 near the front) until the front wall of the switch 210 abuts against the front wall of the drive groove 321. This part of the travel is the internal travel of the clutch button 300. After the front wall of the drive groove 321 abuts against the front wall of the switch 210, when the clutch button 300 continues to move backward, the front wall of the drive groove 321 applies a backward force to the front wall of the switch 210, driving the switch 210 to move backward until the switch 210 reaches its end of travel. This part of the travel is the travel of the switch 210. By adding a drive slot 321, the operator needs to slide the clutch button 300 a certain distance (i.e., the internal travel of the clutch button 300) to switch the on and off positions of the power switch 210, which improves the feel of sliding the clutch button 300 and reduces the possibility of accidental touch.

[0049] In some embodiments, the length of the drive groove 321 in the front-to-back direction can be 2mm-4mm. In some embodiments, the length of the drive groove 321 in the front-to-back direction can be 0mm-2mm. In some embodiments, the length of the drive groove 321 in the front-to-back direction can be 2mm. The length of the drive groove 321 in the front-to-back direction is the sum of the internal travel of the clutch button 300 and the length of the on / off switch 210 in the front-to-back direction.

[0050] In some embodiments, the length of the switch 210 in the front-to-back direction can be 0mm-2mm. In some embodiments, the length of the switch 210 in the front-to-back direction can be 2mm.

[0051] In some embodiments, the switch assembly 200 may further include a switch base 220 and a circuit board 230, with a switch 210 slidably disposed on the switch base 220, and the switch 210 connected to the circuit board 230 via different leads 240 in the open and closed positions.

[0052] The switch base 220 provides support for the sliding of the switch key 210. The switch base 220 is provided with a slide groove, slide rail and other structures, so that the switch key 210 can slide on the switch base 220.

[0053] In some embodiments, the switch holder 220 and the base 100 may be integrally formed. In some embodiments, the switch holder 220 may be fixedly connected to the base 100.

[0054] By sliding the switch 210 back and forth, the switch 210 can be switched between the on and off positions, thereby switching different leads 240 and causing the circuit board 230 to switch between a closed circuit and an open circuit. When the switch 210 is in the on position, the corresponding lead 240 can make the circuit board 230 open; when the switch 210 is in the off position, the corresponding lead 240 can make the circuit board 230 open.

[0055] In some embodiments, the switch base 220 and circuit board 230 in the switch assembly 200 can be fixed in the first groove 110 of the base 100.

[0056] In some embodiments, the switch 210 in the switch assembly 200 can slide in the second groove 120 of the base 100. The length of the second groove 120 in the front-back direction shown in the figure is greater than or equal to the travel length of the switch 210, so as to allow sufficient distance for the switch 210 to slide back and forth.

[0057] In some embodiments, lead 240 may include power lines and / or signal lines, and in some embodiments, lead 240 may also include metal pins.

[0058] By providing a drive groove 321 on the drive unit 320, the total travel of the operator sliding the clutch button 300 is increased while maintaining the small size of the operating handle. This improves the feel of sliding the clutch button 300 and reduces the possibility of accidental activation. The switch assembly 200 can use existing commercially available switches. By adopting the clutch button 300, the travel of the switch can be effectively increased without modifying the structure of the existing switch itself, saving time, financial resources, and manpower costs associated with customizing the switch.

[0059] Figure 3 This is the second schematic diagram of the operating handle shown in some embodiments of this specification. Figure 4This is a second cross-sectional view of the operating handle shown in some embodiments of this specification. See also... Figure 3 and Figure 4 The following embodiments are for your understanding, but the accompanying drawings are only illustrative of some of the embodiments and do not constitute a limitation on the embodiments.

[0060] like Figure 3 and Figure 4 As shown, in some embodiments, a guide structure 400 may be provided on the base 100. The guide structure 400 is used to guide the sliding of the operation part 310 to improve the stability and smoothness of the sliding clutch button 300.

[0061] The guide structure 400 is disposed on the side of the base 100 where the clutch button 300 is located. In some embodiments, the clutch button 300 may be provided with a receiving groove 330 for accommodating the guide structure 400. The length of the receiving groove 330 matches the length of the guide structure 400. For example, the length of the receiving groove 330 is greater than or equal to the length of the guide structure 400.

[0062] In some embodiments, the number of guide structures 400 corresponds to the number of clutch buttons 300. In some embodiments, when there are two clutch buttons 300, symmetrically arranged on both radial sides of the base 100, there are also two guide structures 400, symmetrically arranged on both radial sides of the base 100. That is, two guide structures 400 are arranged in a one-to-one correspondence with two clutch buttons 300.

[0063] The guide structure 400 can take various forms. In some embodiments, the guide structure 400 can be a limiting groove structure. The operating part 310 is disposed within the limiting groove structure and slides under the guidance of the limiting groove structure. In some embodiments, the guide structure 400 can also be a guide rail structure. The operating part 310 can slide under the guidance of the guide rail structure.

[0064] In some embodiments, the guide structure 400 may include a guide post 410 and a guide cylinder 420, with the guide cylinder 420 sleeved outside the guide post 410, the guide post 410 fixed to the operating part 310, and the guide cylinder 420 fixed to the base 100.

[0065] The guide post 410 can be used to move the operating part 310 in a fixed direction. The guide post 410 can be in various forms such as a columnar structure or a strip structure.

[0066] In some embodiments, the guide post 410 can be set in a forward and backward direction along the clutch button 300.

[0067] In some embodiments, both ends of the guide post 410 are interference-fitted with the clutch button 300 (e.g., the operating part 310). Due to the interference fit, there is no relative movement between the guide post 410 and the clutch button 300, and the guide post 410 and the clutch button 300 are tightly joined together. By setting both ends of the guide post 410 to be interference-fitted with the clutch button 300, disassembly, maintenance, and replacement operations can be facilitated.

[0068] In some embodiments, both ends of the guide post 410 may also be fixedly connected to the clutch button 300. The connection method between the guide post 410 and the clutch button 300 is merely illustrative and does not constitute a limitation on the implementation.

[0069] The guide cylinder 420 can be used to support the guide post 410 and limit the setting direction of the guide post 410. The guide cylinder 420 is fixedly connected to the guide post 410 and fixed to the base 100, so that the guide cylinder 420 can guide the guide post 410, thereby guiding the sliding of the clutch button.

[0070] The guide tube 420 can be sleeved on the guide post 410 near the end point to leave space for the installation of the elastic structure 322. See below for a description of the elastic structure 322.

[0071] The guide cylinder 420 can be fixed to the base 100 in various ways. In some embodiments, a fixing piece 421 may be provided on the side of the guide cylinder 420 facing the base 100. The fixing piece 421 extends into the interior of the base 100, and a fixing pin 422 extends from the front and / or back of the base 100 into the interior of the base 100, passing through the fixing piece 421, so that the guide post 410 is fixedly connected to the base 100. In some embodiments, the guide cylinder can also be fixed to the base 100 by welding, bonding, or other fastener connections, etc., which are not limited to the embodiments in this specification.

[0072] In some embodiments, each guide structure 400 may include at least one guide post 410 and guide cylinder 420, and the number of both is the same. Preferably, two guide posts 410 and two guide cylinders 420 may be provided in one clutch button 300, which can provide better guiding effect while reducing the volume of the guide structure 400.

[0073] In some embodiments, the guide post 410 and the guide cylinder 420 have smooth surfaces to reduce friction when the guide post 410 and the guide cylinder 420 move relative to each other, thereby improving the smoothness of sliding the clutch button 300.

[0074] By setting the guide post 410 and the guide cylinder 420, when the clutch button 300 is slidable, the guide post 410 slides in the guide cylinder 420 in the front-back direction, and the clutch button 300 can slide along the guiding direction of the guide post 410 and the guide cylinder 420, which improves the stability and smoothness of sliding the clutch button 300 and effectively prevents the clutch button 300 from detaching from the base 100 and the clutch button 300 from wobbling left and right.

[0075] In some embodiments, the guide post 412 can also be fixed to the operating part 310 in other ways. For example, the guide post 412 can be fixed to the operating part 310 by welding, bonding, fastener connection, etc. As another example, the operating part 310 has a through hole in the front-rear direction, one end of the through hole extending to the outside of the clutch button 300, and the other end extending to the receiving groove 330. One or both ends of the guide post 410 are fixed in the through hole, thereby fixing it to the operating part 310.

[0076] In some embodiments, the drive unit 320 may further include an elastic structure 322 disposed between the operation unit 310 and the base 100. When the operation unit 310 slides forward or backward, the elastic structure 322 is compressed.

[0077] In some embodiments, when the operating part 310 slides forward or backward, the elastic structure 322 is compressed and stores energy. When the operating part 310 slides in the opposite direction, the elastic structure 322 releases energy, and the operating part 310 is pushed back to its initial position. By setting the elastic structure 322, the operating part 310 can automatically reset, which is convenient for the operator to use. At the same time, it can provide force feedback to the operator during the sliding of the clutch button 300, making the operator's operating feel better.

[0078] In some embodiments, the guide structure 400 may further include a guide ring 430. The guide ring 430 is disposed around the guide post 410 and is fixed to the operating part 310. The elastic structure 322 includes a spring, which is sleeved on the outside of the guide post 410 and is located between the guide ring 430 and the guide cylinder 420.

[0079] The guide ring 430 can be used to adjust the force required for the operator to slide the clutch button 300, as well as the force required for the clutch button 300 to rebound. In some embodiments, the further back the guide ring 430 is positioned (i.e., the closer it is to the guide cylinder 420), the easier it is for the switch 210 to reset, and the greater the force required for the operator to slide the clutch button 300 backward. By setting the guide ring, the force required for the operator to slide the clutch button, as well as the force required for the clutch button to rebound, can be adjusted.

[0080] The spring can take many forms, such as a helical spring, a gas spring, an elastic rubber spring, or a coil spring, and the embodiments in this specification are not limited to these.

[0081] In some embodiments, one end of the spring is in close contact with the guide ring 430, and the other end is in close contact with the guide cylinder 420. In some embodiments, the guide ring 430 is fixed to the guide post 410 at the end away from the guide cylinder 420. In the initial state, the spring is in a compressed state or a relaxed state, at which time the guide cylinder 420 is located at the rear end of the guide post 410. When the operator slides the clutch button 300 backward, the operating part 310 moves backward relative to the base 100, and the spring is compressed. When the operator releases the clutch button 300, the spring releases energy and pushes the guide ring 430 forward. The guide ring 430 pushes the clutch button 300 forward, and the clutch button 300 returns to its initial position.

[0082] The initial compression of the spring is positively correlated with the rearward force exerted by the spring on the clutch button 300. The initial compression of the spring is adjustable. In some embodiments, the initial compression of the spring can be changed by altering the position of the guide ring 430 on the guide post 410. Since the clutch button 300 needs to reset together with the on / off switch 210 upon reset, changing the position of the guide ring 430 on the guide post 410 alters the magnitude of the elastic restoring force (e.g., the rearward force illustrated) exerted by the spring on the clutch button 300, making this force greater than the force required to reset the on / off switch 210.

[0083] In some embodiments, the initial compression of the spring can also be changed by adjusting the number of guide rings 430 on each guide post 410.

[0084] By incorporating a spring, the clutch button 300 can automatically reset, making operation more convenient. At the same time, the spring can also provide force feedback to the operator, resulting in a better operating feel.

[0085] You can refer to this. Figures 1-4 Understand the exemplary sequence of actions of a control handle provided in the following embodiments. In some embodiments, the exemplary sequence of actions of a control handle provided in this specification is shown in steps S1-S3 below.

[0086] S1. The operator slides the clutch button 300 (or the operating part 310) from front to back. At this time, the clutch button 300 pushes the guide ring 430 backward, and the guide ring 430 pushes and compresses the elastic structure 322 backward. At the same time, it continues to move from front to back along the direction of the guide post 410 until the front wall of the drive groove 321 abuts against the front wall of the switch 210. The displacement generated by the clutch button 300 during this period is the aforementioned internal stroke.

[0087] In the initial state, the elastic structure 322 is in a compressed state, and the elastic structure 322 applies a forward force to the clutch button 300. The rear wall of the drive groove 321 abuts against the rear wall of the switch 210, so that the switch 210 is in the open position. At this time, the switch assembly 200 is in a closed circuit.

[0088] S2. Continue to slide the clutch button 300 backward. The front wall of the drive groove 321 pushes the switch 210 backward until the switch 210 is in the closed position. At this time, the switch assembly 200 is open, and the elastic structure 322 is further compressed. The displacement generated by the clutch button 300 during this period is the stroke of the switch 210.

[0089] S3. When the operator releases the clutch button 300, the compressed elastic structure 322 releases energy, pushing the clutch button 300 forward, so that the switch 210 returns to the initial position or a certain distance behind the initial position.

[0090] Figure 5 This is the third schematic diagram of the operating handle shown in some embodiments of this specification. (See also...) Figure 5 The following embodiments are for your understanding, but the accompanying drawings are only illustrative of some of the embodiments and do not constitute a limitation on the embodiments.

[0091] See Figure 5 In some embodiments, the operating handle further includes a first clamp 510 and a second clamp 520, which are rotatably connected to the base 100.

[0092] The first clip 510 and the second clip 520 are structures that provide contact for the operator's fingers. The first clip 510 and the second clip 520 can take various forms; for example, they can be elongated, sheet-like structures. The dimensions of the first clip 510 and the second clip 520 can be matched to the size of the fingers. For example, the width of the first clip 510 and the second clip 520 can be set to exceed the width of a typical finger, and the length of the first clip 510 and the second clip 520 can be set to exceed the length of one or two finger joints.

[0093] In some embodiments, the first clip 510 and the second clip 520 are symmetrically arranged on both sides of the base 100 in the radial direction (e.g., the front-to-back direction shown in the figure).

[0094] In some embodiments, one end of the first clip 510 and the second clip 520 (this end is called the fixed end) can be rotatably connected to one end of the base 100, and the other end of the first clip 510 and the second clip 520 (this end is called the unfolding end) is movable, and can be unfolded relative to the base 100 at a certain angle or fit against the base 100.

[0095] In some embodiments, the first clamping piece 510 and the second clamping piece 520 can be connected to one end of the base via connectors to achieve a rotatable connection. The connectors can take various forms. For example, the connector can be a structure consisting of a groove and a connecting rod. The groove connects the clamping piece, and the groove is connected to the base 1 via the connecting rod, allowing the clamping piece to fold and rotate relative to the base 100. Another example is a structure consisting of a pin and a screw.

[0096] In some embodiments, the operator can control the opening and closing of the first clip 510 and the second clip 520 with two fingers respectively. Here, opening refers to the process in which the unfolded end of the clip gradually unfolds to a certain angle with the base 100, and closing refers to the process in which the unfolded end of the clip gradually closes to the base 100.

[0097] In some embodiments, the opening and closing ranges of the first clip 510 and the second clip 520 may be the same. For example, both may be 0° to 30°. Or, for example, both may be 0° to 15°. The opening and closing ranges of the clips can be set according to actual needs, and this specification does not limit this.

[0098] In some embodiments, the opening and closing ranges of the first clip 510 and the second clip 520 may be different. For example, the opening and closing range of the clip used to place the thumb may be smaller than the opening and closing range of the clip used to place the index finger or middle finger.

[0099] By incorporating a clip, the operator's fingers can easily control the opening and closing of the clip, preventing accidents caused by accidental contact. In ergonomics, the range of motion of the thumb is smaller than that of the index or middle finger. This design makes the clip's opening and closing control more ergonomic, effectively improving the operator's experience.

[0100] In some embodiments, the first clip 510 and the second clip 520 are each provided with one of a magnetic element and a magnetic induction device, and the base 100 is provided with one of a magnetic element and a magnetic induction device; the first clip 510 is provided with a first in-situ sensing device, and the second clip 520 is provided with a second in-situ sensing device; both the first in-situ sensing device and the second in-situ sensing device are signal connected to the magnetic induction device; wherein, the first in-situ sensing device and the second in-situ sensing device are respectively used to sense whether the operator's finger is in the working position of the first clip 510 and the second clip 520; in response to the finger being in the working position of at least one of the first clip 510 and the second clip 520, the magnetic induction device senses the magnetic field strength of the magnetic element.

[0101] Magnetic components refer to components that possess magnetism. In some embodiments, the material of a magnetic component may include permanent magnet materials, electromagnetic materials, etc. For example, the material of a magnetic component may be one or any combination of strong neodymium magnets, ferrite magnets, AlNiCo magnets, and IronChromiumCo magnets.

[0102] Magnetic induction devices are used to sense the magnetic field strength of magnetic components. In some embodiments, magnetic induction devices may include magnetic field sensors, Hall effect sensors, semiconductor magnetoresistive sensors, magnetoelectric induction sensors, etc.

[0103] It should be noted that when the base 100 is provided with magnetic elements, both the first clamp 510 and the second clamp 520 are provided with magnetic induction devices; when the base 100 is provided with magnetic induction devices, both the first clamp 510 and the second clamp 520 are provided with magnetic elements.

[0104] In some embodiments, the magnetic element or magnetic induction device may be disposed on the base 100 near the clamping piece. For example, the magnetic element or magnetic induction device may be disposed at or near the contact point between the unfolded end of the clamping piece and the base 100. In some embodiments, the magnetic element or magnetic induction device may also be disposed at other locations on the base 100, such as at a certain distance from the clamping piece, etc., which may be disposed according to actual needs, and this specification does not limit this.

[0105] In some embodiments, two magnetic elements or two magnetic induction devices may be disposed on the base 100. For example, the magnetic elements or magnetic induction devices may be disposed at or near the contact position between the unfolded end of the first clip 510 and the base 100, and may be disposed at or near the contact position between the unfolded end of the second clip 520 and the base 100.

[0106] In some embodiments, the magnetic element or magnetic induction device may be disposed on the side of the clamp near the unfolded end. For example, the magnetic element or magnetic induction device may be disposed at the edge of the unfolded end of the clamp. In some embodiments, the magnetic element or magnetic induction device may also be disposed at other locations on the clamp, such as the middle of the clamp, etc., which may be disposed according to actual needs, and this specification does not limit this.

[0107] In some embodiments, when the unfolded ends of the first clip 510 and the second clip 520 are unfolded relative to the base 100, the change in distance between the magnetic element and the magnetic induction device can cause a change in the magnetic field strength sensed by the magnetic induction device.

[0108] In some embodiments, the opening and closing angles of the first clip 510 and the second clip 520 can be detected by the magnetic field strength of the magnetic element sensed by the magnetic induction device. For example, when the first clip 510 and the second clip 520 are in a fully extended state, the distance between the magnetic induction device and the magnetic element is the farthest, and the magnetic field strength is the weakest. As the opening angle of the first clip 510 and the second clip 520 gradually closes, the distance between the magnetic induction device and the magnetic element becomes closer and closer, and the magnetic field strength becomes stronger and stronger. By analyzing the different magnetic field strengths at different distances, the correspondence between different distances and different magnetic field strengths can be obtained, and thus, when a certain magnitude of magnetic strength is detected, the distance between the magnetic induction device and the magnetic element can be queried accordingly.

[0109] In some embodiments, a first in-situ sensing device 530 is provided on the first clip 510, and a second in-situ sensing device 540 is provided on the second clip 520. In some embodiments, an insulating layer is provided between the first clip 510 and the first in-situ sensing device 530, and an insulating layer is provided between the second clip 520 and the second in-situ sensing device 540.

[0110] The first presence sensing device 530 and the second presence sensing device 540 are used to sense whether the operator's fingers are in position. In some embodiments, the first presence sensing device 530 and the second presence sensing device 540 are respectively used to sense whether the operator's fingers are in the working position of the first clip 510 and the second clip 520. The working position refers to the contact or pressing position of the operator's fingers on the first clip 510 and the second clip 520.

[0111] In some embodiments, the first presence sensing device 530 and the second presence sensing device 540 may be one or a combination of an infrared sensor, a thermal sensor, etc. When an operator's finger comes into contact with the first presence sensing device 530 or the second presence sensing device 540, the first presence sensing device 530 and the second presence sensing device 540 can sense that the operator's finger is in position, i.e., in the working position.

[0112] In some embodiments, the first in-situ sensing device 530 and the second in-situ sensing device 540 can be force sensors. When an operator's finger presses the first in-situ sensing device 530 or the second in-situ sensing device 540, and the pressure intensity meets a preset force threshold, the first in-situ sensing device 530 and the second in-situ sensing device 540 can sense that the operator's finger is in position, i.e., in the working position. The preset force threshold can be a system default value, an empirical value, a manually preset value, or any combination thereof, and can be set according to actual needs; this specification does not impose any restrictions on it.

[0113] By incorporating force-sensing devices, the system can detect when the operator's finger is in position when pressing the first and second in-situ sensors 530 and 540 with a pressure that meets a preset force threshold. This effectively prevents erroneous indications that the operator's finger is in position due to accidental touches, further enhancing device safety. Compared to other types of sensors, force-sensing devices offer higher accuracy in detecting whether the operator's finger is in the working position of the first and second clips. In the application scenario of this application, the force-sensing sensor is less prone to false triggering and can accurately sense the operator's working status based on the pressure applied by the finger.

[0114] In some embodiments, both the first in-situ sensing device 530 and the second in-situ sensing device 540 are signal-connected to the magnetic sensing device. In response to an operator's finger being in the working position of at least one of the first clip 510 and the second clip 520, the magnetic sensing device can sense the magnetic field strength of the magnetic element, at which point the control link is established normally. When the operator's finger is not in the working position of the first clip 510 or the second clip 520, the magnetic sensing device cannot sense the magnetic field strength of the magnetic element, at which point the control link is disconnected, thereby ensuring the safety of the clip opening and closing control and preventing accidents.

[0115] In some embodiments, the operating arm may include a controller. Both the first in-situ sensing device 530 and the second in-situ sensing device 540 are signal-connected to the controller. After receiving the sensing signals from the first in-situ sensing device 530 and the second in-situ sensing device 540, the controller then controls the magnetic sensing device to begin operation.

[0116] By setting up magnetic elements and magnetic induction devices, the opening and closing process of the clamp can be monitored and controlled based on the changes in magnetic field strength sensed by the magnetic induction devices, effectively ensuring the precise control of the slave actuator by the master end's operating handle. By setting up a position sensor on the clamp, it is possible to monitor whether the operator is in a working state. If the operator is in a working state, the master and slave control will establish a normal connection. If the operator is not detected to be in a working state, the master and slave control will disconnect, thus preventing safety accidents caused by accidental touch.

[0117] In another aspect, embodiments of this specification also provide a surgical robot, including the operating handle described in any of the above-described technical solutions. By using the operating handle of any of the above-described technical solutions, the surgical robot offers a better operating feel and is more convenient to use.

[0118] The beneficial effects that the operating handle in the embodiments of this specification may bring include, but are not limited to: (1) By setting a drive groove on the drive part, the total stroke of the operator sliding the clutch button is increased while ensuring the small size of the operating handle, improving the feel of sliding the clutch button and reducing the possibility of accidental touch; (2) The switch assembly adopts the existing finished switch on the market. By setting the clutch button, the stroke of the switch can be effectively increased without improving the structure of the finished switch itself, saving time, financial resources, manpower and other costs for customizing the switch; (3) It has the advantages of compact structure, good smoothness and high reliability.

[0119] It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects may be any one or a combination of the above, or any other possible beneficial effects.

[0120] This specification uses specific terms to describe embodiments thereof. Terms such as "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of this specification. Therefore, it should be emphasized and noted that references to "an embodiment," "one embodiment," or "an alternative embodiment" in different locations throughout this specification do not necessarily refer to the same embodiment. Furthermore, certain features, structures, or characteristics in one or more embodiments of this specification can be appropriately combined.

[0121] Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments described herein. Other variations may also fall within the scope of this specification. Therefore, alternative configurations of the embodiments described herein are intended to be illustrative rather than limiting, and are considered consistent with the teachings of this specification. Accordingly, the embodiments described herein are not limited to those explicitly introduced and described herein.

Claims

1. An operating handle, characterized in that, include: Base; A switch assembly is disposed on the base, the switch assembly including a switch key having an open position and a closed position; A clutch button is disposed on the base. The clutch button includes an operating part and a driving part connected to the operating part. The operating part can be operably slidable on the base in a front-back direction to drive the driving part to slide on the base. The driving part is provided with a driving groove extending in the front-back direction, and the switch is disposed in the driving groove. During the forward and backward sliding of the operating part, the rear and front walls of the drive groove respectively push the switch, causing the switch to switch its total travel between the open and closed positions. This total travel includes the internal travel of the clutch button and the switching travel of the switch. The internal travel includes the displacement of the clutch button when the clutch button is pushed from the starting position to the point where the rear wall and front wall of the drive groove respectively contact the on / off switch, and when the clutch button moves independently while the on / off switch has not yet been pushed. The switch travel includes the displacement of the clutch button and the switch together when the rear wall and front wall of the drive groove respectively contact the switch key, from the time the rear wall and front wall of the drive groove respectively push the switch key to the open position and the closed position.

2. The operating handle according to claim 1, characterized in that, The drive unit further includes an elastic structure disposed between the operating unit and the base; when the operating unit slides forward or backward, the elastic structure is compressed.

3. An operating handle according to claim 2, characterized in that, The base is provided with a guide structure, which is used to guide the sliding of the operating part.

4. An operating handle according to claim 3, characterized in that, The guiding structure includes a guide post and a guide cylinder. The guide cylinder is sleeved outside the guide post. The guide post is fixed to the operating part, and the guide cylinder is fixed to the base.

5. An operating handle according to claim 4, characterized in that, The guiding structure includes a guide ring, which is disposed around the guide post and is fixed to the operating part; The elastic structure includes a spring, which is sleeved outside the guide post and located between the guide ring and the guide cylinder.

6. An operating handle according to claim 1, characterized in that, The switch assembly includes a switch base and a circuit board; the switch key is slidably disposed on the switch base; the switch key is connected to the circuit board via different leads in the open and closed positions.

7. An operating handle according to claim 1, characterized in that, The length of the drive groove in the front-to-back direction is 0mm-4mm.

8. An operating handle according to claim 1, characterized in that, It also includes a first clamp and a second clamp; the first clamp and the second clamp are respectively rotatably connected to the base.

9. An operating handle according to claim 8, characterized in that, Both the first clip and the second clip are provided with one of a magnetic element and a magnetic induction device, and the base is provided with one of the magnetic element and the magnetic induction device; the first clip is provided with a first in-situ sensing device, and the second clip is provided with a second in-situ sensing device; both the first in-situ sensing device and the second in-situ sensing device are signal connected to the magnetic induction device. The first in-situ sensing device and the second in-situ sensing device are respectively used to sense whether the operator's finger is in the working position of the first clip and the second clip; in response to the finger being in the working position of at least one of the first clip and the second clip, the magnetic sensing device senses the magnetic field strength of the magnetic element.

10. A surgical robot, characterized in that, Includes the operating handle as described in any one of claims 1-9.

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