Master manipulator device for a robot and robot

Abstract

The application provides a master hand control device. The master hand control device comprises an arm assembly having at least one arm joint mechanism; a wrist assembly movably connected to the arm assembly, the wrist assembly allowing an operator to perform corresponding operations, wherein the wrist assembly comprises at least one wrist joint mechanism; and a support assembly for providing support to at least one element of the arm assembly and the wrist assembly.

Description

[0001] Cross-references

[0002] This application claims priority to Chinese application No. 202110218291.1, filed on February 26, 2021, and Chinese application No. 202120920702.7, filed on April 29, 2021, the contents of which are incorporated herein by reference. Technical Field

[0003] This specification relates to the field of medical device technology, and in particular to a master hand control device for robots and a robot. Background Technology

[0004] Surgical robots assist surgeons in performing more precise operations during surgical procedures. In robotic surgery, surgeons attach end effectors such as probes and surgical instruments (e.g., scalpels, sutures) to the robot's slave arm as needed for the current surgical phase. The surgeon then operates the master control unit, and the slave arm performs the corresponding operations under its control. During robotic surgery, surgeons operate the master control unit for extended periods, and its operation directly affects the effectiveness of the end effectors. Therefore, a master control unit and robot capable of controlling end effectors are needed to improve operational precision and efficiency. Summary of the Invention

[0005] One aspect of this application provides a master hand control device. The master hand control device includes an arm assembly having at least one arm joint mechanism; a wrist assembly movably connected to the arm assembly, the wrist assembly allowing an operator to perform corresponding operations, wherein the wrist assembly includes at least one wrist joint mechanism; and a support assembly for providing support for at least one element of the arm assembly and the wrist assembly.

[0006] In some embodiments, the at least one arm joint mechanism includes a first joint mechanism, which includes a first power member, a first drive member, and a first follower member. The first joint mechanism corresponds to a first pivot, which is parallel to the direction of gravity of the wrist assembly.

[0007] In some embodiments, the at least one arm joint mechanism includes a connecting assembly for connecting the arm assembly and the wrist assembly, wherein some elements in the at least one arm joint mechanism are sequentially connected in series to form at least a portion of one or more first quadrilateral linkage mechanisms, and the connecting assembly and some elements in the arm assembly are sequentially connected in series to form at least a portion of a second quadrilateral linkage mechanism. The elements in the one or more first quadrilateral linkage mechanisms and the elements in the second quadrilateral linkage mechanism are linked to rotate synchronously about the rotation axis of the at least one joint mechanism, the rotation axis being perpendicular to the direction of gravity of the wrist assembly.

[0008] In some embodiments, the at least one arm joint mechanism includes a second joint mechanism, the first rotation axis of which is perpendicular to the direction of gravity of the wrist assembly. The second joint mechanism includes a second power member, a second drive member, and three second driven members connected in series. The line connecting the three second driven members approximates a parallelogram to form at least a portion of one or more first quadrilateral linkage mechanisms.

[0009] In some embodiments, the second power member is mounted on a first base of the support assembly for driving the second drive member to rotate, and one of the three second driven members is movably connected to the base, wherein two non-adjacent second driven members are substantially parallel, and the second drive member is used to drive the three second driven members to rotate about the second axis.

[0010] In some embodiments, the at least one arm joint mechanism further includes a third joint mechanism corresponding to a third pivot, the third pivot being perpendicular to the direction of gravity of the wrist assembly.

[0011] In some embodiments, the third joint mechanism includes a third power member, a third driving member, and three third driven members connected in series, wherein the line connecting the three third driven members in series approximates a parallelogram.

[0012] In some embodiments, the third power member is mounted on the first base for driving the third drive member to rotate, and one of the at least three third followers is movably connected to the first base, wherein two non-adjacent third followers are substantially parallel, and the third drive member is used to drive the three third followers to rotate about the third axis.

[0013] In some embodiments, the connecting assembly includes a first connector and a second connector, wherein the first connector, the second connector, one of the three second followers, and one of the three third followers are connected in series in the second quadrilateral linkage mechanism.

[0014] In some embodiments, the second connector includes a first portion and a second portion, the first portion being parallel to the direction of gravity of the wrist assembly and connected to the arm assembly, and the second portion being perpendicular to the direction of gravity of the wrist assembly and connected to the wrist assembly.

[0015] In some embodiments, the multiple wrist joint mechanisms in the wrist assembly correspond to multiple pivots, which intersect at a point.

[0016] In some embodiments, the plurality of wrist joint mechanisms include a fourth joint mechanism corresponding to a fourth pivot, the fourth pivot being parallel to the direction of gravity of the wrist assembly, and the fourth joint mechanism being connected to the connecting assembly.

[0017] In some embodiments, the plurality of wrist joint mechanisms include a fifth joint mechanism corresponding to a fifth pivot, the fifth pivot being perpendicular to the direction of gravity of the wrist assembly, and the fifth joint mechanism including a balancing component for balancing the joint gravitational torque at the fifth pivot caused by the weight of the wrist assembly.

[0018] In some embodiments, a braking assembly is further included, the braking assembly including a braking controller and a brake, wherein the at least one wrist joint mechanism includes a fourth joint mechanism connected to the arm assembly, and the fourth joint mechanism has a fourth axis of rotation parallel to the direction of gravity of the wrist assembly.

[0019] The brake is connected to the fourth rotating shaft, and the brake controller is used to control the operation of the fourth joint mechanism through the brake.

[0020] In some embodiments, the operating state of the brake includes an open state and a closed state, the open state corresponding to the locking state of the fourth joint mechanism, and the closed state corresponding to the releasing state of the fourth joint mechanism. The brake controller is configured to: generate and send a closing command to the brake in response to determining that the wrist assembly meets a first condition, the closing command being used to indicate that the brake is in the closed state.

[0021] In some embodiments, the brake controller is configured to generate and send a disconnect command to the brake in response to determining that the wrist assembly meets a second condition, the disconnect command indicating that the brake is in the disconnected state.

[0022] In some embodiments, the wrist assembly further includes a fifth joint mechanism, the fifth axis of rotation corresponding to the fifth joint mechanism being perpendicular to the direction of gravity of the wrist assembly, the fifth joint mechanism being connected to the fourth joint mechanism via a second base (link 23) in the support assembly, the first condition including the second base being in a first region or a second region within the rotation range of the fourth axis.

[0023] In some embodiments, the wrist assembly further includes a sixth joint mechanism connected to the fifth joint mechanism, the sixth joint mechanism having a sixth pivot parallel to the fourth pivot, the first condition including: when the sixth pivot moves in a first direction, the second base is in the first region within the rotation range of the fourth pivot; or, when the sixth pivot moves in a second direction, the second base is in the second region within the rotation range of the fourth pivot.

[0024] In some embodiments, the wrist assembly further includes a sixth joint mechanism, wherein the sixth pivot axis corresponding to the sixth joint mechanism is parallel to the gravity direction of the wrist assembly, the first condition includes that the distance between the sixth pivot axis and the first limit or the second limit is less than a first threshold, the second condition includes that the distance between the sixth pivot axis and the first limit or the second limit is greater than a second threshold, and the second threshold is greater than or equal to the first threshold.

[0025] In some embodiments, the first condition includes the main hand control device being in an unusual position.

[0026] In some embodiments, it further includes: one or more balancing components, wherein each of the one or more balancing components is used to balance the torque of the self-weight of the arm assembly and / or the wrist assembly relative to a rotation axis of the arm assembly or a rotation axis of the wrist assembly.

[0027] In some embodiments, one of the one or more balancing components includes an elastic element, one end of which is connected to an arm joint mechanism or a wrist joint mechanism, and the angle between the torque exerted by the elastic element on the axis of rotation of the arm joint mechanism or the wrist joint mechanism and the direction of the gravitational torque exerted by the weight of the wrist assembly and / or the arm assembly on the axis of rotation is greater than 90 degrees.

[0028] In some embodiments, the balancing assembly further includes a rope and a steering wheel, the elastic element being connected to the arm joint mechanism or wrist joint mechanism via the rope, one end of the rope being connected to the elastic element, and the other end of the rope being connected to the arm joint mechanism or wrist joint mechanism via the steering wheel, such that the rope forms an angle with the axial direction of the elastic element.

[0029] In some embodiments, one of the at least one arm joint mechanisms includes a power member, a drive member, and a follower member. The follower member is used to rotate about the axis of rotation of the arm joint mechanism. The power member and / or the drive member are disposed on both sides of the axis of rotation with respect to the wrist assembly. The angle between the gravitational torque formed by the power member and / or the drive member about the axis of rotation and the gravitational torque formed by the weight of the wrist assembly and / or the arm assembly about the axis of rotation is greater than 90 degrees.

[0030] In some embodiments, one of the one or more arm joint mechanisms includes a follower, the follower including a plurality of links connected in series to form a parallelogram linkage mechanism, one of the links including an extension end relative to the parallelogram linkage mechanism, the pivot of the arm joint mechanism being disposed at the extension end, and at least a portion of one of the one or more balancing components being disposed at the extension end.

[0031] In some embodiments, the balancing component is connected to the pivot or to the parallelogram mechanism.

[0032] In some embodiments, the balancing assembly includes an arm balancing assembly, the arm balancing assembly including an elastic element, the two ends of the elastic element being connected to the extension end of the follower and the support base of the joint mechanism, respectively.

[0033] In some embodiments, the arm balancing assembly further includes a rope and a steering wheel. The steering wheel is disposed on the support base of the arm joint mechanism. One end of the elastic element is connected to the rope, and the other end of the elastic element is connected to the support base of the arm joint mechanism. The other end of the rope is connected to the arm joint mechanism. The rope passes around the steering wheel and changes its extension direction, such that the rope forms an angle with the axial direction of the elastic element.

[0034] In some embodiments, the arm joint mechanism is driven by a drive member that is tractively connected to the extension end, and the gravitational torque of the drive member relative to the axis of rotation of the arm joint mechanism at least partially balances the gravitational torque of the wrist assembly and / or the arm assembly relative to the axis of rotation of the arm joint mechanism; the end of the rope away from the elastic element is connected to the output shaft of the drive member.

[0035] In some embodiments, the stiffness coefficient of the elastic element and the extension length of the parallelogram link are set to keep the potential energy constant during the operation of the master hand control device.

[0036] In some embodiments, the balancing mechanism assembly includes a wrist balancing component disposed on the wrist joint mechanism. The wrist balancing component includes an elastic element, the two ends of which are respectively connected to the wrist joint mechanism and the support base of the wrist joint mechanism. The elastic force of the elastic element at least partially balances the gravitational torque of the wrist assembly on the corresponding axis of rotation of the wrist joint mechanism.

[0037] In some embodiments, the wrist balance assembly further includes a wheel and a rope, the wheel rotating synchronously with the pivot of the wrist joint mechanism, one end of the elastic element being connected to the rope, the other end of the elastic element being connected to the support base of the wrist joint mechanism, and the other end of the rope being wound around the wheel.

[0038] In some embodiments, the wheel is a cam, and when the wrist joint mechanism rotates to an arbitrary angle with the direction of gravity, the angle between the gravitational torque of the wrist assembly on the axis of rotation of the wrist joint mechanism and the torque direction formed by the cam and the elastic element is greater than 90 degrees.

[0039] Another aspect of this application provides a clamping device. The clamping device includes a base, a clamping assembly rotatably disposed on the base and configured to open and close within a working range, and a feedback assembly connected to the base and the clamping assembly, the feedback assembly being used to feed back the force state of the end effector to the clamping assembly.

[0040] Another aspect of this application provides a master hand control device, which includes the clamping device described above.

[0041] One embodiment of this specification provides a robot, including a robot body, an end effector, and a master control device as described above; the end effector is connected to the robot body, the robot body is electrically connected to a communication device, and the master control device is electrically connected to the communication device and the end effector. Attached Figure Description

[0042] 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:

[0043] Figure 1These are application scenario diagrams of the robot shown in some embodiments of this specification;

[0044] Figure 2 This is a schematic diagram of the main hand control device according to some embodiments of this specification;

[0045] Figure 3-8 These are exemplary structural schematic diagrams of a master hand control device according to some embodiments of this specification;

[0046] Figure 9A This is a schematic diagram of the wrist assembly structure of the master hand control device according to some embodiments of this specification;

[0047] Figure 9B This is a schematic diagram of the rotation range of the wrist assembly of the master hand control device according to some embodiments of this specification;

[0048] Figure 10 This is a block diagram of the control components of a master hand control device according to some embodiments of this specification;

[0049] Figure 11-16 This is another exemplary structural schematic diagram of the master hand control device shown in some embodiments of this specification;

[0050] Figure 17-18 This is based on some embodiments shown in this specification. Figure 11-16 A schematic diagram of the balance component structure at the arm assembly of the main hand control device shown in the figure;

[0051] Figure 19 This is based on some embodiments shown in this specification. Figure 17-18 The schematic diagram of the balancing component shown is shown below;

[0052] Figure 20-21 This is based on some embodiments shown in this specification. Figure 11-16 Another exemplary structural schematic diagram of the balance component at the wrist assembly of the master hand control device shown in the diagram;

[0053] Figure 22 This is based on some embodiments shown in this specification. Figure 20-21 The schematic diagram of the balancing component shown is shown below;

[0054] Figure 23 This is another exemplary structural schematic diagram of the balance component at the wrist assembly of the master hand control device shown in some embodiments of this specification;

[0055] Figure 24 And 25 are embodiments shown in this specification. Figure 23 The schematic diagram of the balancing component shown is shown below;

[0056] Figure 26 This is a flowchart illustrating the working process of a gripping device in a robot according to some embodiments of this specification;

[0057] Figure 27-29 This is an exemplary structural schematic diagram of a clamping device according to some embodiments of this specification;

[0058] Figure 30 This is another exemplary structural schematic diagram of the clamping device shown in some embodiments of this specification;

[0059] Figures 31-33 This is another exemplary structural schematic diagram of the clamping device shown in some embodiments of this specification;

[0060] Figure 34 This is an exemplary structural schematic diagram of the wrist assembly of the clamping device shown in some embodiments of this specification;

[0061] Figure 35 These are exemplary structural schematic diagrams of a master hand control device according to some embodiments of this specification; and

[0062] Figure 36-40 This is another exemplary structural schematic diagram of the clamping device shown in some embodiments of this specification. Detailed Implementation

[0063] 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.

[0064] 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.

[0065] 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.

[0066] With the continuous advancement of technological research and product development in medical robotics, surgical robots have become a crucial field within the medical robotics community. Surgical robots are medical devices integrating clinical medicine, biomechanics, mechanics, computer science, microelectronics, and many other disciplines. Through a clear imaging system and flexible robotic arms, surgical robots assist doctors in performing complex surgical procedures in a minimally invasive manner, completing intraoperative positioning, cutting, puncture, hemostasis, and suturing. Guided by CT imaging equipment, medical personnel can utilize surgical robots to assist in surgical treatment. However, performing surgery on the CT side exposes medical personnel to radiation for extended periods, posing a significant threat to their health. Therefore, a master-slave telescopic robot can be used to remotely control the robot through image guidance. Current robots often cannot accurately simulate the operational process of medical personnel and cannot provide feedback on the magnitude of force. The lack of force perception by medical personnel may increase the risk and uncertainty of surgery and affect surgical efficiency. Furthermore, current master-hand control devices include arm components and wrist components. The arm component provides positional freedom, and the wrist component provides postural freedom. However, changes in the position of the arm component affect the posture of the wrist end effector, thus impacting the operation of the end effector.

[0067] Figure 1 These are application scenario diagrams of surgical robot systems illustrated in some embodiments of this specification. For example... Figure 1 As shown, the robot system 100 may include a robot body 110, a control console 120, a communication device 130, and an end effector 140. The robot body 110 is connected to the end effector 140 (e.g., disposed at the end of the robotic arm of the robot body 110). The robot body 110 is electrically connected to the communication device 130, and the control console 120 is electrically connected to the communication device 130 and the end effector 140, thereby controlling the end effector 140 to perform synchronized operations. In some embodiments, the robot system 100 may include an imaging device, such as an endoscope.

[0068] The robot body 110 can provide support for the end effector 140 and / or the camera arm in the imaging device. For example, the end effector 140 can be mounted on the robot body 110 to perform corresponding operations (e.g., puncture, suturing, etc.). In some embodiments, the robot body 110 includes a robotic arm (also referred to as a slave robotic arm) capable of driving the end effector 140 mounted at the end of the slave robotic arm to adjust the movement and / or posture of the end-effectors. In some embodiments, the robot body 110 can be located within the scanning room (e.g., at the patient's location) during actual use. A control room is arranged adjacent to or at intervals from the scanning room. A console 120 is provided in the control room, through which the physician controls the robot body 110 and the end effector 140 in the scanning room, thereby completing master-slave teleoperated surgical operations. In some embodiments, the control room contains the operating table of the imaging device, and there is a concrete wall between it and the scanning room to shield against radiation.

[0069] The console 120 may include a master control device. An operator can manipulate the master control device to cause the end effector 140 to perform operations. For example, the operator can manipulate the master control device to control the robot body 110 to move the end effector 140 mounted at the end of the robotic arm to perform synchronized operations (e.g., puncture, suturing, etc.). The master control device may include a master manipulator (or master robotic arm) and a gripping device (also referred to as an end effector or gripping control device). The master manipulator can provide positional and / or orientational degrees of freedom for the gripping device. In some embodiments, the master manipulator may include an arm assembly, a wrist assembly, a balancing assembly, a braking assembly, etc. The arm assembly can provide positional degrees of freedom for the end gripping device. For example, the arm assembly includes at least one arm joint rotation mechanism (also referred to as an arm joint mechanism) (e.g., 2, 3, 4, etc.), each arm joint rotation mechanism providing one positional degree of freedom. The arm assembly can provide 2, 3, or 4 positional degrees of freedom. The wrist assembly can provide orientational degrees of freedom for the gripping device. For example, the wrist assembly includes at least one wrist joint rotation mechanism (also referred to as a wrist joint mechanism) (e.g., two, three, four, etc.), each wrist joint rotation mechanism providing one degree of posture freedom. A balancing component can be used to balance the torque of the arm assembly and / or wrist assembly relative to the axis of rotation of the arm assembly or the wrist assembly. The wrist assembly can provide two, three, or four degrees of posture freedom. The braking component includes a brake controller and a brake. The brake controller can brake the operation of at least one joint mechanism in the wrist assembly or arm assembly (e.g., locking or releasing). Further description of the master hand control device can be found in [reference needed]. Figure 2-25 A detailed description.

[0070] The gripping device is used by the operator to directly control the end effector 140 to perform corresponding operations, such as puncture and suturing. For example, the gripping device can send control signals to the robotic arm of the robot body 110 based on the operator's operation of the gripping device, and the control signals can control the end effector 140 to perform the corresponding operation. In some embodiments, the gripping device can be a hollow cylindrical structure for easy gripping. In some embodiments, the end effector gripping device can be adaptively designed according to the operating habits of medical personnel and the structure of the end effector 140 for ease of use. For example, the gripping device can be configured as a puncture needle assembly, surgical scissors assembly, or suture needle assembly according to different end effectors 140 (such as puncture needles, surgical scissors, suture needles, etc.), and its shape can be set to the shape of the corresponding functional component or other shapes that are convenient for operation, without limitation. For more details on the gripping device, please refer to [link to relevant documentation]. Figure 26-40 A detailed description.

[0071] In some embodiments, the master control device can be electrically connected to the communication device 130 and the end effector 140, with the communication device 130 electrically connected to the robot body 110. As an example only, the master control device can transmit the force received by the gripping device to the robot body 110 via the communication device 130, and the robot body 110 can control the end effector 140 to perform corresponding operations based on the force information. For another example, resistance information received by the end effector 140 can be transmitted to the robot body 110; the robot body 110 can then send corresponding force feedback information to the master control device 200 via the communication device 130 based on the resistance information, thereby achieving signal transmission. In some embodiments, the connection method between the communication device 130, the master control device 200, and the robot body 110 can include wired connection, wireless connection, or a combination of both. Wired connection can include: connection via cable, fiber optic cable, or telephone line, or any combination thereof. Wireless connection can include: connection via Bluetooth, Wi-Fi, WiMax, WLAN, ZigBee, mobile network (e.g., 3G, 4G, or 5G), or any combination thereof.

[0072] Figure 2 This is a schematic diagram of a master hand control device according to some embodiments of this specification. As shown in the figure, the master hand control device 200 includes an arm assembly 210, a wrist assembly 220, a balance assembly 230, a braking assembly 240, and a clamping device 250.

[0073] The arm assembly 210 has a mounting end and a connecting end, the mounting end being able to be fixedly connected to the support base (or base, i.e., the first base) of the master hand control device 200. The arm assembly 210 has at least one degree of freedom of movement (e.g., two, three, four, etc.). The arm assembly 210 includes at least one arm joint mechanism. For example, the arm assembly 210 may include a first joint mechanism, a second joint mechanism, and a third joint mechanism. The first joint mechanism corresponds to a first axis of rotation, which is parallel to the direction of gravity of the wrist assembly 220. The second joint mechanism corresponds to a second axis of rotation, which is perpendicular to the direction of gravity of the wrist assembly 220. The third joint mechanism corresponds to a third axis of rotation, which is perpendicular to the direction of gravity of the wrist assembly 220. The first, second, and third joint mechanisms are connected in series.

[0074] In some embodiments, the arm assembly 210 may include at least one of a second joint mechanism and a third joint mechanism.

[0075] In some embodiments, some elements of at least one arm joint mechanism are connected in series to form one or more first quadrilateral linkage mechanisms. For example, at least some elements of a second joint mechanism may be connected in series to form a first quadrilateral linkage mechanism (or a parallelogram linkage mechanism). As another example, at least some elements of a third joint mechanism may be connected in series to form a first quadrilateral linkage mechanism (or a parallelogram linkage mechanism).

[0076] In some embodiments, the master hand operating device 200 may include a connecting assembly for connecting the arm assembly 210 and the wrist assembly 220. The connecting assembly may be sequentially connected in series with certain elements in the arm assembly 210 (e.g., elements in the second joint mechanism and / or the third joint mechanism) to form a second quadrilateral linkage mechanism. In some embodiments, elements in one or more of the first quadrilateral linkage mechanisms and elements in the second quadrilateral mechanism are linked to rotate synchronously about or with an axis of rotation of at least one joint mechanism (e.g., a second axis of rotation), which is perpendicular to the direction of gravity of the wrist assembly. Further description of the first and second quadrilateral linkage mechanisms in the arm assembly 210 can be found in [reference needed]. Figure 3-8 See the detailed explanation in the document.

[0077] The wrist assembly 220 is movably mounted on the connecting end of the arm assembly 210. The wrist assembly 220 is mounted on the arm assembly 210 to facilitate operation by the operator according to actual working conditions. The wrist assembly 220 allows the operator to perform corresponding operations, such as rotation or clamping. The wrist assembly 220 has at least one degree of freedom of movement (e.g., 2, 3, 4, etc.). The wrist assembly 220 includes at least one wrist joint mechanism. For example, the wrist assembly 220 may include a fourth joint mechanism, a fifth joint mechanism, a sixth joint mechanism, and a seventh joint mechanism. The fourth joint mechanism corresponds to a fourth axis of rotation, which is parallel to the direction of gravity of the wrist assembly 220. The fifth joint mechanism corresponds to a fifth axis of rotation, which is perpendicular to the direction of gravity of the wrist assembly 220. The sixth joint mechanism corresponds to a sixth axis of rotation, which is parallel to the direction of gravity of the wrist assembly 220. The seventh joint mechanism corresponds to a seventh axis of rotation, which is perpendicular to the direction of gravity of the wrist assembly 220. The fourth, fifth, sixth, and seventh joint mechanisms are connected in series. The fourth joint mechanism is connected to the arm assembly 210. The seventh joint mechanism is connected to the clamping device 250.

[0078] In some embodiments, the wrist assembly 220 may include at least one of a fourth joint mechanism and a seventh joint mechanism.

[0079] The balancing assembly 230 includes an arm balancing assembly and / or a wrist balancing assembly. The arm balancing assembly and wrist balancing assembly are respectively disposed at the rotational joints (e.g., pivots) of the arm assembly 210 and the wrist assembly 200. During operation of the master hand control device 200, the balancing assembly 230 is used to balance the joint gravitational torque at the rotational joints (e.g., pivots) caused by the weight of the arm assembly 210 and / or the wrist assembly 220. As described herein, "balancing the joint gravitational torque caused by the weight of the arm assembly 210 or the wrist assembly 220" means providing a torque with an angle greater than 90 degrees to the direction of the gravitational torque of the arm assembly 210 or the wrist assembly 220 relative to a pivot to reduce the total torque at that pivot.

[0080] The balance component 230 is mounted on the arm component 210 and / or the wrist component 220, or between the arm component 210 and the wrist component 220, which can effectively balance the joint gravitational torque caused by the weight of the arm component 210 and / or the wrist component 220 at the rotation joint, thereby relieving or avoiding fatigue of doctors during long-term operation and improving surgical efficiency.

[0081] In some embodiments, the movement of the arm assembly 210 and / or wrist assembly 220 can be translation, rotation, or other types of motion. Correspondingly, the balance assembly 230 also adapts to the type of motion of the arm assembly 210 and / or wrist assembly 220. The various embodiments in this specification are described only using the rotation of the internal joints of the arm assembly 210 and the wrist assembly 220 as examples. It is understood that when the arm assembly 210 and / or wrist assembly 220 perform other types of motion, the balance assembly 230 can be reasonably modified based on the form in the following embodiments.

[0082] In some embodiments, the arm rotation joint of the arm assembly 210 is disposed between the mounting end and the connecting end. When the arm rotation joint rotates, it drives the connecting end and the wrist assembly 220 to rotate synchronously. The arm rotation joint has an arm pivot, and the axis of at least one arm pivot is perpendicular to the direction of gravity of the wrist assembly 220. As a result, the gravity of the wrist assembly 2200 will generate a certain gravitational torque on the arm pivot.

[0083] An arm balancing component is disposed on arm assembly 210. The arm balancing component includes an elastic element, the two ends of which are connected to an arm rotation joint (e.g., an arm pivot or a driven member) and a support base of the arm rotation joint, respectively. The elastic force of the elastic element on the arm pivot balances at least partially the gravitational torque of the wrist assembly 220 on the arm pivot. The elastic element has the advantages of simple structure, long lifespan, light weight, and stable elastic force, effectively balancing the gravitational torque of the wrist assembly 220 on the arm pivot without significantly increasing the structural complexity and overall weight of the master hand control device 200. It is understood that the balancing component 230 balances the gravity of the wrist assembly 220 through the elastic force of the elastic element. The elastic element may include springs, rubber, elastic cords, etc. The angle between the torque formed by the elastic element on the arm joint mechanism pivot and the gravitational torque formed by the gravity of the wrist assembly 220 and / or arm assembly 210 on that pivot is greater than 90 degrees; for example, it may be equal to 120 degrees, 150 degrees, or 180 degrees.

[0084] In some embodiments, the arm balancing assembly further includes a rope and a steering wheel. The steering wheel is disposed on the support base of the arm rotation joint. One end of an elastic element is connected to the rope, and the other end of the elastic element is connected to the support base of the arm rotation joint. The other end of the rope is connected to the arm rotation joint. The rope passes around the steering wheel and changes its extension direction, enabling it to adapt to more complex master hand control device 200 structures. Understandably, the rope can be a steel wire rope, cord, etc. The spring and steel wire rope together form a zero-free-length spring. When the spring is not under tension, the tension on the steel wire rope is also zero. The portion of the steel wire rope between the end furthest from the spring and the steering wheel can be considered as zero length (not under tension). When the spring is tensioned, the portion of the steel wire rope between the end furthest from the spring and the steering wheel can be considered as part of the spring length (understanding a certain tension).

[0085] The structure of the wrist balance component is similar to that of the arm balance component, and will not be described again here.

[0086] In some embodiments, the master hand control device 200 can balance the gravity of the wrist assembly 220 at each arm rotation joint and / or each wrist rotation joint perpendicular to the direction of gravity, thereby avoiding fatigue caused by the doctor having to overcome the gravity of the wrist assembly 220 with their own strength while operating the master hand control device 200.

[0087] In some embodiments, each arm rotation joint includes a rotating element and a power element (also referred to as a power element). In some embodiments, the rotating element may include a driving element (e.g., a drive wheel) and a driven element (e.g., a driven wheel). The driven element is rotatably disposed on the corresponding arm pivot, and the power element is drively connected to the rotating element, driving the rotating element to rotate around or with the corresponding arm pivot. The gravitational torque of at least one power element relative to the corresponding arm pivot at least partially balances the gravitational torque of the wrist assembly 220 relative to the corresponding arm pivot. For example, the power element and / or the driving element are disposed on both sides of the pivot with respect to the wrist assembly 220, and the angle between the gravitational torque of the power element and / or the driving element on the pivot and the gravitational torque of the wrist assembly and / or the arm assembly relative to the pivot is greater than 90 degrees, for example, it may be equal to 120 degrees, or equal to 150 degrees, or equal to 180 degrees. By reasonably arranging the position of the driving element, the gravity of the wrist assembly 220 can also be further balanced, thereby further improving the gravity balance effect of the master hand control device 200. For more details on the balancing component 230 and the gravitational torque balance, please refer to [link / reference]. Figure 11-25 A detailed description.

[0088] The braking assembly 240 may include a braking controller and a brake. In some embodiments, the braking assembly 240 may be used to control the operating state of the arm assembly 210 and / or the wrist assembly 220. In some embodiments, the brake may be located at any joint mechanism (e.g., at the pivot of the wrist joint mechanism or the arm joint mechanism). For example, the brake may be connected to a fourth pivot in the wrist assembly 220, and the braking controller may be used to control the operation of the fourth joint mechanism via the brake. The fourth joint mechanism is connected to the arm assembly 210, and the fourth pivot corresponding to the fourth joint mechanism is parallel to the direction of gravity of the wrist assembly 220. Further description of the braking assembly 240 can be found in [reference needed]. Figure 9A-10 A detailed description.

[0089] The clamping device 250 includes a clamping assembly and a feedback assembly, which may include a transmission component and a power component. The clamping assembly can open and close within its working range. The feedback assembly is used to feed back the force state of the distal instrument to the clamping assembly 250. In some embodiments, the clamping assembly 250 can send control signals to the robotic arm via the power component to control the operation of the end effector. Further description of the clamping device 250 can be found in [reference needed]. Figure 26-40 A detailed description.

[0090] The above description is merely illustrative. Obviously, for those skilled in the art, the detailed disclosure above is only an example and does not constitute a limitation of this specification. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are suggested in this specification and therefore remain within the spirit and scope of the exemplary embodiments of this specification. For example, the master hand control device 200 may not include the braking assembly 240 or the balancing assembly 230. As another example, the master hand control device 200 may further include a control assembly. The control assembly may include a controller that can acquire the position and speed of each joint mechanism and calculate and output the torque required by each joint motor.

[0091] Figure 3-6 This is a schematic diagram of the main hand control device 300 according to some embodiments of this specification. The main hand control device 300 can be... Figure 1 The main hand control device of the console 120 or an exemplary embodiment of the main hand control device 200. For example... Figure 3 As shown, the master hand control device 300 includes an arm assembly 310 and a wrist assembly 320. In some embodiments, the master hand control device 300 may further include a gripping device, a balancing assembly, a braking assembly, etc. For a more detailed description of the gripping device, please refer to the present application. Figure 26-40 A detailed description is provided. Further description of the braking components can be found in the detailed descriptions in other parts of this application (e.g., Figure 9A-10 For a more detailed description of the balancing components, please refer to the detailed descriptions in other parts of this application (e.g., Figure 11-25 ).

[0092] like Figure 3 As shown, the arm assembly 310 can provide three degrees of positional freedom. Specifically, the arm assembly 310 may include a first joint mechanism 311, a second joint mechanism 312, and a third joint mechanism 313, each joint mechanism providing one degree of positional freedom. The wrist assembly 320 can provide at least one degree of pose. For example, the wrist assembly 320 can provide two, three, or four degrees of pose, etc. It should be noted that... Figure 3 The three degrees of freedom of the arm assembly 310 shown are for illustrative purposes only and do not limit the scope of protection of this application. For example, the arm assembly 310 may include two degrees of freedom. Furthermore, the arm assembly 310 may include only the first joint mechanism 311 and the third joint mechanism 313, or only the first joint mechanism 311 and the second joint mechanism 312, or only the second joint mechanism 312 and the third joint mechanism 313. As another example, the arm assembly 310 may provide four or more degrees of freedom.

[0093] In some embodiments, the master hand control device 300 further includes a support assembly for providing support for and mounting the arm assembly 310 and the wrist assembly 320.

[0094] refer to Figure 4 , Figure 4 yes Figure 3 The diagram shows a schematic of the first joint mechanism 311 of the master hand control device 300. As shown, the first joint mechanism 311 corresponds to a first rotating axis (the axis of the first rotating axis is shown as dashed line A1). Some components in the first joint mechanism 311 can rotate around or with the first rotating axis. The axis of the first rotating axis is parallel to the direction of gravity of the arm assembly 310. As described herein, a plane parallel to the direction of gravity of the arm assembly 310 is also called a vertical plane; a plane perpendicular to the direction of gravity of the arm assembly 310 is called a horizontal plane. For example, some components in the first joint mechanism 311 can rotate around or with the first rotating axis in the horizontal plane.

[0095] The first joint mechanism 311 may include a power member 3111 (also referred to as a first power member), a drive member 3112 (also referred to as a first drive member), and a follower member 3113 (also referred to as a first follower member). The power member 3111 can provide power (e.g., mechanical energy) for the rotation of the components in the first joint mechanism 311. The power member 3111 may include a motor. In some embodiments, the power member 3111 may be mounted on a base plate 331 in a support assembly. The follower member 3113 may be movably connected to the base plate 331. The drive member 3112 is mounted on the output shaft (i.e., the motor shaft) of the power member 3111 to receive the mechanical energy provided by the power member 3111. The power member 3111 can transmit mechanical energy to the drive member 3112 through the output shaft, causing it to rotate about or with the output shaft of the power member 3111. The follower member 3113 and the drive member 3112 are connected by a transmission method (also referred to as a first transmission method). The driving element 3112 can transmit mechanical energy to the driven element 3113 via a first transmission method to drive the driven element 3113 to rotate. The rotation of the driven element 3113 can drive other components connected to the driven element 3113 (e.g., other joint mechanisms in the arm assembly 310, the base in the support assembly) to rotate around or along the output shaft of the driven element 3113. The output shaft of the driven element 3113 is the rotating shaft of the first joint mechanism 311. The first transmission method can include gear transmission, helical transmission, chain transmission, rope transmission, etc. In some embodiments, to ensure reverse drive performance, the first transmission method can be rope transmission. For example, the driving element 3112 can include a winding reel (i.e., a driving wheel), and the driven element 3113 can include a driven wheel or a driven plate. When the driven member 3113 is a driven plate structure, at least a portion of the edge of the driven plate is an arc-shaped structure or a fan-shaped structure (i.e., has an outer circular surface), the driving member 3112 and the driven member 3113 are coupled by a rope (e.g., a steel wire rope), so that the driven member 3113 rotates as the driving member 3112 rotates. In some embodiments, the driven member 3113 is a ring structure.

[0096] The base 332 (i.e., the first base or arm base) in the support assembly is fixed to the follower 3113 and rotates around or with the first pivot. The base 332 can be used to provide support and mount components in other articulated mechanisms.

[0097] refer to Figure 5 as well as Figure 3 , Figure 5 yes Figure 3 The diagram shows the structure of the second joint mechanism 312 of the master hand control device 300. Figure 3 as well as Figure 5 As shown, the second joint mechanism 312 corresponds to the second rotating shaft (e.g. Figure 3 The dashed line A2 indicates the axis of the second pivot (refer to...). Figure 5 The direction of the second axis of rotation is perpendicular to the plane of the paper. Some components in the second joint mechanism 312 can rotate around or with the second axis of rotation. The axial direction of the second axis of rotation is perpendicular to the direction of gravity of the arm assembly 310, that is, some components in the second joint mechanism 312 can rotate around or with the second axis of rotation in a vertical plane. In some embodiments, the structure of the second joint mechanism may also be similar to that of the first joint mechanism 311. For example, the second axis of rotation of the second joint mechanism may be parallel to the first axis of rotation of the first joint mechanism 311.

[0098] The second joint mechanism 312 may include a power member 3121 (also referred to as the second power member), a drive member 3122 (also referred to as the second drive member), and one or more driven members (also referred to as the second driven members).

[0099] The power element 3121 can provide power (i.e., mechanical energy) for the rotation of the components in the second joint mechanism 312. The power element 3121 may include a motor. In some embodiments, the power element 3121 may be mounted on a base 332 in a support assembly. The drive element 3122 is mounted on the output shaft of the power element 3121. The power element 3121 and the drive element 3122 may be mounted on opposite sides of the base 332. The power element 3121 can transmit power (i.e., mechanical energy) through its output shaft to the drive element 3122, causing it to rotate about or with the second pivot.

[0100] like Figure 5 As shown, the second joint mechanism 312 may include three followers 3123, 3124, and 3125. In some embodiments, the three followers 3123, 3124, and 3125 are linked to rotate synchronously around or with the second pivot. For example, the three followers 3123, 3124, and 3125 are sequentially and movably connected in series to form part (e.g., three sides) of a first quadrilateral linkage mechanism. Further, one end of follower 3123 may be movably mounted on the base 332, the other end of follower 3123 is movably connected to follower 3124, one end of follower 3124 is movably connected to follower 3123, the other end of follower 3124 is connected to follower 3125, follower 3125 is movably connected to the base 332, and follower 3124 is connected to the first connector 341 in the connecting assembly. Further description of the connecting assembly can be found in [reference needed]. Figure 7As shown in this document, "two elements are movably connected" means that two elements can move relative to each other (e.g., rotate) while remaining connected. Movable connections can include hinges, bearing connections, etc. When the driven member 3123 rotates around or along the second axis with the driving member 3122, it can drive the driven members 3124 and 3125 to rotate synchronously around or along the second axis. During rotation, due to the movable connections between adjacent driven members and between the driven members and the base, the driven members 3123 and 3125 remain approximately parallel. Because the line connecting the three driven members 3123, 3124, and 3125 approximates a parallelogram (e.g., ...), the connection is relatively simple. Figure 5 (As shown by the dashed line in the middle), the first quadrilateral linkage mechanism can also be called the first parallelogram linkage mechanism. The driven member 3123 can also be called the input member of the first parallelogram linkage mechanism.

[0101] In some embodiments, the driven member 3123 and the driving member 3122 are connected by a transmission method (also referred to as a second transmission method). The driving member 3122 can drive the driven member 3123 to rotate via the second transmission method. The rotation of the driven member 3123 can drive other elements connected to the driven member 3123 (e.g., driven members 3124, 3125) to rotate around or along the axis of the driven member 3123. The axis of the driven member 3123 is the axis of the second joint mechanism 312. The second transmission method may include gear transmission, helical transmission, chain transmission, rope transmission, etc. In some embodiments, to ensure reverse drive performance, the second transmission method may adopt rope transmission. For example, the driving member 3122 may include a winding wheel (i.e., a driving wheel), and the driven member 3123 may include a driven wheel, a driven plate, or a driven rod (also referred to as a connecting rod). When the driven member 3123 is a plate or rod structure, at least a portion of the edge of the driven rod or driven plate has an arc-shaped or fan-shaped structure (i.e., an outer circular surface). The outer circular surfaces of the driving member 3122 and the driven member 3123 are coupled by a rope (e.g., a wire rope), causing the driven member 3123 to rotate as the driving member 3112 rotates. It should be noted that... Figure 5 The description of the second joint mechanism 312 is merely illustrative and does not limit the scope of protection of this application. For example, in some embodiments, the follower 3123 can be directly connected to the output shaft of the power member 3121, that is, the second joint mechanism 312 may not include the drive member 3122. In some embodiments, the number of followers of the second joint mechanism 312 may be only one, that is, the second joint mechanism 312 can provide a first parallelogram linkage mechanism.

[0102] refer to Figure 6 as well as Figure 3 , Figure 6 yes Figure 3The diagram shows the structure of the third joint mechanism 313 of the master hand control device 300. Figure 3 and 6 As shown, the third joint mechanism 313 corresponds to the third rotating shaft (e.g. Figure 3 (The dashed line A3 represents the axis of the third pivot). Some components in the third joint mechanism 313 can rotate around or with the third pivot. The axis of the third pivot is perpendicular to the direction of gravity of the arm assembly 310, meaning that some components in the third joint mechanism 313 can rotate around or with the third pivot in a vertical plane. In some embodiments, the structure of the third joint mechanism can also be similar to that of the first joint mechanism 311; for example, the third pivot of the third joint mechanism can be parallel to the first pivot of the first joint mechanism 311.

[0103] The third joint mechanism 313 may include a power member 3131 (also referred to as the third power member), a drive member 3132 (also referred to as the third drive member), and one or more driven members (also referred to as the third driven members).

[0104] The power element 3131 can provide power for the rotation of the components in the third joint mechanism 313. The power element 3131 may include a motor. In some embodiments, the power element 3131 may be mounted on a base 332 in a support assembly. For example, the power element 3131 of the third joint mechanism 313 and the power element 3121 of the second joint mechanism 312 may be mounted on opposite sides of the base 332. The drive element 3132 is mounted on the output shaft of the power element 3121. In some embodiments, the drive element 3132 and the power element 3121 may be mounted on opposite sides of the base 332. The drive element 3132 of the third joint mechanism 313 may be mounted on the same side of the base as the power element 3121 of the second joint mechanism 312. The power element 3131 of the third joint mechanism 313 may be mounted on the same side of the base as the drive element 3122 of the second joint mechanism 312. The power element 3131 can transmit power to the drive element 3132 via its output shaft to rotate the third shaft.

[0105] The third joint mechanism 313 may include three followers 3133, 3134, and 3135. In some embodiments, the three followers 3133, 3134, and 3135 are linked to rotate synchronously around or with the third pivot. For example, the three followers 3133, 3134, and 3135 are sequentially and movably connected in series to form part of a quadrilateral linkage mechanism (i.e., three sides of another first quadrilateral linkage mechanism). Further, a portion (e.g., one end or center) of follower 3133 may be movably mounted on the base 332, one end of follower 3133 is movably connected to follower 3134, one end of follower 3134 is movably connected to follower 3133, the other end of follower 3134 is connected to follower 3135, and follower 3135 is connected to the second connector 342 in the connecting assembly.

[0106] In some embodiments, the follower 3135 has an extension end relative to the first quadrilateral linkage in the third joint mechanism 313, the extension end being movably connected to the second connector 342 of the connecting assembly. For further description of the connecting assembly, refer to... Figure 7 Follower 3133 and follower 3135 are approximately parallel. When follower 3133 rotates around or with the third axis along with drive 3132, it can drive follower 3123 and follower 3135 to rotate synchronously around or with the third axis. During rotation, due to the movable connection between adjacent followers and between the followers and the base, follower 3133 and follower 3135 remain approximately parallel. Because the line connecting the three followers 3133, 3134, and 3135 approximates a parallelogram (e.g., ...), Figure 6 (As shown by the dashed line in the middle), this first quadrilateral linkage mechanism can also be called the first parallelogram linkage mechanism.

[0107] In some embodiments, the driven member 3133 and the driving member 3132 are connected by a transmission method (also referred to as a third transmission method). The driving member 3132 can drive the driven member 3133 to rotate via the third transmission method. The rotation of the driven member 3133 can drive other elements connected to the driven member 3133 (e.g., driven members 3134, 3135) to rotate around or along the third shaft. The part of the driven member 3133 that is movably connected to the base 332 is the shaft of the third joint mechanism 313. The driven member 3133 can also be referred to as the input element of the first parallelogram linkage mechanism in the third joint mechanism 313. The third transmission method can include gear transmission, screw transmission, chain transmission, rope transmission, etc. In some embodiments, in order to ensure the reverse drive performance, the third transmission method can adopt rope transmission. For example, the driving member 3132 can include a winding wheel (i.e., a driving wheel), and the driven member 3133 can include a driven wheel, or a driven plate, or a driven rod (also referred to as a connecting rod). If the follower 3133 is a rod or plate, then at least a portion of the edge of the rod or plate is an arc-shaped or fan-shaped structure (i.e., an outer circular surface). The outer circular surface of the drive member 3132 and the follower 3133 is coupled by a rope (e.g., a wire rope), so that the follower 3133 rotates as the drive member 3132 rotates. It should be noted that in some embodiments, the follower 3133 can be directly connected to the output shaft of the power member 3131, meaning the third joint mechanism 313 may not include the drive member 3132. In some embodiments, the number of followers in the third joint mechanism 313 may be only one, meaning the third joint mechanism 313 may not provide a first parallelogram linkage mechanism.

[0108] refer to Figure 7 , Figure 7 yes Figure 3 The diagram shows the structural structure of the connection components of the master control device 300.

[0109] The connecting assembly can drive the arm assembly 310 and the wrist assembly 320. The connecting assembly may include a connector 341 (also referred to as a first connector) and a connector 342 (also referred to as a second connector). Connector 341 can be movably connected to the follower 3124 in the second joint mechanism 312. Connector 342 can be movably connected to the follower 3135 in the third joint mechanism 313. The follower 3124, connector 341, connector 342, and follower 3135 are linked, meaning that when the follower 3124 and / or the follower 3135 rotates, the connectors 341 and 342 rotate synchronously, thereby driving the wrist assembly 320 to rotate. For example, the follower 3124, connector 341, connector 342, and follower 3135 can be connected in series, so that when the follower 3124 and / or the follower 3135 rotates, the connectors 341 and 342 rotate synchronously. In some embodiments, the lines connecting the follower 3124, connector 341, connector 342, and follower 3135 are approximately parallelograms. Therefore, the sequentially connected follower 3124, connector 341, connector 342, and follower 3135 can constitute a second quadrilateral linkage mechanism, i.e., a second parallelogram linkage mechanism. Furthermore, during the rotation of each element of the second parallelogram linkage mechanism, because the connector 341, follower 3124, follower 3135, and connector 342 are movably connected, during the rotation of the elements of the second parallelogram linkage mechanism, two non-adjacent elements (e.g., a part of connector 342 and a part of follower 3124, or follower 3135 and connector 341) can remain parallel or approximately parallel to each other.

[0110] In some embodiments, the follower 3124 comprises two parts (e.g., a right-angled rod-like structure). The two ends of the first part of the follower 3124 are connected to the followers 3123 and 3125, respectively, and the second part of the follower 3124 is connected to the follower 3125. The intersection of the first and second parts of the follower 3124 is the connection point with the connector 341, that is, the second part of the follower 3124 forms one side of the second parallelogram linkage mechanism, and the first part of the follower 3124 overlaps with the connector 341.

[0111] In some embodiments, the connector 342 comprises two parts (e.g., a right-angled rod-like mechanism). The first part of the connector 342 is connected to the extension ends of the connector 341 and the follower 3135. For example, grooves are provided at the upper and lower ends of the first part of the connector 342, and a rotating shaft is disposed within each groove. A circular hole is provided at one end of the connector 341 and the follower 3135, and the circular hole passes through the rotating shaft within the groove, thereby allowing the first part of the connector 342 to be movably connected to the extension ends of the connector 341 and the follower 3135. The second part of the connector 342 is connected to the wrist assembly 320. The wrist assembly 320 is movably disposed on the second part of the connector 342.

[0112] The wrist assembly 320 may include a fourth joint mechanism. The fourth joint mechanism corresponds to a fourth pivot (e.g., Figure 7 (The dashed line A4 represents the axis of the fourth pivot.) The fourth pivot is parallel to the direction of gravity of the wrist assembly 320. In some embodiments, the fourth joint mechanism includes a power member 3211, a drive member 3212, and a follower member 3213. The power member 3211 provides power for the rotation of the components in the fourth joint mechanism. The power member 3211 may include a motor. In some embodiments, the power member 3211 may be mounted on the first part of the connector 342. The drive member 3212 is mounted on the output shaft of the power member 3211. The power member 3211 can transmit power to the drive member 3212 through its output shaft to cause it to rotate. The follower member 3213 is movably mounted on the second part of the connector 342. In some embodiments, the follower member 3213 and the drive member 3212 are connected by a transmission method (also referred to as a fourth transmission method) so that the drive member 3212 drives the follower member 3213 to rotate through the fourth transmission method. Other joint mechanisms of the wrist assembly 320 are mounted on the output shaft of the follower 3213 so that the other joint mechanisms on the wrist assembly 320 can rotate about or with the output shaft (i.e., the fourth shaft) of the follower 3213. The fourth transmission method may include gear transmission, helical transmission, chain transmission, rope transmission, etc. In some embodiments, rope transmission may be used to ensure reverse drive performance. For example, the drive member 3212 may include a winding wheel, plate, or other structure, and the follower 3213 may include a driven wheel, or a driven plate, or a driven rod (also referred to as a connecting rod).

[0113] In some embodiments, the first transmission method, the second transmission method, the third transmission method, and the fourth transmission method may be the same or different.

[0114] In some embodiments, in addition to the fourth joint mechanism, the wrist assembly 320 further includes one or more joint mechanisms, such as two or three. Each joint mechanism can provide one degree of pose freedom. Each joint mechanism can correspond to one axis of rotation. The axes of rotation of the multiple joint mechanisms of the wrist assembly 320 can be configured to intersect at a point. (Reference) Figure 8 , Figure 8 yes Figure 3 The diagram shows the structure of the wrist assembly 320 of the master hand control device 300. The wrist assembly 320 further includes a fifth joint mechanism corresponding to the fifth rotating axis, a sixth joint mechanism corresponding to the sixth rotating axis, and a seventh joint mechanism corresponding to the seventh rotating axis. The fourth, fifth, sixth, and seventh rotating axes intersect at a point P. Through the design of the above three parallelogram linkage mechanisms (i.e., two first parallelogram linkage mechanisms and a second parallelogram linkage mechanism), since the connecting rods in the first and second parallelogram linkage mechanisms are movable connections, when the joint mechanism of the master hand control device rotates, the wrist posture can remain unchanged even when the position of point P changes. That is, the second part of the connecting member 342 always remains horizontal, thus ensuring that changes in position do not affect the wrist posture, achieving decoupling of position and posture. It should be noted that... Figure 3-8 The description of the master hand control device is merely illustrative and does not limit the scope of protection of this application. In some embodiments, the master hand control device may include at least a first parallelogram linkage mechanism and a second parallelogram linkage mechanism, and may also achieve decoupling of position and attitude.

[0115] The above description is merely illustrative. Obviously, for those skilled in the art, the detailed disclosure above is only an example and does not constitute a limitation of this specification. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are suggested in this specification, and therefore such modifications, improvements, and corrections still fall within the spirit and scope of the exemplary embodiments of this specification. For example, the master hand control device may not include the first joint mechanism 311 and / or the second joint mechanism 312. In this case, the connecting assembly, in addition to connectors 341 and 342, may further include a third connector, which can connect the driven member 3135 and the connector 341. As another example, the master hand control device may not include the first joint mechanism 311 and / or the third joint mechanism 313. In this case, the connecting assembly, in addition to connectors 342 and 342, may further include a third connector, which can connect the driven member 3124 and the connector 342.

[0116] Figure 9AThis is a schematic diagram of the wrist assembly structure of a master hand control device according to some embodiments of this specification. The wrist assembly 900 can be a master hand control device as shown elsewhere herein (e.g., master hand control device 300, master hand control device 200, and...). Figure 1 An exemplary embodiment of the wrist component of the main hand control device of the central console 120.

[0117] The master hand control device may include an arm assembly (e.g., arm assembly 310, arm assembly 1110, etc.). Detailed descriptions of the arm assembly and wrist assembly can be found elsewhere. In some embodiments, the wrist assembly 900 may be similar to wrist assembly 320 or wrist assembly 1120. For example, the wrist assembly 900 may include a fourth joint mechanism. The fourth joint mechanism corresponds to a fourth pivot (e.g., ...). Figure 9A (The dashed line A4 represents the axis of the fourth rotation axis). The fourth rotation axis is parallel to the direction of gravity of the wrist assembly 900. For example, in addition to the fourth joint mechanism, the wrist assembly 900 further includes one or more wrist joint mechanisms, such as two, three, or four. Each joint mechanism provides one degree of pose freedom. Each joint mechanism can correspond to one rotation axis. The rotation axes of multiple joint mechanisms of the wrist assembly 900 can be configured to intersect at a point. For example, the wrist assembly 900 includes a fifth joint mechanism corresponding to a fifth rotation axis, a sixth joint mechanism corresponding to a sixth rotation axis, and a seventh joint mechanism corresponding to a seventh rotation axis. The fourth, fifth, sixth, and seventh joint mechanisms are connected in series. The fourth, fifth, sixth, and seventh rotation axes intersect at a point. The fourth and sixth rotation axes are parallel, and the fifth and seventh rotation axes are parallel and perpendicular to the fourth rotation axis. For example, the wrist assembly 900 can be equipped with a wrist balance component. Further description of the balance component can be found in [reference needed]. Figure 11-25 A detailed description is provided. For example, the wrist assembly 900 can be connected to a clamping device. Further description of the clamping device can be found in [reference needed]. Figure 26-30 A detailed description.

[0118] In some embodiments, the fourth joint mechanism includes a power member, a driving member, and a driven member (not shown in the figures). In some embodiments, the fourth joint mechanism can be coupled with... Figure 7The fourth joint mechanism is similar to or the same as that in the wrist assembly. For example, the power member can be mounted on the first part of the connector 942 between the arm assembly and the wrist assembly. The drive member (e.g., a drive wheel) is rotatably mounted on the output shaft of the power member (e.g., a motor). The driven member (e.g., a driven wheel) is movably mounted on the second part of the connector 942. The driven member and the drive member are connected by a transmission method (also referred to as a fourth transmission method) so that the drive member drives the driven member to rotate via the fourth transmission method. Other joint mechanisms of the wrist assembly 900 (e.g., a fifth joint mechanism) can be connected to the output shaft (i.e., the fourth pivot) of the driven member via a base 933 (e.g., a horizontal portion, also referred to as a second base of the support assembly or a wrist base) in the wrist assembly 900, so that the other joint mechanisms on the wrist assembly 900 can rotate in the horizontal plane with the base 933 in the wrist assembly 900 or with the output shaft (i.e., the fourth pivot) of the driven member. In some embodiments, the fourth joint mechanism can be connected to the fourth joint mechanism. Figure 11-16 The fourth joint mechanism is similar to or the same as that in the previous embodiment. In some implementations, the fourth joint mechanism may include a power element, and other joint mechanisms of the wrist assembly 900 (e.g., a fifth joint mechanism) may be connected to the output shaft (i.e., the fourth pivot) of the power element via a base 933 (e.g., a horizontal portion) in the wrist assembly 900, thereby allowing the other joint mechanisms on the wrist assembly 900 to rotate in the horizontal plane around or with the output shaft (i.e., the fourth pivot) of the power element.

[0119] The range of rotation of the wrist assembly 900 relative to the fourth pivot (also referred to as the range of rotation of the fourth pivot or the range of rotation of the fourth joint mechanism) is the range of rotation of the base 933 (e.g., the horizontal portion of the base 933) about the fourth pivot. In some embodiments, the base 933 may rotate 120 degrees, 180 degrees, or 360 degrees about the fourth pivot. Figure 9B As shown, when the base 933 can rotate 360 ​​degrees around the fourth axis, the rotation range of the fourth axis is a circular area. It should be noted that if other joint mechanisms of the wrist assembly 900 (e.g., the fifth joint mechanism) are not located at the end of the horizontal portion of the base 933, the length of the horizontal portion of the base 933 is the distance between the position of the fifth joint mechanism in the horizontal portion of the base 933 and the fourth axis.

[0120] The master hand control device further includes a braking assembly, which includes a braking controller (not shown) and a brake 951. The braking controller is used to control the operation of one or more joint mechanisms in the wrist assembly 900 via the brake 951. The brake 951 may include a friction brake (e.g., a disc brake, an external brake block brake), a non-friction brake (e.g., a magnetic eddy current brake), etc. In some embodiments, the brake 951 may include a braking element, a transmission element, and a power supply device. The power supply device can provide the energy required for braking via the transmission element. The braking element (e.g., brake pads, brake blocks, etc.) can generate a force that resists the rotation of the fourth pivot. The transmission element can transmit the braking energy provided by the power supply device to the braking element. The braking controller can acquire the speed and direction of the rotation of the fourth pivot, and control the power supply device to provide corresponding braking energy according to the speed and direction of the rotation of the fourth pivot. The braking element receives the braking energy through the transmission element and generates a force (i.e., braking force) that resists the rotation of the fourth pivot. In some embodiments, the braking assembly can be used to control the release and locking of a joint mechanism in the wrist assembly 900. Figure 9A As shown, brake 951 can be connected to a fourth pivot for controlling the locking and releasing of the fourth joint mechanism. As described herein, the release of the joint mechanism refers to the power element and / or rotating element (e.g., a drive element or a driven element) in the joint mechanism being in a rotatable state; the locking of the joint mechanism refers to the rotating element (e.g., a drive element or a driven element) in the joint mechanism being in a non-rotatable state. In some embodiments, brake 951 can be physically connected to the power element, drive element, and / or driven element of the fourth joint mechanism. In some embodiments, brake 951 can be physically connected to the fourth pivot of the fourth joint mechanism.

[0121] The operating states of the brake 951 include an open state and a closed state. In some embodiments, when the brake 951 is in the open state, the corresponding fourth joint mechanism is in the locked state; when the brake 951 is in the closed state, the corresponding fourth joint mechanism is in the released state.

[0122] In some embodiments, in response to determining that the wrist assembly 900 meets a first condition, the brake controller may generate and send a release command to the brake 951. The release command is used to indicate that the brake 951 is in a closed state. For example, the release command may instruct the brake 951 to switch from an open state to a closed state.

[0123] In some embodiments, in response to determining that the wrist assembly 900 meets a second condition, the brake controller may generate and send a locking command to the brake 951. The locking command is used to indicate that the brake 951 is in a locked state. For example, the locking command may instruct the brake 951 to switch from a closed state to an open state.

[0124] In some embodiments, the first condition includes a first region where the horizontal portion of the base 933 is within the rotation range of the fourth rotating axis; the second condition includes a first region where the horizontal portion of the base 933 is not within the rotation range of the fourth rotating axis. In some embodiments, the first condition includes a first region where the horizontal portion of the base 933 is within the rotation range of the fourth rotating axis when the sixth rotating axis rotates in a first direction; the second condition includes a first region where the horizontal portion of the base 933 is not within the rotation range of the fourth rotating axis when the sixth rotating axis rotates in the first direction.

[0125] In some embodiments, the first condition includes a second region where the horizontal portion of the base 933 is within the rotational range of the fourth axis; the second condition includes a second region where the horizontal portion of the base 933 is not within the rotational range of the fourth axis. As described herein, the first region may refer to the region on the right side of the rotational range formed by the operator operating the main hand control device such that the wrist assembly 900 rotates around or with the fourth axis. The second region may refer to the region on the left side of the rotational range formed by the operator operating the main hand control device such that the wrist assembly 900 rotates around or with the fourth axis. Figure 9B As shown, if the wrist assembly 900 can rotate 360 ​​degrees around the fourth axis, the rotation range of the fourth axis can be a circular area. The area R1 to the right of the dashed line L1 in the circular area is the first area; the area R2 to the left of the dashed line L1 in the circular area is the second area.

[0126] In some embodiments, the first condition includes that when the sixth axis rotates in the second direction, the horizontal portion of the base 933 is within a second region of the rotation range of the fourth axis; the second condition includes that when the sixth axis rotates in the second direction, the horizontal portion of the base 933 is not within a second region of the rotation range of the fourth axis. The first direction may refer to an operator operating the main hand control device to cause the wrist assembly 900 to rotate clockwise with respect to the operator; the second direction may refer to an operator operating the main hand control device to cause the wrist assembly 900 to rotate counterclockwise with respect to the operator. As described herein, rotation of the axis in the joint mechanism can drive rotation of other structures or components connected to the axis.

[0127] In order to position the base 933 as close as possible to the middle of the rotation range of the fourth axis (e.g., Figure 9B(The position between the dashed lines L2 and L3) When the operator controls the main control device to rotate the sixth axis to the left, if the base 933 is in the right region of the rotation range of the fourth axis, the brake controller controls the brake 951 to close, that is, the fourth axis is in the released state, allowing the base 933 to potentially rotate towards the middle region. Similarly, when the operator controls the main control device to rotate the sixth axis to the right, if the base 933 is in the left region of the rotation range of the fourth axis, the brake controller controls the brake 951 to close, that is, the fourth axis is in the released state, allowing the connecting rod 23 to potentially rotate towards the middle region.

[0128] In some embodiments, the first condition includes that the distance between the sixth rotating shaft and the first or second limit is less than a first threshold. The first threshold can be 1 mm, 2 mm, etc.; the second condition includes that the distance between the sixth rotating shaft and the first or second limit is greater than a second threshold. The second threshold can be 1 mm, 2 mm, etc. The first threshold can be greater than or equal to the first threshold. When the brake 951 is in the open state, that is, the fourth rotating shaft (i.e., the fourth joint structure) is in the locked state, in other words, the horizontal part of the base 933 cannot rotate. When the operator manipulates the master hand control device, and the sixth rotating shaft rotates close to the left (i.e., the first limit) / right limit (i.e., the second limit), the brake controller issues a command to control the brake 951 to close, that is, the fourth rotating shaft is in the released state and can rotate. Through this control, the rotation range of the master hand control device can be significantly increased, achieving a larger operating space. The first and second limits are defined by the specific structure of the master hand control device.

[0129] In some embodiments, the first condition includes the master control device being in an odd position. For example, an odd position of the master control device means that the fourth and sixth axes are on the same line. With this setting, when the master control device moves close to the odd position, the brake controller can control the brake 951 to close, thereby avoiding the odd position by rotating the fourth axis.

[0130] Figure 10 This is a block diagram of the control components of a master hand control device according to some embodiments of this specification. The control component 1000 can be used in master hand control devices described elsewhere in this application (e.g., master hand control device 300, master hand control device 200, master hand control device 1100).

[0131] The control component 1000 may include a standard master controller 1010 and a brake controller 1020.

[0132] The standard master controller is the main controller of the master control device. It can read the position and / or velocity of each joint, thereby calculating and outputting the torque required by each joint motor, and controlling the operation of each joint motor according to the torque.

[0133] The brake controller 1020 can read motion parameters such as position, speed, and rotation direction of each joint mechanism of the master hand control device. It controls the operating state of the brake by measuring the position and / or speed of each joint mechanism. In some implementations, the brake controller 1020 can directly obtain the position and / or speed of each joint mechanism from the master hand controller 1010. In some embodiments, the brake controller 1020 can obtain parameter information (e.g., rotational speed, torque, etc.) of the power components of each joint mechanism, and determine the motion parameters such as position, speed, and rotation direction of each joint mechanism by calculating the parameter information of the power components. The position and / or speed of each joint can refer to the position and / or speed of the center of gravity of each joint. The rotation direction can refer to the rotation direction of the shaft. For example, in conjunction with the master hand control device in Figure 9, the brake controller 1020 can read the position of the sixth shaft and determine whether the position of the sixth shaft is close to the left (i.e., the first limit) / right limit (i.e., the second limit). If it is close, the brake controller 1020 can issue a release command to close the brake 951, releasing the fourth shaft and allowing it to rotate. For example, the brake controller 1020 can obtain the position of the master hand control device (e.g., the center of gravity position of each joint mechanism or the position of the intersection of multiple axes of the wrist assembly). The brake controller 1020 can determine whether the master hand control device has moved to a position close to a singular position. If it is close, the brake controller can control the brake 951 to close, thereby releasing the fourth pivot and avoiding the singular position by rotating the fourth pivot.

[0134] For more information on the brake controller, please refer to [link / reference]. Figure 9A The detailed description is in the text.

[0135] Figure 11-16 This is a schematic diagram of the main hand control device according to some embodiments of this specification. The main hand control device 300 may be an exemplary embodiment of the main hand control device described elsewhere herein (e.g., the main hand control device 200 and the main hand control device in the console 120).

[0136] like Figure 11-16As shown, the main hand control device includes an arm assembly 1110 and a wrist assembly 1120. The arm assembly 1110 may include three rotational joints: a first rotational joint 10, a second rotational joint 20, and a third rotational joint 30, with corresponding rotation axes of the first, second, and third rotation axes (A1, A2, and A3 in the figure represent the axes of the first, second, and third rotation axes, respectively). The element connected to the first rotation axis rotates in the horizontal plane during use, while the elements connected to the second and third rotation axes can rotate in the vertical plane during use. The extension axes of the second and third rotation axes are perpendicular to the direction of gravity. It should be noted that the inclusion of three rotation axes in the arm assembly 1110 is merely illustrative to explain the balance component and does not limit the scope of protection of this invention. In some embodiments, the arm assembly may include two rotation axes, one rotation axis, or more than three rotation axes. In other words, the arm assembly can provide one degree of freedom, two degrees of freedom, three degrees of freedom, or more than three degrees of freedom.

[0137] refer to Figure 11 The master hand control device 1100 may include a support assembly for supporting or fixing other components in the master hand control device 1100. The support assembly may include a base plate 601 (also referred to as the first base plate 601). The first base plate 601 is a fixing plate for the entire master hand control device 1100. The first joint mechanism 10 may include a motor 101 (also referred to as the first motor or the first power component), a drive component 102 (also referred to as the first drive component), and a driven component 103 (also referred to as the first driven component). In some embodiments, the drive component 102 may include a winding wheel, a gear, etc. The driven component 103 may include a winding wheel, a gear, a plate-like mechanism, etc. The first joint mechanism 10 can be connected to... Figure 3-7 The first joint mechanism 311 is similar to or the same as the first joint mechanism. For more details on the first joint mechanism, please refer to [reference needed]. Figure 3-7 The detailed description is in the text.

[0138] In some embodiments, the driven member 103 of the first joint mechanism 10 is rotatably mounted on the base plate 601 and can rotate around or with the first rotating shaft. The motor 101 in the first joint mechanism 10 is fixed to the base plate 601 by a sleeve. The drive member 102 is fixed relative to the output shaft (also referred to as the motor shaft) of the motor 101. The drive member 102 (e.g., a winding reel) has helical winding grooves (typically arc-shaped or V-shaped). A transmission rope (e.g., a steel wire rope) is wound around the drive member 102 through the winding grooves, and both ends of the transmission rope are respectively fixed to the driven member 103 of the first joint mechanism 10. The rotation of the first joint mechanism 10 drives the drive member 102 to rotate, thereby allowing the transmission rope to wind around the helical winding grooves, which in turn pulls the driven member 103 to rotate relative to the base plate 601 around or with the first rotating shaft.

[0139] Furthermore, such as Figure 11-16 As shown, the support assembly further includes a second substrate 602. The second substrate 602 is disposed on the follower 103. The second substrate 602 can rotate around or with the first axis following the follower 103.

[0140] In some embodiments, the second joint mechanism 20 includes a motor 201 (also referred to as a second motor), a drive member 202 (also referred to as a second drive member), and a driven member 203 (also referred to as a second driven member). In some embodiments, the motor 201 can rotate the drive member 202. The drive member 202 can cause the driven member 203 to rotate around or with a second rotating shaft via a transmission method. In some embodiments, the drive member 202 may include a winding wheel, a gear, etc. The driven member 203 may include a sliding wheel, a gear, a plate-like structure, a rod-like structure, etc. The second joint mechanism 20 can be connected to... Figure 3-7 The second joint mechanism 312 is similar to or the same as the one described above. For more details on the second joint mechanism, please refer to [reference needed]. Figure 3-7 The detailed description is in the text.

[0141] In some embodiments, the motor 201 of the second joint mechanism 20 is fixed to the driven member 203, and the driving member 202 of the second joint mechanism 20 is fixed to the output shaft of the second motor 201 and rotates together with the output shaft (i.e., the motor shaft) of the second motor 201. The driving member 202 drives the driven member 203 to rotate together through a transmission method. For example, the driving member 202 (e.g., a winding wheel) is provided with a helical winding groove (usually arc-shaped or V-shaped), and the transmission rope (e.g., a steel wire rope) is wound around the driving member 202 through the winding groove, with both ends of the transmission rope fixed to the driven member 203 of the second joint mechanism 20. The second joint mechanism 20 rotates and drives the driving member 202 to rotate, so that the transmission rope can be wound around the helical winding groove, thereby pulling the driven member 203 to rotate relative to the second base plate 602 or with the second rotating shaft. By mounting the motor 201 on the driven member 203, the gravitational torque of the motor 201 relative to the second axis can balance at least a portion of the gravitational torque of the wrist assembly 1120 relative to the second axis.

[0142] In some implementations, the transmission between the driving member 202 and the driven member 201 is a two-stage transmission. The second joint mechanism 20 may further include a large winding wheel 204 and a small winding wheel 205. The large winding wheel 204 and the driving member 202 of the second joint mechanism 20 are transmitted via a rope, which is the first-stage transmission of the second joint mechanism 20. The driven member 206 (e.g., a winding wheel) is fixed to the second base plate 602 and is shaped as a partial outer toroidal surface. The small winding wheel 205 and the driven member 206 (e.g., a winding wheel) are transmitted via a rope, which is the second-stage transmission of the second joint mechanism 20. The two-stage transmission is to obtain a larger joint output torque.

[0143] The third joint mechanism 30 includes a motor 301 (also referred to as a third motor), a drive member 302 (also referred to as a third drive member), and a driven member 303 (also referred to as a third driven member). In some embodiments, the motor 301 can rotate the drive member 302. The drive member 302 can cause the driven member 303 to rotate about or with the second shaft through transmission. In some embodiments, the drive member 302 may include a winding wheel, a gear, etc. The driven member 303 may include a sliding wheel, a gear, a plate-like structure, a rod-like structure, etc. The third joint mechanism 30 can be connected with... Figure 3-7 The third joint mechanism 313 is similar to or the same as that described above. For more details on the third joint mechanism, please refer to [reference needed]. Figure 3-7 The detailed description is in the text.

[0144] In some embodiments, the motor 301 in the third joint mechanism 30 is mounted on the driven member 303, and the driving member 302 of the third joint mechanism 30 is fixed to the output shaft of the third drive motor 301. The second base plate 602 has an arc-shaped outer surface at its end away from the driven member 103. The driving member 302 and the arc-shaped outer surface of the second base plate 602 are connected by a rope to transmit the output torque of the motor 301 to the driven member 303. In some embodiments, the driven member 303 is a parallelogram-shaped linkage structure (also called a parallelogram linkage mechanism) that can rotate about or with the third axis. (Refer to...) Figure 12 The quadrilateral linkage mechanism (approximately a parallelogram linkage mechanism) shown by the dashed line includes a follower 103 comprising a first link 3031, a second link 3032, a third link 3033, and a fourth link 3034 connected in sequence. The first link 3031 is movably connected to the follower 203, and the third link 3033 can be connected to the wrist assembly 1120. The first link 3031 is approximately parallel to the third link 3033, and the second link 3032 is approximately parallel to the fourth link 3034. The first link 3031 includes an extension end relative to the parallelogram linkage mechanism. A motor 301 is disposed at the extension end of the first link 3031. A third rotating shaft is disposed at the extension end. The third link 3033 includes an extension end relative to the parallelogram linkage mechanism, and the wrist assembly 1120 can be disposed at the extension end of the third link 3033. By mounting the motor 301 on the driven member 303, the gravitational torque of the motor 301 relative to the third axis can balance at least a portion of the gravitational torque of the wrist assembly 1120 relative to the third axis.

[0145] In some embodiments, such as Figure 11-16 As shown, the wrist assembly 1120 also includes a fourth joint mechanism 40. The fourth joint mechanism 40 includes a motor 401 (also referred to as a fourth motor), a drive member (also referred to as a fourth drive member), and a driven member. In some embodiments, the motor 401 can rotate the drive member. The drive member drives the driven member to rotate other joint mechanisms connected to the fourth joint mechanism 40 in the wrist assembly 1120 about or along a fourth axis of rotation (the dotted line A4 in the figure represents the axis of the fourth axis of rotation). In some embodiments, the drive member may include a winding wheel, a gear, etc. The driven member includes a winding wheel, a gear, etc. In some embodiments, the fourth joint mechanism 40 can be connected to... Figure 3-7 The fourth joint mechanism 314 is similar to or the same as the one described above. For more details on the fourth joint mechanism, please refer to [reference needed]. Figure 3-7 The detailed description is in the text.

[0146] like Figure 16As shown, the fourth driven member may include multiple winding reels, such as winding reels 4021 and 4022 and / or a driven reel disposed at the fourth shaft. The motor 401 in the fourth joint mechanism 40 is fixed to the driven member 203. The mechanical energy provided by the motor 401 can be transmitted to the fourth shaft of the fourth joint mechanism 40 via a rope that passes over winding reels 4021 and 4022. In some embodiments, the fourth driving member further includes a driving member (e.g., a winding reel) disposed on the output shaft of the motor 401. The rope connects the winding reels 4021 and 4022 on the output shaft of the motor 401, and the driven reel disposed at the fourth shaft, respectively, to transmit torque from the motor 401 to the fourth shaft of the fourth joint mechanism 40. By disposing of the motor 401 on the driven member 203, the gravitational torque of the motor 401 relative to the fourth shaft can balance at least a portion of the gravitational torque of the wrist assembly 1120 relative to the fourth shaft.

[0147] In some embodiments, such as Figure 11-16 As shown, the weight of the wrist assembly 1120 can be balanced using a motor, that is, by using the gravitational torque of the motor relative to a certain axis of rotation to balance the gravitational torque of the wrist assembly 1120 relative to that axis of rotation. For example, the motor and the wrist assembly 1120 can be positioned on opposite sides of a certain axis of rotation, such that the angle between the gravitational torque of the motor relative to the axis of rotation and the gravitational torque of the wrist assembly 1120 relative to the axis of rotation is greater than 90 degrees (e.g., 100 degrees, 150 degrees, 180 degrees). In this case, the gravitational torque of the motor relative to the axis of rotation can offset (i.e., balance) at least a portion of the gravitational torque of the wrist assembly 1120 relative to the axis of rotation. As described herein, the motor and the wrist assembly being positioned on opposite sides of a certain axis of rotation can refer to the motor being located in a first region within the rotational range corresponding to that axis of rotation, and the wrist assembly being located in a second region within the rotational range corresponding to that axis of rotation, with the boundary line between the first region and the second region intersecting the axis of rotation.

[0148] In some embodiments, for the second rotating shaft, the wrist assembly 1120 is positioned below the second rotating shaft, and the second motor 201 and the fourth motor 401 are positioned above the second rotating shaft. The gravitational torque of the second motor 201 and the fourth motor 401 on the second rotating shaft is in the opposite direction to the gravitational torque of the wrist assembly 200 on the second rotating shaft. The gravitational torque of the second motor 201 and the fourth motor 401 on the second rotating shaft can offset part of the gravitational torque of the wrist assembly 1120 on the second rotating shaft, that is, balance part of the gravitational torque of the wrist assembly 1120. In some embodiments, for the third rotating shaft, the third motor 301 is positioned to the right of the third rotating shaft via a parallelogram linkage, and the wrist assembly 1120 is positioned to the left of the third rotating shaft, which can also balance part of the gravitational torque of the wrist assembly 1120 on the third rotating shaft.

[0149] In some embodiments, the gravitational torque of the wrist assembly 1120 can be balanced using a balancing component. The balancing component may include an elastic element (e.g., an elastic cord, spring, etc.). One end of the elastic element is connected to a joint mechanism (also called a wrist joint mechanism) in the wrist assembly or a joint mechanism (also called an arm joint mechanism) in the arm assembly (e.g., a follower or a pivot). The angle between the torque (i.e., tension torque) exerted by the elastic element on the pivot of the arm joint mechanism or wrist joint mechanism and the direction of the gravitational torque exerted by the weight of the wrist assembly and / or the arm assembly on that pivot is greater than 90 degrees (e.g., 120 degrees, 150 degrees, or 180 degrees).

[0150] For example, Figure 17-18 This is based on some embodiments shown in this specification. Figure 11-16 The diagram shows a schematic of the balance component structure at the arm assembly of the master hand control device.

[0151] like Figure 17 As shown, for the second pivot, a balancing assembly (also called a first balancing assembly) can be provided to balance the gravitational torque of the wrist assembly 1120 on the second pivot. The first balancing assembly may include an elastic element 1710 (also called a first elastic element), a rope 1720 (also called a first rope), and a reversing wheel 1730 (also called a first reversing wheel). For example, one end of the elastic element 1710 is fixed to the driven member 103 of the first joint mechanism 10, and the other end is fixedly connected to the rope 1720 (e.g., a steel wire rope). The rope 1720 passes around the reversing wheel 1730 and is fixed to the driven member 203 (i.e., driven member 203) of the second joint mechanism 20, such that the rope 1720 forms an angle with the axial direction of the elastic element 1710. The driven member 203 rotates around the second axis, and the tension of the elastic member 1710 acts on the driven member 203. The tension torque formed by the elastic member 1710 about the second axis is approximately opposite in direction to the gravitational torque formed by the weight of the wrist component 1120 about the second axis, so it can be used to balance the gravitational torque of the wrist component 1120. It should be noted that in some embodiments, the first balancing component may only include the elastic member 1710. One end of the elastic member 1710 can be fixed to the driven member 103 of the first joint mechanism 10, and the other end can be directly fixed to the driven member 203 of the second joint mechanism.

[0152] like Figure 18As shown, for the third pivot, a balancing assembly (also called a second balancing assembly) can be used to balance the gravitational torque of the wrist assembly 1120 on the third pivot. The second balancing assembly may include an elastic element 1810 (also called a second elastic element), a rope 1820 (also called a second rope), and a reversing wheel 1830 (also called a second reversing wheel). For example, the second base plate 602 has a hook 1840, and the output shaft of the third motor 301 (i.e., the extension end of the first connecting rod 3031) also has a pull post 1850. One end of the elastic element 1810 is fixed to the hook 1840, and the other end is fixed to the pull post 1850 by a rope 430 (e.g., a steel wire rope). The rope 430 passes around the reversing wheel 440, thereby changing its direction so that the rope 40 forms an angle with the axial direction of the elastic element 1810. Thus, the tension of the elastic element 1810 can be applied to the motor 301. Consequently, the tension of the elastic element 1810 and the gravity of the wrist assembly 200 exhibit a movement tendency in opposite or approximately opposite directions relative to the third pivot. Therefore, the tension of the elastic element 1810 can be used to balance part of the gravitational torque of the wrist assembly 1120. It should be noted that in some embodiments, the second balancing assembly may consist only of the elastic element 1810. One end of the elastic element 1810 may be fixed to the hook 1840, and the other end may be fixed to the pull post 1850.

[0153] The installation positions and stiffness coefficients of the first elastic element 1710 and the second elastic element 1810 are determined by the following method. For example, Figure 19 This is based on some embodiments shown in this specification. Figure 17-18 The diagram shows the principle of the balancing component. Figure 19As shown, the stiffness coefficient of the first elastic element 1710 is K1, the distance between the second reversing wheel 1730 and the second rotating shaft is a, and one end of the elastic element 1710 rotates with the driven member 103 of the first joint mechanism 10 at a distance x from the second rotating shaft. The stiffness coefficient of the second elastic element 1810 is K2, the distance between the driving member 302 of the third joint mechanism 30 and the second rotating shaft is b, and one end of the second elastic element 1810 rotates with the connecting rod 3031 at a distance y from the second rotating shaft. The angle between the fourth connecting rod 3034 and the vertical direction is θ2, and the angle between the first connecting rod 3031 and the vertical direction is θ3. The center of gravity of the wrist assembly 1120 in the zero position is defined as the position of m1, and the centers of gravity of the other connecting rods (i.e., the second connecting rod 3032, the first connecting rod 3031, and the fourth connecting rod 3034) are located at the positions of m2, m3, and m4, respectively. Where L1 is the distance from the center of gravity m1 to the third axis of rotation, L2 is the distance between the second link 3032 and the fourth link 3034 (which can also be understood as the distance from the center of gravity m2 to the second axis of rotation), L3 is the distance from the center of gravity m3 to the second axis of rotation, L4 is the distance from the center of gravity m4 to the second axis of rotation, and L5 is the length of the second link 3032, that is, the distance between the second axis of rotation and the third axis of rotation (which can also be understood as the distance from the center of gravity m3 to the third axis of rotation).

[0154] The potential energy of the entire main hand control device 1100 is:

[0155] E=m3gl3cosθ3+m4gl4cosθ2+m2g(l2cosθ3+l4cosθ2)+m1g(l1cosθ3+l5cosθ2)+1 / 2K1(a 2 +x 2 -2axcosθ3)+1 / 2K2(b 2 +y 2 -2bycosθ2).

[0156] To ensure balance, meaning the potential energy of the entire main control device 10 remains constant (i.e., unaffected by θ2 and θ3), the relationship between the stiffness coefficients k1 and k2 of the first elastic element 1710 and the second elastic element 1810 and their installation positions x and y can be obtained, as shown in the following formula:

[0157]

[0158]

[0159] The stiffness coefficients and positions of the elastic elements can be set by considering the relationship between the stiffness coefficients k1 and k2 of the first elastic element 1710 and the second elastic element 1810 and their installation positions x and y, thereby ensuring the balance of the entire master hand operating device 1100. It should be noted that the first and second balancing components can also be installed on the second joint mechanisms 312 and 313 of the master hand operating device 300 for gravity balancing. The specific structure of the balancing components installed on the second joint mechanisms 312 and 313 of the master hand operating device 300 is roughly similar to or the same as that of the first and second balancing components installed on the master hand operating device 1100; specific details will not be discussed further here.

[0160] In some implementations, a balancing component can be used to balance the weight of the wrist component 1120 within itself. Figure 20-21 This is based on some embodiments shown in this specification. Figure 11-16 The diagram shows a schematic of the balance component structure at the wrist assembly of the main hand control device. Specifically, as shown... Figure 20-21 As shown, the wrist assembly 1120 includes a wrist joint mechanism with a wrist pivot (i.e., a fifth pivot), the axis of which is perpendicular to the direction of gravity of the wrist assembly 1120. The balance assembly 230 includes a wrist balance assembly (also referred to as a third balance assembly), which is disposed on the wrist joint mechanism. The wrist balance assembly includes a rope 520 (also referred to as a third rope) and an elastic element 530 (also referred to as a third elastic element). A reversing wheel 510 is mounted on the fifth pivot and rotates synchronously with it. One end of the elastic element 530 is connected to the rope 520, and the other end is connected to the support base 603 (also referred to as a third base plate or pedestal) of the wrist joint mechanism. The other end of the rope 520 is connected to the driven element 510 of the wrist joint mechanism. The elastic force of the wrist balance spring affects the balance of the wrist pivot. The balancing torque at least partially balances the gravitational torque of the wrist assembly 1120 on the wrist pivot. Optionally, the follower 510 is a wheel, such as a circular wheel or a cam. It should be noted that the third balancing assembly may only include the elastic element 530, one end of which is directly connected to the fifth pivot, and the other end is fixedly connected to the support base 603. Alternatively, the above-mentioned third balancing assembly can also be installed on the wrist assembly 320 of the master hand control device 300 for gravity balancing. The specific structure of the balancing assembly installed on the wrist assembly 320 of the master hand control device 300 is generally similar to or the same as the third balancing assembly installed on the master hand control device 1100, and specific details will not be discussed in detail here.

[0161] Figure 22 This is based on some embodiments shown in this specification. Figure 20-21 The diagram shows the principle of the balancing component. Figure 22As shown, in some embodiments, the profile of the cam 510 and the stiffness coefficient K of the elastic element 530 are determined in the following manner.

[0162] The equivalent weight of the load on the fifth rotating shaft is mg, the distance from the center of gravity of the load to the fifth rotating shaft is L, the deflection angle of the center of gravity of the load is α (i.e., the angle between the line connecting the center of gravity of the load and the fifth rotating shaft and the vertical line passing through the fifth rotating shaft), the radius of the interaction between the elastic element 530 and the driven element 510 through the rope 520 is r (i.e., the radius of the driven element 510), the distance from the center of the driven element 510 to the fixed point between the elastic element 530 and the support base 603 is h, the free length of the elastic element 530 is s, and the tension of the elastic element is F.

[0163] The conditions for complete weight compensation are:

[0164] mgLsina=Fr.

[0165] The tension of the elastic element 530 can be expressed as:

[0166]

[0167] From this, we can obtain the relationship between the radius r of the follower 510 and other parameters:

[0168]

[0169] By properly setting the stiffness coefficient K of the elastic element 530 and its installation position h, a complete compensation effect can be achieved. A complete compensation effect means that the tension provided by the elastic element 530 and the torque of the fifth rotating axis are equal in magnitude and opposite in direction to the gravitational torque of the wrist assembly 1120 relative to the fifth rotating axis. In some embodiments, the tension provided by the elastic element 530 relative to the torque of the fifth rotating axis can be less than the gravitational torque of the wrist assembly 1120 relative to the fifth rotating axis; for example, the tension can be 90%, 80%, or 50% of the gravitational torque, thus achieving a partial compensation effect. In some embodiments, the angle between the direction of the tension provided by the elastic element 530 and the torque of the fifth rotating axis and the gravitational torque of the wrist assembly 1120 relative to the fifth rotating axis can be less than 180 degrees and greater than 90 degrees, thus achieving a partial compensation effect.

[0170] The angle of the load center of gravity changes as the load rotates around or along the fifth axis, causing the value of sina in the formula to vary between 0 and 1. In some embodiments, the profile of the follower 510 can be designed so that its shape changes similarly to a sine function, making sina approximately equal to the profile dimension r of the follower 510, thereby determining the stiffness coefficient of the elastic element 530 and the size of h. In some embodiments, the load center of gravity corresponds to a certain angle α at each rotational position, and the radius r corresponding to the intersection of the line connecting the load center of gravity and the fifth axis at each position with the profile of the follower 510 is one-to-one, such that sina equals the radius r. In some embodiments, the angle α of the load center of gravity can be divided into multiple ranges. Within each range, α corresponds to the same radius r of the follower 510.

[0171] Figure 23 This is a schematic diagram of the balancing component structure at the wrist assembly of a master hand control device according to some embodiments of this specification. In some embodiments, a zero-free-length elastic element can be used for gravity balancing. The wrist balancing component includes an elastic element 2310, a rope 2320, and a reversing wheel 2330. One end of the elastic element 2310 is fixedly mounted to a support base 2303 in a support assembly. The other end of the elastic element 2310 is connected to one end of the rope 2320. The other end of the rope 2320 passes around the reversing wheel 2330 and is connected to a joint mechanism of the wrist assembly (e.g., a fifth pivot or a follower 2340). The balancing torque of the elastic element 2310 on the wrist pivot (i.e., the fifth pivot) at least partially balances the gravitational torque of the wrist assembly 1120 on the wrist pivot. The follower 2340 is a wheel, such as a paddle wheel or a cam. Further description of the joint structure of the wrist assembly and the fifth pivot can be found in detailed descriptions elsewhere in this application, for example, Figure 20-21 .

[0172] Figure 24 And 25 are embodiments shown in this specification. Figure 23 The diagram shows the principle of the balancing component. Figure 24 As shown in Figure 25, using a zero-free-length spring, the profile (e.g., radius) of the follower 2340 and the stiffness coefficient K of the elastic element 2310 are determined in the following manner.

[0173] The equivalent weight of the load on the fifth shaft is mg, the distance from the center of gravity of the load to the fifth shaft is L, and the angle of deviation of the center of gravity of the load is α. At this time, the radius of the interaction between the elastic element 2310 and the driven element 2340 through the rope 2320 is r, the distance from the center of the driven element 2340 to the fixed point of the elastic element 2310 and the reversing wheel 2330 is h, the free length of the elastic element 2310 is s, and the tension of the elastic element 2310 is F.

[0174] The conditions for complete weight compensation are:

[0175] mgLsina=Fr.

[0176] The tension of the elastic element 2310 can be expressed as:

[0177]

[0178] Therefore, the relationship between the radius r of the follower 2340 and other parameters K can be obtained as follows:

[0179]

[0180] By properly setting the stiffness coefficient K of the elastic element 2310 and the installation position (h) of the reversing wheel 2330, a complete compensation effect can be achieved. In some embodiments, the tension provided by the elastic element 2310 relative to the fifth rotating shaft can be less than the gravitational torque of the wrist assembly relative to the fifth rotating shaft. For example, the tension can be 90%, 80%, or 50% of the gravitational torque, thereby achieving a partial compensation effect. In some embodiments, the angle between the direction of the tension provided by the elastic element 2310 and the tension of the fifth rotating shaft and the gravitational torque of the wrist assembly 1120 relative to the fifth rotating shaft can be less than 180 degrees and greater than 90 degrees, thereby achieving a partial compensation effect.

[0181] Figure 26 This is an example diagram illustrating the workflow of a gripping device in a robot according to some embodiments of this specification. The robot may include a robotic arm, a master hand control unit, and a controller. The master hand control unit includes an arm assembly, a wrist assembly, and a gripping device 2600 disposed on the wrist assembly. The gripping device 2600 includes a gripping component 2610 and a feedback component, which may include a transmission element 2620 and a power element 2630. Further details regarding the arm assembly, wrist assembly, and gripping device 2600 can be found in detailed descriptions elsewhere in this application. For example, further description of the arm assembly can be found in... Figure 3-8 or Figure 11-25 Detailed description of the wrist assembly is provided. Further details on the wrist assembly can be found in sections 9-10. For a more detailed description of the clamping mechanism, please refer to [link / reference needed]. Figure 27-29 A detailed description.

[0182] The gripping assembly 2610 can open and close within its working range. In some embodiments, the feedback assembly can send control signals to the slave robot arm and / or provide feedback on the force state of the slave robot arm via the transmission member 2520 and the power member 2630. The slave robot arm is connected to an end effector, and the feedback assembly can feed back the force state of the end effector to the gripping assembly 2610 so that the operator can perceive the force state of the end effector. For example, when the gripping assembly 2610 is subjected to an external force (e.g., a force applied by the operator causing the gripping assembly 2610 to tend to close), this force can be transmitted to the power member 2630 via the transmission member 2620. The power member 2630 can transmit this force (e.g., torque) to the driver of the master control device via the wrist assembly and arm assembly of the master control device. The driver of the master control device (e.g., a motor) can acquire the parameter information of the force, convert the parameter information into an electrical signal, and output it to the controller. The controller can parse the corresponding parameter information from the electrical signal and control the slave robot arm to perform corresponding operations. In some embodiments, the controller can directly obtain the parameter information of the force from the power component 2630 and control the robotic arm to perform the corresponding operation.

[0183] For example, when the robotic arm drives the end effector to perform a certain operation (e.g., suturing), the controller can receive the force parameters from the robotic arm. Based on these force parameters, the controller drives the power component 2630 to rotate. In some embodiments, the controller can acquire mechanical parameters such as clamping force and lateral torque from the robotic arm via a force sensor mounted on it. The controller then controls the power component 2630 (e.g., a motor) to rotate accordingly. The rotation of the power component 2630 can be transmitted to the clamping assembly 2610 via a transmission component 2620 (e.g., by providing resistance), thus feeding back the clamping force and other parameters from the robotic arm to the clamping assembly 2610, which is directly operated by the surgeon. The clamping force and lateral torque signals detected from the robotic arm are processed and transmitted to the controller. The controller then transmits the calculated force to the driver of the master control device in the form of a command or signal. The driver of the master control device drives the power component 2630 to rotate by changing the actuation current.

[0184] In some embodiments, the clamping device 2600 may further include other power components and transmission components different from the transmission component 2620 and the power component 2630, and the clamping assembly 2610 may send control signals to the robotic arm through the other power components and transmission components.

[0185] Furthermore, the power unit 2630 and the slave robotic arm have a communication connection, which ensures the stable operation of processes such as master-slave control, posture detection, and torque feedback. For example, the power unit 2630 can directly transmit the force information of the gripping assembly 2610 to the controller; or the controller can directly send feedback information back to the power unit 2630. In some embodiments, the power unit 2630 is communicatively connected to the controller, which receives the rotation signal from the encoder in the power unit 2630, processes it, generates control commands, and sends them to the slave robotic arm, which then performs motion control according to the control commands.

[0186] In some embodiments, the feedback component can generate feedback information based on the force state of the end effector, and apply resistance to the clamping device 2600 based on the feedback information so that the operator of the clamping component 2610 can perceive the resistance, i.e., perceive the force state of the end effector. The feedback information may include the magnitude and direction of the resistance experienced by the end effector. In some embodiments, the end effector may be a scalpel; when the scalpel contacts or presses against the patient's skin, the human tissue will generate a reaction force on the scalpel, which is the resistance. In some embodiments, this resistance is detected by a sensor mounted on the end effector. Further description of the end-effector clamping device can be found in [reference needed]. Figure 26-40 A detailed description.

[0187] In some embodiments, when the gripping device controls the end effector (e.g., a puncture needle) to operate, the end effector may encounter resistance. This resistance can be fed back to the robotic arm and / or master hand control device, which can then control the feedback component to apply a resistance equivalent to the resistance to the gripping component 2610. In this way, when medical personnel perform the operation, they can sense the force state of the end effector through the resistance fed back by the feedback component, thus realistically simulating the operation of the end effector.

[0188] Figure 27-29 This is an exemplary structural schematic diagram of a clamping device according to some embodiments of this specification. The clamping device 2700 can be applied to the master hand control device described anywhere in this application (e.g., master hand control device 1100, master hand control device 300, master hand control device 200). For example, the clamping device 2700 can be mounted on the wrist assembly of the master hand control device (e.g., master hand control device 1100, master hand control device 300, master hand control device 200).

[0189] like Figure 27As shown, the clamping device 2700 includes a base 2710, a clamping assembly 2720, and a feedback assembly 2730. The base 2710 can be of various shapes and is used to provide support for other components in the clamping device 2700. In some embodiments, the base 2710 is cylindrical and has a fixing groove on one side. The clamping assembly 2720 is rotatably disposed on the base 2710 and can open and close within a working range. As described herein, the clamping assembly being able to open and close within a working range means that the clamping assembly has at least one element (e.g., two or three) that can move toward and away from a reference object under the action of an external force, thereby opening and closing within a certain range. For example, the clamping assembly may include two elements that can move toward and away from each other under the action of an external force, thereby opening and closing within a certain range. The clamping assembly 2720 can be disposed at any position, such as the end or middle of the base 2710. Figure 27 As shown, the clamping assembly 2720 is disposed in the middle of the base 2710, but the location of the clamping assembly 2720 is not limited to this. A feedback assembly 2730 is connected to the base 2710 and the clamping assembly 2720. The feedback assembly 2730 can output an adjustable rotational resistance to the clamping assembly 2720. In some embodiments, the feedback assembly 2730 can convert the rotation signal of the clamping assembly 2720 into an electrical signal output, for example, to the end effector of the robotic arm.

[0190] like Figure 28 As shown, the clamping assembly 2720 may include two finger sleeves (e.g., finger sleeves 2721a and 2721b) (also referred to as the first finger sleeve and the second finger sleeve) and two connecting plates (e.g., connecting plates 2722a and 2722b) (also referred to as the first connecting plate and the second connecting plate), with the two finger sleeves and the two connecting plates corresponding one-to-one. One end of any connecting plate is rotatably connected to the base 2710, and the other end is connected to the finger sleeve. It should be noted that... Figure 28 The number of finger sleeves and connecting plates in the clamping assembly 2720 shown is merely illustrative and does not limit the scope of protection of this application. In some embodiments, the number of finger sleeves and connecting plates may be greater than 2, for example, 3, 4, or 5. In some embodiments, the number of finger sleeves and connecting plates may be 1.

[0191] In some embodiments, any finger sleeve can be an annular component or cylindrical in shape. In some embodiments, any finger sleeve can be strip-shaped. As shown in the figure, finger sleeves 2721a and 2721b are cylindrical bodies with a circular cross-section, and the interiors of finger sleeves 2721a and 2721b are hollow and open at both ends.

[0192] The clamping assembly 2720 also includes a rotating shaft (e.g., rotating shafts 2723a and 2723b) (which may also be referred to as a first rotating shaft and a second rotating shaft). The rotating shafts are arranged in a one-to-one correspondence with the connecting plates. One end of the connecting plates 2722a and 2722b is rotatably connected to the base 2710 via rotating shafts 2723a and 2723b, respectively.

[0193] The base 2710 has a mounting hole for the rotating shaft to pass through, and the mounting hole is connected to the fixing groove. For any connecting plate, one end of the connecting plate (e.g., connecting plate 2722a or 2722b) is rotatably inserted into the fixing groove and has a fixing hole relative to one of the rotating shafts (e.g., rotating shaft 2723a or 2723b). One end of the connecting plate (e.g., connecting plate 2722a or 2722b) is fixedly sleeved on the rotating shaft (e.g., rotating shaft 2723a or 2723b) through the fixing hole, and the other end of the connecting plate is connected to the outer wall of the corresponding finger sleeve (e.g., finger sleeve 2721a or 2721b) along the axial direction.

[0194] like Figure 28 As shown, the clamping assembly 2720 contains two finger sleeves, two connecting plates, and two rotating shafts, with each finger sleeve, connecting plate, and rotating shaft corresponding to the others. It should be noted that... Figure 28 The arrangement of the connecting plate, finger sleeve, and rotating shaft is merely illustrative and does not limit the scope of this application. In some embodiments, the number of finger sleeves and connecting plates can be two or more, the number of rotating shafts can be one, multiple connecting plates can be stacked, and one end of multiple connecting plates is sleeved on the same rotating shaft through a fixing hole.

[0195] In some embodiments, the connecting plates 2722a and 2722b have a toothed structure at the rotatable connection end with the base 2710, and the two connecting plates mesh with each other and rotate synchronously.

[0196] Two connecting plates are symmetrically arranged on the base 2710.

[0197] By setting the connecting plate and the base 2710 to a toothed structure at the rotating connection end, and making the two connecting plates mesh, the linkage between the connecting plate and the finger sleeve is realized, which can open and close the two finger sleeves and prevent either of the two finger sleeves from rotating alone.

[0198] In some embodiments, the clamping assembly 2720 further includes pressure plates (e.g., pressure plates 2724a and 2724b), and the two finger sleeves are detachably connected to the connecting plate via the pressure plates.

[0199] The connecting plate is detachably connected to the finger sleeve by a pressure plate, allowing each part to be manufactured separately. The finger sleeve can be connected to the connecting plate and pressure plate through subsequent assembly.

[0200] In some embodiments, a groove is provided on a side of the pressing plate (e.g., 2724b) away from the inner wall of the finger sleeve, and the groove axially penetrates the pressing plate (e.g., 2724b) along the finger sleeve (e.g., 2721b).

[0201] Wherein, the cross-section of the inner wall of the groove can be arc-shaped, "匚"-shaped, etc.

[0202] Wherein, the pressing plate (e.g., 2724b) and the connecting plate (e.g., 2722b) can be detachably connected to the finger sleeve (e.g., 2721b) by means of a buckle, or can be threadedly connected to the finger sleeve (e.g., 2721b) by a screw. For example, as Figure 28 shown, two through holes are spaced apart on a side of any one of the two finger sleeves (e.g., 2721b) close to the other finger sleeve (e.g., 2721a). Two threaded holes are provided on the connecting plate (e.g., 2722b) corresponding to this finger sleeve opposite to the two through holes. The threaded holes and the through holes are arranged in one-to-one correspondence. Two counterbore holes are provided on the pressing plate (e.g., 2724b) corresponding to this finger sleeve opposite to the through holes. The counterbore holes and the through holes are arranged in one-to-one correspondence. The small-diameter section of the counterbore hole is closer to the inner wall of the finger sleeve (e.g., 2721b) than the large-diameter section. Each finger sleeve in the clamping assembly 2720 also corresponds to two screws (e.g., 2725). The screws and the counterbore holes are arranged in one-to-one correspondence. The threaded end of the screw can rotatably pass through the counterbore hole and the through hole and be threadedly connected to the threaded hole. The head of the connecting screw is placed inside the large-diameter section of the counterbore hole.

[0203] Further, the counterbore hole is formed by opening from the bottom inner wall of the inner wall groove of the pressing plate towards the direction of the other finger sleeve.

[0204] By providing the counterbore hole, it is avoided that a person's finger touches the connecting screw during the process of inserting the finger into the finger sleeve.

[0205] The feedback component 2730 includes a transmission member and a power member. The power member is fixed to the base 2710 and is connected to the connecting plate of the clamping component 2720 through the transmission member. In some embodiments, the number of transmission members and the number of power members in the feedback component 2730 can be equal to the number of finger sleeves (or connecting plates). In some embodiments, the number of transmission members in the feedback component 2730 can be equal to the number of finger sleeves (or connecting plates), and the number of power members in the feedback component 2730 can be less than the number of transmission members. For example, when the number of finger sleeves is 2, the number of transmission members can be 2, which are arranged in one-to-one correspondence with the finger sleeves (or connecting plates), and the number of power members is 1. In some embodiments, the number of transmission members and power members in the feedback component 2730 can be less than the number of finger sleeves (or connecting plates). For example, when the number of finger sleeves is 2, the number of transmission members is 1, and the number of power members is 1.

[0206] As Figure 28 As shown, the feedback assembly 2730 can have two transmission components and two power components, with each transmission component and power component corresponding to a finger sleeve (or connecting plate). Each transmission component and its corresponding power component can be referred to as a set of feedback components. The two sets of feedback components are respectively located at both ends of the base 2710 and are arranged symmetrically, with the output shafts of the power components in both sets of feedback components coaxially aligned.

[0207] As one possible implementation, one set of feedback components is used as an example. This set of feedback components includes a transmission component 2731 and a power component 2732 for outputting resistance to the finger sleeve 2721b or the connecting plate 2722b. The transmission component 2731 may include a first pulley 281, a second pulley 282, and a transmission belt 283. The first pulley 281 and the second pulley 282 are respectively fixed to one end of one of the connecting plates (e.g., 2722a) and the output shaft of the power component (e.g., 2732a). The first pulley 281 and the second pulley 282 are connected by the transmission belt 283.

[0208] The first pulley 281 is coaxially arranged with the rotating shaft 2723b and is fixedly sleeved on the rotating shaft 2723b. The second pulley 282 is coaxially arranged with the output shaft of the power component 2732.

[0209] By setting up a first pulley 281, a second pulley 282 and a transmission belt 283, the resistance provided by the power component (e.g., 2732) is transmitted to the rotating shaft 2723b connected to the first pulley 281 via the second pulley 282, the transmission belt 283 and the first pulley 281, and the rotating shaft 2723b transmits the resistance to the finger sleeve 2721b. The resistance can be the electromagnetic force between the output shaft of the power component 2732 and the stator. When the stator is energized, an electromagnetic force is applied to the output shaft of the power component 2732 to rotate. The electromagnetic force is opposite to the rotation direction of the output shaft of the power component 2732, forming a resistance that hinders the rotation of the shaft. The magnitude of this resistance can be changed by adjusting the energizing parameters (e.g., current, voltage). The resistance can also be generated between the second pulley 282 and the transmission belt 283. The output shaft of the power component 2732 drives the second pulley 282 to rotate, causing the second pulley 282 to slide relative to the transmission belt 283. During the sliding process, relative friction is generated. The magnitude of the friction can be adjusted by the rotational speed of the power component 2732.

[0210] The transmission belt 283 can be a synchronous belt or a wire rope. (Reference) Figure 28 The transmission belt 283 is made of steel wire rope. When the transmission belt 283 is made of steel wire rope, refer to... Figure 29 As shown, the transmission belt 283 can be similar to Figure 29The transmission belt 293 is arranged in a figure-eight shape. When the transmission belt 283 is a steel wire rope, there can be relative friction between the transmission belt 283 and the first pulley 281 and the second pulley 282. When the transmission belt 283 is a synchronous belt, there is no relative sliding between the transmission belt 283 and the first pulley 281 and the second pulley 282.

[0211] Figure 30 This is another exemplary structural schematic diagram of the clamping device shown in some embodiments of this specification. The clamping device 3000 can be applied to the master hand control device (e.g., master hand control device 300, master hand control device 200) described anywhere in this application. For example, the clamping device 3000 can be mounted on the wrist assembly of the master hand control device (e.g., master hand control device 300, master hand control device 200).

[0212] like Figure 30 As shown, the clamping device 3000 includes a base 3010, a clamping assembly 3020, and a feedback assembly 3040. The base 3010, clamping assembly 3020, and feedback assembly 3040 are the same as or similar to the base 2710, clamping assembly 2720, and feedback assembly 2730. For example, the clamping assembly 3020 includes finger sleeves (e.g., finger sleeve 3021a (also referred to as a first finger sleeve) and finger sleeve 3021b (also referred to as a second finger sleeve)), connecting plates (e.g., connecting plate 3022a (also referred to as a first connecting plate) and connecting plate 3022b (also referred to as a second connecting plate)), and rotating shafts (e.g., rotating shaft 3023a (also referred to as a first rotating shaft) and rotating shaft 3023b (also referred to as a second rotating shaft)). As another example, the feedback assembly 3040 may include a transmission component and a power component. The number of transmission components and power components may be the same as the number of finger sleeves, for example, 2. For more details on the base 3010, clamping assembly 3020, and feedback assembly 3040, please refer to [link / reference]. Figure 27-29 A detailed description.

[0213] Taking the transmission component corresponding to the finger sleeve 3021a as an example, unlike the clamping device 2700, as... Figure 30 As shown, the transmission component includes a first gear 3014 and a second gear 3015. The first gear 3014 is connected to the connecting plate 3022a. The second gear 3015 is fixedly sleeved on the output shaft of the power component 3042, and the first gear 3014 and the second gear 3015 mesh and transmit power.

[0214] The first gear 3014 is fixedly sleeved on the rotating shaft 3023a and coaxially arranged with the rotating shaft 3023a, while the second gear 3015 is coaxially arranged with the output shaft of the power component 3042.

[0215] By setting the first gear 3014 and the second gear 3015, the connection between the rotating shaft 3023a and the output shaft of the power component 3042 is realized. The resistance provided by the power component 3042 is transmitted to the rotating shaft 3023a via the first gear 3014 and the second gear 3015, and then the rotating shaft 3023a transmits the resistance to the finger sleeve 3021a.

[0216] The power component 3042 can be a motor, hydraulic motor, etc. In some embodiments, the power component 3042 is a motor containing an encoder. The encoder can convert the rotation signals of the output shaft of the power component 3042 and the rotating shaft 3023a into electrical signals for output. The motor can output an adjustable rotational resistance to the rotating shaft 3023a. The transmission component corresponding to the finger sleeve 3021b has the same or similar structure as the transmission component corresponding to the finger sleeve 3021a, and will not be described again here.

[0217] The power component 3042 in the feedback component 3040 can be fixedly connected to the base 3010 or detachably connected to the base 3010.

[0218] In some embodiments, the feedback component 3040 further includes a clamping member 3043, which is connected to the base 3010 and detachably connected to the power member 3042.

[0219] Furthermore, the clamping member 3043 includes a first clamping ring 3043a and a second clamping ring 3043b. The cross-sections of the first clamping ring 3043a and the second clamping ring 3043b are both semi-circular and are both fitted onto the outer shell of the power member 3042. One end of the first clamping ring 3043a is connected to the base 3010. The second clamping ring 3043b is disposed opposite to the first clamping ring 3043a and is threadedly connected to the first clamping ring 3043a by a screw.

[0220] In some embodiments, the first clamping ring 3043a is integrally formed with the base 3010.

[0221] By setting a first clamping ring 3043a and a second clamping ring 3043b, the second clamping ring 3043b and the first clamping ring 3043a clamp the outer shell of the power component 3042, thereby realizing the detachable connection between the power component 3042 and the base 3010, while also effectively fixing the power component 3042 to the base 3010.

[0222] Figures 31-33This is another exemplary structural schematic diagram of the clamping device shown according to some embodiments of this specification. The clamping device 3300 can be applied to the master hand control device (e.g., master hand control device 300, master hand control device 200, master hand control device 1100) described anywhere in this application. For example, the clamping device 3300 can be mounted on the wrist assembly of the master hand control device (e.g., master hand control device 300, master hand control device 200, master hand control device 1100).

[0223] like Figures 31-33 As shown, the clamping device 3300 includes a base 3310, a clamping control component 3320 (also called a clamping assembly), and a feedback component. The feedback component includes a transmission component and a power component. The transmission component consists of a set of coaxially nested rotating shafts, and the opening, closing, and rotational movements of the clamping control component 3320 are independently transmitted coaxially through the transmission component. The power component is a motor, and the transmission component is connected to the motor. The clamping control component 3320 sends control signals to the slave robot arm and / or provides feedback on the force state of the slave robot arm through the motor. It can be understood that the base 3310 is the support for the entire clamping device 3300, facilitating the assembly of various components within the clamping device 3300 and the installation of the clamping device 3300 with other mechanisms. Using a motor and a transmission component as the feedback component enables bidirectional transmission of control and feedback signals between the clamping device 3300 and the slave robot arm, offering advantages such as simple structure and stable performance.

[0224] Furthermore, the control actions of the clamping control component 3320 include opening and closing, and rotation. Opening and closing refers to the movement of the element in the clamping control component 3320 towards or away from the rotation axis of the transmission member; rotation refers to the movement of the element in the clamping control component 3320 around or with the rotation axis of the transmission member. Correspondingly, the transmission member includes a first transmission mechanism 3340 and a second transmission mechanism 3360, and the rotation axes of the first transmission mechanism 3340 and the second transmission mechanism 3360 are coaxially nested. This coaxial nesting arrangement can significantly reduce the volume of the clamping device 3300. Furthermore, the feedback component also includes a first motor 3330 and a second motor 3350. Corresponding to the transmission mechanism, the first motor 3330 is connected to the first transmission mechanism 3340, and the second motor 3350 is connected to the second transmission mechanism 3360. The clamping control component 3320 is the part directly operated by the surgeon during minimally invasive surgery. The clamping control component 3320 is movably mounted on the base 3310 and can open and close within its working range. During the opening and closing process, the corresponding opening and closing action is controlled by the robotic arm. It can be understood that the working range of the clamping control component 3320 refers to its limit of opening and closing (i.e., maximum opening and closing degree). In some embodiments, the working range of the clamping control component 3320 is between 0° and 90°. In some embodiments, the working range of the clamping control component 3320 is between 0° and 180°. In some embodiments, the working range of the clamping control component 3320 is between 0° and 360°.

[0225] like Figures 31-32As shown, the first motor 3330 is fixedly mounted on the base 3310. The first motor 3330 and the clamping control component 3320 are connected via a first transmission mechanism 3340. The first motor 3330 can also be connected to the slave robotic arm. In some embodiments, the first motor 3330 and the first transmission mechanism 3340 transmit the force applied to the clamping control component 3320 (e.g., the force that causes the clamping control component 3320 to open or close) to the slave robotic arm, thereby controlling the slave robotic arm to perform corresponding operations. When the clamping control component 3320 opens or closes within its working range, it drives the first motor 3330 to rotate forward or reverse via the first transmission mechanism 3340, thereby controlling the slave robotic arm to perform the corresponding opening and closing action. In some embodiments, the first motor 3330 and the first transmission mechanism 3340 feed back mechanical parameters such as the clamping force of the slave robotic arm to the clamping control component 3320, which is directly operated by the surgeon. For example, the first motor 3330 can generate a corresponding clamping torque based on the clamping force from the robotic arm. When the first motor 3330 outputs the corresponding clamping torque, it drives the clamping control component 3320 to generate an opening or closing tendency through the first transmission mechanism 3340. When the clamping control component 3320 generates an opening or closing tendency, the surgeon can directly feel the mechanical parameters such as the clamping force from the robotic arm. At this time, the surgeon continues to control the normal clamping of the robotic arm through the master hand control device 3300.

[0226] During surgery, the robotic arm not only exerts a clamping force on the end effector (e.g., surgical instruments), but also generates lateral torque as it rotates or touches the patient's tissues and organs. The surgeon's accurate perception of the lateral torque experienced by the robotic arm during its rotation or contact with tissues and organs helps the surgeon maintain control over the entire surgical procedure and its details. In some embodiments, the second motor 3350 and the second transmission mechanism 3360 transmit the force exerted on the clamping control component 3320 (e.g., the force that causes the clamping control component 3320 to rotate) to the robotic arm, thereby controlling the robotic arm to perform corresponding operations. Furthermore, the clamping control component 3320 is rotatable within its working range. The second motor 3350 is connected to the clamping sleeve 3321 in the clamping control component 3320 via the second transmission mechanism 3360, and the second motor 3350 is connected to the robotic arm. When the clamping control component 3320 rotates within its working range, it drives the second motor 3350 to rotate forward or backward via the second transmission mechanism 3360, thereby controlling the robotic arm to perform corresponding opening and closing actions. In some embodiments, the second motor 3350 and the second transmission mechanism 3360 function to feed back mechanical parameters such as the clamping force of the robotic arm to the clamping control component 3320, which is directly operated by the surgeon. For example, the second motor 3350 can output a rotational torque based on the lateral torque received by the robotic arm during surgery. The second motor 3350 drives the two clamping plates 3322 to rotate via the second transmission mechanism 3360 and the clamping sleeve 3321. The surgeon can directly feel the rotational trend of the robotic arm. Integrating the first motor 3330, the first transmission mechanism 3340, the second motor 3350, and the second transmission mechanism 3360 onto the base 3310 makes the clamping device 3300 more compact.

[0227] The aforementioned clamping device 3300, through the first motor 3330, the first transmission mechanism 3340, the second motor 3350, and the second transmission mechanism 3360, can respectively feed back the clamping force and lateral torque of the robotic arm to the clamping control component 3320. This allows the surgeon to accurately perceive the magnitude of the clamping force and lateral torque from the robotic arm. By observing changes in the clamping force and lateral torque, the surgeon can determine the execution status of the surgery, facilitating adjustments to the clamping force and lateral torque applied via the main control device 3300. This results in more efficient surgical procedures and a more realistic surgical experience, while ensuring that the components within the robotic arm operate within normal load limits, thus extending the lifespan of the minimally invasive surgical robot.

[0228] The first transmission mechanism 3340 is a key structure for realizing the transmission connection between the clamping control component 3320 and the first motor 3330. The first transmission mechanism 3340 can transmit the opening and closing actions of the clamping control component 3320 to the first motor 3330, thereby driving the first motor 3330 to rotate accordingly. It can also transmit the torque output by the first motor 3330 based on mechanical parameters such as the clamping force from the robotic arm to the clamping control component 3320, thereby causing the clamping control component 3320 to tend to open or close, facilitating accurate perception of the clamping force from the robotic arm by medical personnel. Optionally, the clamping control component 3320 can output linear motion, oscillation, or rotation during the opening and closing process. Correspondingly, the first transmission mechanism 3340 can convert the linear motion, oscillation, or rotation output by the clamping control component 3320 into rotation of the first motor 3330, and simultaneously convert the rotation of the first motor 3330 into linear motion, oscillation, or rotation output by the clamping control component 3320.

[0229] like Figures 31-33 As shown, the clamping control component 3320 can output linear motion during opening and closing. Correspondingly, the first transmission mechanism 3340 includes a linear part and a rotating part. The linear part is movably disposed on the base 3310 and can perform linear motion relative to the base 3310. The rotating part is rotatably disposed on the base 3310. The linear part and the rotating part are connected by transmission. When the linear part moves, it drives the rotating part to rotate, and when the rotating part rotates, it drives the linear part to move. The clamping control component 3320 is connected to the linear part. When the clamping control component 3320 opens and closes within its working range, it drives the linear part to move. The rotating part is connected by transmission to the first motor 3330. The first transmission mechanism 3340, including the linear part and the rotating part, not only has stable transmission performance but also allows for flexible arrangement of various parts within the clamping device 3300, thereby optimizing the overall structure of the clamping device 3300. In other embodiments of the present invention, the clamping control component 3320 can output a swing during the opening and closing process. Correspondingly, the linear part in the above embodiment can be replaced with a swing part, as long as the transmission connection between the clamping control component 3320 and the first motor 3330 can be realized.

[0230] like Figures 31-33As shown, the rotating part of the first transmission mechanism 3340 includes a first shaft 3342, which is rotatably mounted on the base 3310 and is connected to the first motor 3330. The first shaft 3342 has a threaded section, and the straight part includes a nut 3341, which is fitted onto the threaded section of the first shaft 3342. When the nut 3341 moves axially along the first shaft 3342, it drives the first shaft 3342 to rotate. When the first shaft 3342 rotates, it drives the nut 3341 to move axially along the first shaft 3342. The nut 3341 is connected to the clamping control assembly 3320. The nut 3341 and the first shaft 3342 are mutually driven by a threaded connection, which has the advantages of stable performance, simple structure, and easy maintenance. In one possible implementation, the first shaft 3342 is rotatably mounted on the base 3310 via the first bearing 3380; the nut 3341 and the clamping control assembly 3320 are fixed relative to each other along the circumferential direction of rotation of the first shaft 3342. In some embodiments, the first transmission mechanism 3340 may also be a gear and rack combination, with the gear being connected to the first motor 3330 for transmission, and the rack being connected to the clamping control assembly 3320, with the gear and rack meshing with each other.

[0231] In some embodiments, the first shaft 3342 and the first motor 3330 are connected by a coupling, gear set, chain drive, or belt drive. In some embodiments, such as... Figures 31-33 As shown, the first transmission mechanism 3340 also includes a gear set 3343 (also referred to as a first gear set) (e.g., a bevel gear set). The first shaft 3342 and the first motor 3330 are connected via the gear set 3343. The mounting axis of the first motor 3330 is perpendicular to the extension direction of the first shaft 3342. The gear set 3343 can prevent the clamping device 3300 from being too large along the extension direction of the first shaft 3342, or the gear set 3343 can prevent the clamping device 3300 from being too large along the mounting axis of the first motor 3330, thus balancing the overall size of the clamping device 3300. As one possible implementation, an encoder (also referred to as a first encoder) is installed on the first motor 3330. The encoder can detect the rotation angle of the first shaft 3342. The encoder can be electrically connected to the robotic arm, and the robotic arm can perform corresponding actions based on the data detected by the encoder.

[0232] The clamping control component 3320 is the part directly operated by the surgeon. For example, the clamping control component 3320 can be directly operated by the surgeon's hand or can be operated in conjunction with other parts of the surgeon's body (such as foot). Some embodiments of the present invention provide a clamping control component 3320 that is directly operated by the surgeon's hand. Figures 31-33As shown, the clamping control assembly 3320 includes a clamping sleeve 3321, two clamping plates 3322 and two clamping links 3323. The clamping sleeve 3321 is disposed on the base 3310, and one end of each of the two clamping plates 3322 is movably connected (e.g., hinged) to the clamping sleeve 3321. One end of each of the two clamping links 3323 is movably connected (e.g., hinged) to one of the two clamping plates 3322, and the other end of each of the two clamping links 3323 is hinged to one of the two nuts 3341. When the two clamping plates 3322 open and close within their working range, they drive the nut 3341 to move linearly along the axial direction of the first shaft 3342, thereby driving the first motor 3330 to rotate. Correspondingly, when the first motor 3330 outputs a corresponding torque according to the mechanical parameters from the robotic arm, it can also drive the two clamping plates 3322 to generate an opening or closing tendency through the first transmission mechanism 3340, thereby transmitting the clamping force from the robotic arm to the medical personnel operating the clamping plates 3322.

[0233] In some embodiments, the clamping control assembly 3320 further includes at least two clamping finger sleeves (not shown in the figure), which are respectively disposed on two clamping plates 3322. The clamping finger sleeves allow the surgeon to operate the two clamping plates 3322 more stably with their fingers. In some embodiments, the surgeon inserts their thumb and forefinger into the two clamping finger sleeves to control the opening and closing of the two clamping plates 3322. In some embodiments, one end of the clamping sleeve 3321 is disposed on the base 3310, and one end of each of the two clamping plates 3322 is hinged to the other end of the clamping sleeve 3321. The clamping sleeve 3321 has a hollow structure, with one end of the first shaft 3342 cooperating with the nut 3341 passing through the clamping sleeve 3321, and the other end of the first shaft 3342 being drivenly connected to the first motor 3330. The hollow clamping sleeve 3321, which can accommodate the first shaft 3342 and the nut 3341, can effectively reduce the overall size of the clamping device 3300 while ensuring its own structural strength.

[0234] like Figures 31-33 As shown, the clamping sleeve 3321 is rotatably mounted on the base 3310 with its own axis as the center. The two clamping plates 3322 can drive the clamping sleeve 3321 to rotate under the operation of medical personnel (such as the surgeon). At the same time, when the two clamping plates 3322 rotate under the operation of the surgeon, they can also drive the second motor 3350 to rotate accordingly.

[0235] For example, the clamping sleeve 3321 is rotatably mounted on the base 3310 via the bushing 3385, and the first shaft 3342 is mounted on the side of the clamping sleeve 3321 away from the bushing 3385 via the first bearing 3380. This achieves rotational support for the first shaft 3342 while preventing the clamping sleeve 3321 from rotating and causing the first shaft 3342 to rotate, thereby ensuring the accuracy of the clamping force and rotational force feedback process.

[0236] like Figures 32-33 As shown, the second transmission mechanism 3360 includes a second shaft 3361 and a gear set 3362 (i.e., a second gear set). One end of the second shaft 3361 is fixedly mounted on the clamping sleeve 3321, and the second shaft 3361 and the clamping sleeve 3321 rotate coaxially. The other end of the second shaft 3361 is rotatably mounted on the base 3310. The second shaft 3361 is connected to the second motor 3350 via the gear set 3362, and the mounting axis of the second motor 3350 is perpendicular to the extension direction of the second shaft 3361. The gear set 3362 can prevent the clamping device 3300 from being too large along the extension direction of the second shaft 3361, or the gear set 3362 can prevent the clamping device 3300 from being too large along the mounting axis of the second motor 3350, thus balancing the overall size of the clamping device 3300. As one possible implementation, the second motor 3350 and the first motor 3330 are mounted side by side. Furthermore, one end of the second shaft 3361 is fixedly connected to one end of the clamping sleeve 3321. The first shaft 3342 has a hollow structure and is sleeved on the second shaft 3361. The first shaft 3342 is fixed relative to the base 3310 along its own axial direction (for example, through the first bearing 3380). The nested structure of the second shaft 3361, the first shaft 3342, the clamping sleeve 3321, and the base 3310 from the inside out is more compact. As one possible approach, the clamping sleeve 3321 is integrally formed with the second shaft 3361.

[0237] like Figure 32As shown, an encoder 3370 (also called a second encoder) is rotatably mounted on one end of the base 3310, rotatably mounted on the second shaft 3361. The encoder 3370 can detect the rotation angle of the second shaft 3361. The encoder 3370 can be connected to the slave robot arm, which can perform corresponding rotational actions based on the data detected by the encoder 3370. Alternatively, the encoder 3370 can also be mounted on the second motor 3350. It should be noted that when the clamping control component 3320 rotates around the shaft, it will drive the nut 3341 to rotate around the first shaft 3342, thereby driving the rotation of the first shaft 3342 and changing the clamping state of the slave robot arm. To maintain the gripping state from the robotic arm, one possible approach is for the first motor 3330 to compensate for the gripping state from the robotic arm based on the rotation angle of the gripping control component 3320 around its axis. Alternatively, the nut 3341 includes an outer nut layer and an inner nut layer. The inner nut layer is fitted onto the threaded section of the first shaft 3342. The outer nut layer and the gripping piece 3322 are hinged. The outer and inner nut layers are relatively fixed along the extension direction of the first shaft 3342. The outer nut layer can move relative to the inner nut layer in the circumferential direction of the rotation of the first shaft 3342 (e.g., the outer and inner nut layers form a bearing structure), thereby directly preventing the rotation of the gripping control component 3320 from driving the first shaft 3342 and the first motor 3330, thus maintaining the gripping state from the robotic arm.

[0238] In some embodiments, the base 3310 is a hollow housing, and the first motor 3330, the second motor 3350, the gear set 3343, the gear set 3362, a portion of the first shaft 3342 and a portion of the second shaft 3361 are respectively housed in the base 3310.

[0239] like Figures 32-33As shown, the transmission connection between the first transmission mechanism 3340 and the first motor 3330, and the transmission connection between the second transmission mechanism 3360 and the second motor 3350, can be achieved using gear sets (e.g., bevel gear sets), worm gear sets, or spur gear sets, in addition to gear sets. Using different gear sets results in different mounting positions of the first motor 3330 and the second motor 3350 in the base 3310. The mounting positions of the two motors only need to be adjusted according to the selected transmission method. The purpose of using different types of gear sets is to adjust or rationally arrange the mounting positions of the first motor 3330 and the second motor 3350 in the base 3310. Furthermore, in another embodiment, the transmission connection between the first transmission mechanism 3340 and the first motor 3330, and the transmission connection between the second transmission mechanism 3360 and the second motor 3350, can employ flexible transmission shafts, such as steel wire flexible shafts. In some embodiments, the transmission connection between the first transmission mechanism 3340 and the first motor 3330, and the transmission connection between the second transmission mechanism 3360 and the second motor 3350, may be the same or different.

[0240] like Figures 32-33 As shown, two clamping plates 3322 are hinged to the clamping sleeve 3321 and can rotate around the hinged holes. The two clamping plates 3322 can open and close under the operator's finger. One end of each of the two clamping links 3323 is hinged to the middle of one of the clamping plates 3322, and the other end is hinged to a nut 3341. The nut 3341 is coupled to the threaded portion of the first shaft 3342, enabling a screwing motion. The second shaft 3361 is integrally formed with the clamping sleeve 3321, and the first shaft 3342 is fitted onto the second shaft 3361, allowing it to rotate around the second shaft 3361. Thus, the opening and closing action of the two clamping plates 3322 drives the nut 3341 to move back and forth on the first shaft 3342 through the two clamping links 3323, thereby causing the first shaft 3342 to rotate. The first shaft 3342 is connected to the output shaft of the first motor 3330 via a gear set 3343, and the first motor 3330 is fixed on the base 3310. Thus, rotation of the first shaft 3342, through the meshing of the gear set 3343, drives the first motor 3330 to rotate. Similarly, rotation of the first motor 3330, through the meshing of the gear set 3343, drives the first shaft 3342 to rotate, causing the nut 3341 to move back and forth on the first shaft 3342, thereby driving the hinged clamping plate 3322 to open and close.

[0241] Furthermore, such as Figures 32-33As shown, the inner ring of one end of the clamping sleeve 3321 mates with the first bearing 3380, and the outer ring mates with the bushing 3385. The end of the second shaft 3361 away from the clamping sleeve 3321 mates with the second bearing 3390, and the outer ring of the second bearing 3390 mates with the base 3310. This allows the clamping sleeve 3321 to rotate around the axis of the base 3310 (i.e., the first or second shaft). The second shaft 3361 is connected to the second motor 3350 via a gear set 3362. The rotational motion of the clamping sleeve 3321 around its axis can be transmitted to the second motor 3350 via the second shaft 3361 and the gear set 3362, and the rotation of the second motor 3350 can also be transmitted to the clamping sleeve 3321 via the gear set 3362 and the second shaft 3361, causing it to rotate around its axis. The encoder 3370 is fixed to the base 3310, and its inner ring is fixed to the first shaft 3342, enabling it to detect the rotation angle of the first shaft 3342 (clamping sleeve 3321) on the base 3310. In pose detection mode, the opening and closing motion of the two clamping plates 3322 is transmitted to the rotational motion of the first motor 3330 and detected by the encoder integrated with the first motor 3330. The rotational motion of the clamping sleeve 3321 can be detected by the encoder 3370, which cooperates with the first shaft 3342, to detect its rotation angle. In force feedback mode, the first motor 3330 outputs the required torque in torque mode and feeds it back to at least one of the two clamping plates 3322 through the first transmission mechanism 3340. The second motor 3350 outputs the required torque in torque mode and feeds it back to at least one of the two clamping plates 3322 through the second transmission mechanism 3360.

[0242] The above description is merely illustrative. Obviously, for those skilled in the art, the detailed disclosure above is only an example and does not constitute a limitation of this specification. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are suggested in this specification, and therefore remain within the spirit and scope of the exemplary embodiments of this specification. For example, the number of clamping pieces in the clamping device 3300 may be greater than two.

[0243] Figure 34 This is an exemplary structural diagram of the wrist assembly of a clamping device according to some embodiments of this specification. Figure 34 As shown, the master control device can connect to the slave robotic arm and thus control the slave robotic arm to perform minimally invasive surgery. Figure 34 As shown, the master hand control device includes a wrist assembly 3400 and a clamping device 3450. The clamping device 3450 can be a clamping device as described elsewhere in this application (e.g., clamping device 3600, clamping device 3300, clamping device 3000, clamping device 2700). The clamping device is disposed on the wrist assembly 3400. Figure 34 As shown, the wrist assembly 3400 may include multiple pivots (such as...) Figure 34 (As shown by the dashed line), multiple axes of rotation intersect at a point, and the wrist assembly 3400 can have multiple degrees of freedom, for example, including at least three degrees of freedom. Figure 34 The first rotation axis J70, the second rotation axis J60, and the third rotation axis J50 are the rotation axes of three rotary joints, also known as joint mechanisms (e.g., the first rotary joint 3420, the second rotary joint 3430, and the third rotary joint 3440), which intersect at a point. The clamping device 3300 can be mounted on the first rotary joint 3420 and can rotate around the J70 axis.

[0244] Figure 35 This is an exemplary structural diagram of a master hand control device according to some embodiments of this specification. Figure 35 The diagram shows a typical serial master hand control device 3500 with multiple degrees of freedom. Three degrees of freedom are used for position information detection, three for posture information detection, and one for gripping motion detection. The master hand control device 3500 may include an arm assembly 3510, a wrist assembly 3520, and a gripping device 3530. The gripping device 3530 may be any gripping device as shown elsewhere in this application (e.g., gripping device 2700, gripping device 3000, gripping device 3300, gripping device 3600). The arm assembly 3510 may be any arm assembly as shown elsewhere in this application (e.g., arm assembly 310, arm assembly 1100, etc.). The wrist assembly 3520 may be any wrist assembly as shown elsewhere in this application (e.g., wrist assembly 320, wrist assembly 1120, wrist assembly 900, etc.).

[0245] Figure 36-40 This is another exemplary structural schematic diagram of a clamping device shown according to some embodiments of this specification. The clamping device 3600 may be able to receive the interaction force from the robotic arm and the end effector (e.g., a surgical instrument) and / or be able to provide feedback to the operator on the clamping force from the robotic arm on the end effector (e.g., a surgical instrument). Specifically, as... Figure 36-40As shown, the clamping device 3600 includes a base 3610, a clamping assembly 3620, and a feedback assembly. The feedback assembly may include a transmission component 3630 and a power component 3640. The base 3610 is the supporting structure for the entire clamping device 3600. The clamping assembly 3620, transmission component 3630, and power component 3640 are respectively mounted on the base 3610 and form a certain positional relationship. The clamping assembly 3620 is movably disposed on the base 3610 and can open and close within its working range, for example, driven by a doctor's two fingers. The transmission component 3630 is rotatably disposed on the base 3610 and is drively connected to the clamping assembly 3620. The transmission component 3630 is the transmission structure between the clamping assembly 3620 and the power component 3640. The power component 3640 is fixedly mounted on the base 3610. The power component 3640 is connected to the transmission component 3630. The power component 3640 can also be connected to the slave robotic arm. When the power component 3640 moves, it can drive the slave robotic arm to perform the corresponding loosening or clamping action.

[0246] In some embodiments, the clamping assembly 3620 opens and closes within its working range, driving the power component 3640 via the transmission component 3630, thereby controlling the robotic arm to perform corresponding opening and closing actions. In some embodiments, the power component 3640 generates a corresponding clamping torque based on the clamping force from the robotic arm, outputs the corresponding clamping torque, and drives the clamping assembly 3620 to exhibit an opening or closing tendency via the transmission component 3630. This achieves feedback of the clamping force from the robotic arm to the clamping device 3600, allowing the surgeon to intuitively perceive the current clamping force of the robotic arm on the surgical instrument. The clamping assembly 3620, the transmission component 3630, and the power component 3640 are sequentially connected, and the power component 3640 and the transmission component 3630 can feed back the clamping force from the robotic arm to the clamping assembly 3620, enabling the surgeon to accurately perceive the magnitude of the clamping force from the robotic arm. Doctors can judge the execution status of the surgery by observing changes in the clamping force, which allows them to adjust the clamping force applied by the main hand control device 3600 at any time, thereby performing surgical actions more efficiently and providing a more realistic surgical experience. At the same time, it ensures that the components inside the robotic arm work within normal loads, which helps to extend the service life of the surgical robot.

[0247] The sequential transmission connection of the clamping assembly 3620, the transmission component 3630, and the power component 3640 is a prerequisite for ensuring that the clamping device 3600 controls the movement of the robotic arm, and also ensures that the clamping force is fed back from the robotic arm to the clamping device 3600. Optionally, the clamping assembly 3620, the transmission component 3630, and the power component 3640 can be designed according to the actual working conditions. For example, the clamping assembly 3620, the transmission component 3630, and the power component 3640 can be arranged sequentially along a straight line, or along a broken line / arc, or the transmission component 3630 and the power component 3640 can be respectively located at both ends of the clamping assembly 3620. The following embodiments are only illustrated by the example of "the transmission component 3630 and the power component 3640 being spaced apart on the base 3610, and the clamping assembly 3620 being disposed between the transmission component 3630 and the power component 3640"; it is understood that other types of arrangements can be reasonably modified based on the following embodiments.

[0248] The clamping component 3620 is the part directly operated by the doctor and also the structure that provides feedback on the clamping force to the doctor. For example... Figure 37-40 As shown, the clamping assembly 3620 includes a first connecting plate 3621, a second connecting plate 3622, a first finger sleeve 3623, and a second finger sleeve 3624. The first connecting plate 3621 and the second connecting plate 3622 are rotatably mounted on the base 3610. The first finger sleeve 3623 and the second finger sleeve 3624 are respectively mounted on the first connecting plate 3621 and the second connecting plate 3622. The first finger sleeve 3623 and the second finger sleeve 3624 allow the doctor to insert two fingers, such as the doctor's thumb and index / middle finger. When the doctor's two fingers open or close, the first connecting plate 3621 and the second connecting plate 3622 correspondingly perform the opening or closing action. Furthermore, the rotational opening or closing of the first connecting plate 3621 and the second connecting plate 3622 better adapts to the doctor's finger movements. Furthermore, the first connecting plate 3621 of the two connecting plates is connected to the transmission component 3630. The first connecting plate 3621 and the second connecting plate 3622 rotate synchronously with the same angle but opposite directions, thereby ensuring a stable relative positional relationship between the first connecting plate 3621 and the second connecting plate 3622. In other embodiments, the clamping assembly 3620 may consist of only a connecting plate rotatably mounted on the base 3610. The rotation direction and rotation angle of the connecting plate under external force drive correspond to the opening and closing state and degree of opening and closing of the robotic arm.

[0249] In some embodiments, a transmission structure is provided between the first connecting plate 3621 and the second connecting plate 3622 to ensure a relatively stable positional relationship between them. For example... Figure 38As shown in Figure 36, one end of the first connecting plate 3621 and one end of the second connecting plate 3622 are rotatably mounted on the base 3610. The end of the first connecting plate 3621 near the rotation center (i.e., the position where the first connecting plate 3621 and the second connecting plate 3622 are located on the base 3610) and the end of the second connecting plate 3622 near the rotation center are coupled via tooth surfaces. In some embodiments, the tooth module ratio of the tooth surface coupling between the first connecting plate 3621 and the second connecting plate 3622 is 1:1, thereby enabling symmetrical motion. In some embodiments, the first connecting plate 3621 and the second connecting plate 3622 can also be used as adjacent edges to form a parallel four-bar linkage. This is as long as a relatively stable positional relationship between the first connecting plate 3621 and the second connecting plate 3622 can be maintained.

[0250] In some embodiments, the clamping assembly 3620 and the transmission member 3630, as well as the transmission member 3630 and the power member 3640, are connected by means of rope drive, gear drive, chain drive, belt drive, or threaded drive. In some embodiments, such as Figure 37-40 As shown, the end of the first connecting plate 3621 furthest from the rotation center is provided with an arc segment 3625 that curves towards the rotation center or the second connecting plate 3622. The arc segment 3625 is connected to the transmission component 3630 via a rope transmission. The arc segment 3625 ensures that the first connecting plate 3621 avoids collision or contact with the transmission component 3630 during rotation, thus ensuring the smooth opening and closing of the first connecting plate 3621 and the second connecting plate 3622. As one feasible method, a first stud 3626 is provided on the arc segment 3625 to pre-tension the transmission rope, thereby ensuring a stable transmission relationship between the first connecting plate 3621 and the transmission component 3630.

[0251] In some embodiments, such as Figure 37-40 As shown, the transmission component 3630 includes an intermediate wheel 3632 and a drive wheel 3642. The intermediate wheel 3632 is rotatably mounted on the base 3610 and is drive-connected to the clamping assembly 3620. The drive wheel 3642 is fixedly connected to the output shaft of the power component 3640. The intermediate wheel 3632 and the drive wheel 3642 are drive-connected. In some embodiments, the transmission ratio between the intermediate wheel and the drive wheel is less than 1, thereby allowing force feedback to be achieved using a smaller power component 3640 (such as a motor). In some embodiments, the ratio of the radii of the intermediate wheel and the drive wheel is between 1.5 and 3, correspondingly, the transmission ratio between the intermediate wheel and the drive wheel is approximately between 0.3 and 0.7.

[0252] In some embodiments, the transmission component 3630 includes a transmission shaft 3631 and an intermediate pulley 3632. The transmission shaft 3631 is rotatably mounted on the base 3610, and the intermediate pulley 3632 is fixedly mounted on the transmission shaft 3631. A threaded groove 3633 is provided on the transmission shaft 3631, allowing the transmission rope to wind around. The transmission shaft 3631 is connected to the clamping assembly 3620 via the threaded groove 3633 in a rope-driven manner. Specifically, a first rope 3650 is used to achieve transmission between the arc segment 3625 on the first connecting plate 3621 and the threaded groove 3633 of the transmission shaft 3631. One end of the first rope 3650 is first fixed to one end of the arc segment 3625, and then the other end of the first rope 3650 is wrapped around the threaded groove 3633 multiple times and fixed to the other end of the arc segment 3625. A first stud 3626 is used to pre-tighten the first rope 3650. Wire rope transmission has the advantages of stability, precision, compact structure, and small size. It should be noted that the transmission component 3630 is connected to the power component 3640 via the intermediate wheel 3632.

[0253] An intermediate wheel 3632 is fixedly mounted at one end of the drive shaft 3631. The transmission component 3630 also includes a first position sensor 3635, which is located at the other end of the drive shaft 3631 away from the intermediate wheel 3632. The first position sensor 3635 is used to detect the rotation angle of the drive shaft 3631 and can be connected to the controller in the surgical robot. As one possible implementation, a magnetic encoder is used as the first position sensor 3635. The magnet is fixed to the end of the drive shaft 3631 away from the intermediate wheel 3632 and can rotate with it. The encoder chip is fixed to an encoder mounting base, which is fixed to the base 3610.

[0254] The power unit 3640 is connected to the slave robotic arm, and can drive the slave robotic arm to perform opening or closing movements. The power unit 3640 can also feed back the gripping force of the slave robotic arm to the gripping assembly 3620 via the transmission component 3630. Optionally, the power unit 3640 can be electric, hydraulic, or pneumatic. The power unit 3640 includes a motor 3641, which is fixedly mounted on the base 3610, and a drive wheel 3642 is fixedly mounted on the shaft of the motor 3641. The drive wheel 3642 is connected to the transmission component 3630 via a rope drive. The motor 3641 can also be connected to the slave robotic arm. The motor 3641 has the advantages of precise movement and compact structure. As one possible approach, the drive wheel 3642 and the intermediate wheel 3632 are connected by a second rope 3660, and a second stud 3634 is installed on the intermediate wheel 3632 or the drive wheel 3642 to ensure the precise transmission of the second rope 3660.

[0255] In some embodiments, the housing of the motor 3641 is fixedly mounted on the base 3610, and the housing of the motor 3641 is embedded within the base 3610, which further makes the overall structure of the clamping device 3600 more compact. Furthermore, the power component 3640 also includes a second position sensor, which is disposed on the rotating shaft of the motor 3641 and can be connected to a controller in the surgical robot. For example, a relative encoder can be installed at the end of the motor 3641 to improve motion control. The combined use of the first position sensor 3635 and the second position sensor enhances the safety of the clamping device 3600. Under a set transmission relationship, the detection data of the first position sensor 3635 and the second position sensor are related; when the detection data of the first position sensor 3635 and the second position sensor deviate from the set relationship, it is considered that the transmission between the power component 3640 and the intermediate wheel 3632 is abnormal. The clamping device 3600 can adaptively adjust, stop, or issue an alarm. In some embodiments, the motor 3641 is mounted on the base 3610 via a bracket or support block.

[0256] In the above embodiment, the clamping device 3600 is driven by a two-stage steel wire rope. The opening and closing motion of the clamping plates is transmitted to the rotational motion of the intermediate wheel 3632, which in turn is transmitted to the drive wheel 3642, and then to the shaft of the motor 3641. Similarly, in force feedback mode, the torque generated by the motor 3641 is transmitted through the motor shaft to the drive wheel 3642, then to the intermediate wheel 3632, and finally to the two clamping plates. Since the two clamping plates are coupled by gears, the feedback force applied by the motor 3641 can be evenly distributed to the two clamping plates, so that the operator's two fingers can feel the applied feedback force. In actual operation, the transmission ratio can be adjusted by adjusting the dimensions of the intermediate wheel 3632, the drive wheel 3642, and the arc of the arc segment 3625, thereby adjusting the range of force feedback from the motor 3641. The clamping force and the feedback force are transmitted through the transmission component 3630, while the force feedback device controls the rotation of the motor 3641, thus ensuring that the clamping force and the feedback force applied by the fingers are accurate.

[0257] The clamping device in the above embodiments can be used in the master control device. The clamping component 3620, transmission component 3630, and power component 3640 are sequentially connected. Through the power component 3640 and transmission component 3630, the clamping force from the robotic arm can be fed back to the clamping component 3620, allowing the surgeon to accurately perceive the magnitude of the clamping force from the robotic arm. The surgeon can judge the execution status of the surgery by observing the changes in the clamping force, making it convenient for the surgeon to adjust the clamping force applied by the master control device 3600 at any time, thereby performing surgical actions more efficiently and providing a more realistic surgical experience. At the same time, it ensures that the components inside the robotic arm operate within normal loads, which helps to extend the service life of the surgical robot.

[0258] The basic concepts have been described above. Obviously, for those skilled in the art, the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are suggested in this specification and therefore remain within the spirit and scope of the exemplary embodiments described herein.

[0259] Furthermore, this specification uses specific terms to describe embodiments thereof. For example, "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. Moreover, certain features, structures, or characteristics in one or more embodiments of this specification can be appropriately combined.

[0260] Furthermore, unless expressly stated in the claims, the order of processing elements and sequences, the use of numbers and letters, or other names described in this specification are not intended to limit the order of the processes and methods described herein. Although various examples have been discussed in the foregoing disclosure of embodiments that are currently considered useful, it should be understood that such details are for illustrative purposes only, and the appended claims are not limited to the disclosed embodiments; rather, the claims are intended to cover all modifications and equivalent combinations that conform to the substance and scope of the embodiments described herein. For example, while the system components described above can be implemented using hardware devices, they can also be implemented solely using software solutions, such as installing the described system on existing servers or mobile devices.

[0261] Similarly, it should be noted that, in order to simplify the descriptions disclosed herein and thus aid in the understanding of one or more embodiments, the foregoing description of embodiments in this specification sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this method of disclosure does not imply that the subject matter of this specification requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of the single embodiments disclosed above.

[0262] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this specification are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0263] For each patent, patent application, patent application publication, and other material, such as articles, books, specifications, publications, and documents, referenced in this specification, the entire contents of which are incorporated herein by reference. This excludes historical application documents that are inconsistent with or conflict with the content of this specification, as well as documents that limit the broadest scope of the claims in this specification (currently or subsequently appended to this specification). It should be noted that in the event of any inconsistency or conflict between the descriptions, definitions, and / or terminology used in the supplementary materials to this specification and the content of this specification, the descriptions, definitions, and / or terminology used in this specification shall prevail.

[0264] 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. A master hand control device, wherein, include: An arm assembly having at least one arm joint mechanism; A wrist assembly, movably connected to the arm assembly, allows an operator to perform corresponding operations, wherein the wrist assembly includes at least one wrist joint mechanism; and A support assembly for providing support for at least one element of the arm assembly and the wrist assembly. The braking assembly includes a brake controller and a brake, wherein, The at least one wrist joint mechanism includes a fourth joint mechanism connected to the arm assembly, and the fourth axis of rotation corresponding to the fourth joint mechanism is parallel to the direction of gravity of the wrist assembly. The brake is connected to the fourth rotating shaft, and the brake controller is used to control the operation of the fourth joint mechanism through the brake; The brake's operating states include an open state and a closed state. The open state corresponds to the locking state of the fourth joint mechanism, and the closed state corresponds to the releasing state of the fourth joint mechanism. The brake controller is used for: In response to determining that the wrist assembly satisfies a first condition, a closing command is generated and sent to the brake, the closing command indicating that the brake is in the closed state; In response to determining that the wrist assembly meets the second condition, a disconnect command is generated and sent to the brake, the disconnect command indicating that the brake is in the disconnected state. The at least one wrist joint mechanism further includes a sixth joint mechanism, wherein the sixth pivot axis corresponding to the sixth joint mechanism is parallel to the direction of gravity of the wrist assembly, the first condition includes that the distance between the sixth pivot axis and the first limit or the second limit is less than a first threshold, the second condition includes that the distance between the sixth pivot axis and the first limit or the second limit is greater than a second threshold, and the second threshold is greater than or equal to the first threshold.

2. The master hand control device according to claim 1, wherein, The at least one arm joint mechanism includes: The first joint mechanism includes a first power component, a first driving component, and a first driven component. The first joint mechanism corresponds to a first rotating shaft, and the first rotating shaft is parallel to the direction of gravity of the wrist assembly.

3. The master hand control device according to claim 1, further comprising: A connecting component is used to connect the arm assembly and the wrist assembly, wherein, Some components of the at least one arm joint mechanism are connected in series to form at least a part of one or more first quadrilateral linkage mechanisms. The connecting assembly and some components of the arm assembly are connected in series to form at least a part of a second quadrilateral linkage mechanism. The components of the one or more first quadrilateral linkage mechanisms and the components of the second quadrilateral linkage mechanism are linked to rotate synchronously about the rotation axis of the at least one arm joint mechanism, and the rotation axis is perpendicular to the direction of gravity of the wrist assembly.

4. The master hand control device according to claim 3, further comprising: The at least one arm joint mechanism includes a second joint mechanism, the second joint mechanism having a second pivot perpendicular to the direction of gravity of the wrist assembly. The second joint mechanism includes a second power member, a second drive member, and three second driven members connected in series. The line connecting the three second driven members approximates a parallelogram to form at least a portion of one or more of the first quadrilateral linkage mechanisms.

5. The master hand control device according to claim 4, wherein, The second power component is mounted on the first base of the support assembly and is used to drive the second drive component to rotate. One of the three second driven members is movably connected to the base, and the two non-adjacent second driven members are approximately parallel. The second driving member is used to drive the three second driven members to rotate around the second rotating shaft.

6. The master hand control device according to claim 5, wherein, The at least one arm joint mechanism further includes: The third joint mechanism corresponds to the third pivot, which is perpendicular to the direction of gravity of the wrist assembly.

7. The master hand control device according to claim 6, wherein, The third joint mechanism includes a third power component, a third driving component, and three third driven components connected in series. The line connecting the three third driven components in series approximates a parallelogram.

8. The master hand control device according to claim 7, wherein, The third power component is mounted on the first base and is used to drive the third power component to rotate. One of the three third driven members is movably connected to the first base. The two non-adjacent third driven members are approximately parallel. The third driving member is used to drive the three third driven members to rotate around the third rotating shaft.

9. The master hand control device according to claim 8, wherein, The connection component includes: The first connecting member and the second connecting member, together with one of the three second driven members and one of the three third driven members, are connected in series to form the second quadrilateral linkage mechanism.

10. The master hand control device according to claim 9, wherein, The second connector includes a first part and a second part. The first part is parallel to the direction of gravity of the wrist assembly and is connected to the arm assembly. The second part is perpendicular to the direction of gravity of the wrist assembly and is connected to the wrist assembly.

11. The master hand control device according to claim 3, wherein, The wrist assembly contains multiple wrist joint mechanisms corresponding to multiple pivots, which intersect at a single point.

12. The master hand control device according to claim 11, wherein, The fourth joint mechanism is connected to the connecting component.

13. The master hand control device according to claim 11, wherein, The plurality of wrist joint mechanisms include a fifth joint mechanism, which corresponds to a fifth pivot axis. The fifth pivot axis is perpendicular to the direction of gravity of the wrist assembly. The fifth joint mechanism includes a balancing component for balancing the gravitational torque caused by the weight of the wrist assembly at the fifth pivot axis.

14. A robot, characterized in that, It includes a robot body, an end effector, and a master control device as described in any one of claims 1-13; the end effector is connected to the robot body, the robot body is electrically connected to a communication device, and the master control device is electrically connected to the communication device and the end effector.

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