A multi-degree-of-freedom handle control device and an ophthalmic medical apparatus including the same

Abstract

The application provides a multi-degree-of-freedom handle control device, which comprises a base, an operating handle, a ball head connecting structure, a first load, a transmission mechanism and a second load arranged on the first load; the operating handle is movably connected with the base and the ball head connecting structure respectively, and the operating handle can drive the ball head connecting structure to make a translational motion on a first plane relative to the base and drive the ball head connecting structure to output a rotational motion with a first central axis as a rotation axis; the first load is movably connected with the ball head connecting structure and can drive the second load to make a translational motion together with the ball head connecting structure; and the transmission mechanism is used for converting the rotational motion into linear motion of the second load in a direction perpendicular to the first plane. The application also relates to an ophthalmic medical device comprising the multi-degree-of-freedom handle control device. The application realizes the control of multiple displacement degrees of freedom of a controlled device in a mechanical control mode.

Description

Technical Field

[0001] This application relates to the field of ophthalmic medical devices, specifically to a multi-degree-of-freedom handle control device and an ophthalmic medical device including the same. Background Technology

[0002] Ophthalmic medical devices are used to detect or treat the eyes and can include slit lamps, ophthalmic OCT (optical coherence tomography), ophthalmic AI screening machines, ophthalmic surgical microscopes, or fundus laser treatment devices. In ophthalmic medical devices, the parts that functionally interact with the eye (such as image acquisition modules used to obtain corneal image information) are often designed with adjustable structures to ensure precise alignment with the eye; these functionally related parts are defined as the controlled devices.

[0003] Currently, the market typically uses multiple motors and corresponding transmission mechanisms to control the three degrees of freedom of the controlled device. The start and stop of each motor are controlled by input keys or handles on the interface. However, setting up multiple motors and transmission mechanisms occupies a relatively large space. In addition, devices controlled by input keys require multiple operations of different input keys, resulting in a long processing time. Summary of the Invention

[0004] The purpose of this application is to provide a multi-degree-of-freedom handle control device, which achieves multi-degree-of-freedom control through mechanical means, has a compact structure, solves the problem of large size, and is flexible and simple to operate.

[0005] The purpose of this application is also to provide an ophthalmic medical device including the multi-degree-of-freedom handle control device as described above.

[0006] To address the aforementioned problems, this application provides the following technical solution.

[0007] In a first aspect, this application provides a multi-degree-of-freedom handle control device, including a base, an operating handle, a ball joint connection structure, a first load, a transmission mechanism, and a second load disposed on the first load; the operating handle is movably connected to the base and the ball joint connection structure respectively, and the operating handle can drive the ball joint connection structure to perform translational motion relative to the base on a first plane, and drive the ball joint connection structure to output rotational motion about a first central axis; the first load is movably connected to the ball joint connection structure and can drive the second load to perform the translational motion together with the ball joint connection structure; the transmission mechanism is used to convert the rotational motion into linear motion of the second load in a direction perpendicular to the first plane.

[0008] Optionally, the base includes a wear-resistant support plate. The central area of ​​the wear-resistant support plate has a rotating hole and a support protrusion. The rotating hole is used to form a ball-and-socket joint structure with the operating handle. The support protrusion is positioned opposite the rotating hole. The wear-resistant support plate is mounted on the mounting reference via the support protrusion. The side of the wear-resistant support plate away from the support protrusion also has several friction protrusions. The friction protrusions are fitted to the first load and can slide relative to it.

[0009] Optionally, the operating handle has a first connecting part and a second connecting part that are rotatably connected. The first connecting part is connected to the ball joint connecting structure, and the second connecting part is connected to the base. The operating handle drives the ball joint connecting structure to perform the translational motion by rotating about the second connecting part as a fulcrum. The operating handle drives the ball joint connecting structure to output the rotational motion by rotating the first connecting part relative to the second connecting part.

[0010] Optionally, the operating handle and the base form a three-degree-of-freedom ball-and-socket joint structure, and the operating handle and the ball-head connection structure form a spherical mechanism with two rotational degrees of freedom. The operating handle includes a multi-directional translation spindle and a multi-directional rotation spindle. The multi-directional translation spindle passes through the multi-directional rotation spindle and is rotatably connected to it. A second connecting part located at the end of the multi-directional translation spindle is connected to the base. A first connecting part located at the end of the multi-directional rotation spindle and near the second connecting part is connected to the ball joint connection structure.

[0011] Optionally, the first connecting part adopts a ball joint structure, and the surface of the first connecting part is partially concave to form a positioning guide groove. The length direction of the positioning guide groove is the direction of the axis of the multi-directional rotating spindle. The positioning guide groove and the positioning guide of the ball joint connecting structure guide each other. During the rotation of the operating handle with the second connecting part as the fulcrum, the guide ends of the positioning guide groove and the positioning guide slide or roll relative to each other. When the multi-directional rotating spindle rotates relative to the multi-directional translational spindle, the positioning guide groove drives the positioning guide to drive the entire ball joint connecting structure to rotate.

[0012] Optionally, the ball joint connection structure includes a connecting body and a positioning guide disposed on the connecting body. The connecting body and the first connecting part with a spherical surface of the operating handle are connected to form a ball-and-socket joint structure with three rotational degrees of freedom, and the positioning guide constrains the rotational degrees of freedom between the connecting body and the first connecting part relative to the first central axis.

[0013] Optionally, the connecting body has a first limiting surface and a second limiting surface distributed along the first central axis. The first limiting surface and the second limiting surface are respectively located on both sides of the great circle corresponding to the spherical surface of the first connecting part. The first limiting surface and the second limiting surface abut against the two ends of the spherical surface of the first connecting part and are movably connected to the first connecting part.

[0014] Optionally, the connecting body includes an external fixator and an internal fixation component disposed within the external fixator. The external fixator and the internal fixation component are detachably connected. The positioning guide constrains the degree of freedom of rotation between the external fixator and the first connecting part relative to the first central axis. The first load and the transmission mechanism are respectively connected to the external fixator.

[0015] Optionally, the internal fixation assembly includes an elastic O-ring and a first pressure cap, a second pressure cap, an O-ring pressure cap, and a locking pressure cap arranged sequentially on the first central axis. The first pressure cap has a first limiting surface, and the second pressure cap has a second limiting surface. The elastic O-ring is disposed in the annular groove of the O-ring pressure cap. The O-ring pressure cap and the locking pressure cap are respectively threaded to the external fixation member, and the first pressure cap and the second pressure cap are kept relatively stationary with respect to the external fixation member by compressing the elastic O-ring.

[0016] Optionally, the positioning guide is a rolling ball, and positioning grooves are respectively provided at the connection positions of the first pressure cover and the second pressure cover. The rolling ball is tumblingly connected to the two positioning grooves, and the part of the rolling ball protruding from the positioning groove is guided to each other by the positioning guide groove on the first connecting part.

[0017] Optionally, the connecting body further includes a limiting cover, which is detachably connected to the outer fixing member; the inner fixing component includes a fixing inner ring and an elastic member, which is disposed between the fixing inner ring and the outer fixing member, and is in a compressed state, with both ends abutting against the flanges of the limiting cover and the fixing inner ring respectively; The first limiting surface is located on the outer fixing member, and the second limiting surface is located on the inner fixing ring.

[0018] Optionally, the positioning guide is columnar, with one end inserted into the external fixing member, and the other end of the positioning guide being guided by a positioning guide groove extending along the direction of the first central axis on the first connecting part.

[0019] Optionally, the first load includes a multi-directional moving platform and a washer. The multi-directional moving platform is rotatably connected to the ball joint connection structure, and the washer is fixed on the multi-directional moving platform and can slide relative to the base.

[0020] Optionally, the first load further includes a fixed bracket, which includes an annular plate and a plurality of legs disposed on the edge of the annular plate, the legs being detachably connected to the multi-directional moving platform; The base has a partial protrusion to form a supporting bulge, and the central hole of the annular plate allows the supporting bulge to extend out, with a gap between the inner wall of the central hole and the supporting bulge.

[0021] Optionally, the transmission mechanism may employ belt drive or sprocket drive.

[0022] In a second aspect, this application provides an ophthalmic medical device including a controlled device and a multi-degree-of-freedom handle control device as described in the first aspect, wherein the controlled device is detachably connected to the second load.

[0023] Compared with the prior art, this application has the following beneficial effects: This application enables the use of an operating handle to control the ball joint connection structure to output translational and rotational motions. A first load transmits the translational motion to a second load, granting the second load two degrees of freedom. A transmission mechanism converts the rotational motion into linear motion of the second load. Thus, the operating handle can further control a third degree of freedom of the second load, thereby controlling the three degrees of freedom of the controlled device mounted on the second load. The ball joint connection structure, base, first load, and transmission mechanism are all integrated near the operating handle, resulting in a compact structure. Compared to devices with multiple motors and transmission mechanisms, the multi-degree-of-freedom handle control device described in this invention occupies less space.

[0024] By manipulating the control handle, the controlled device can be moved linearly in any direction. The operator does not need to repeatedly press input keys, making the operation smoother and improving work efficiency. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the handle control device according to an embodiment of this application from one perspective, in which part of the transmission mechanism and the second load are omitted.

[0026] Figure 2 This is a schematic diagram of the handle control device according to an embodiment of this application from another perspective, in which part of the transmission mechanism and the second load are omitted.

[0027] Figure 3 This is a cross-sectional view of a handle control device according to an embodiment of this application, in which part of the transmission mechanism and the second load are omitted.

[0028] Figure 4This is a cross-sectional view of a handle control device according to an embodiment of this application, in which part of the transmission mechanism and the second load are omitted.

[0029] Figure 5 This is an exploded view of a handle control device according to an embodiment of this application, in which part of the transmission mechanism and the second load are hidden. In addition, the dashed lines in the figure are used for auxiliary marking.

[0030] Figure 6 This is a schematic diagram of the handle control device according to another embodiment of this application, in which the transmission mechanism and the second load are omitted.

[0031] Figure 7 This is a schematic diagram of the handle control device according to another embodiment of this application, in which part of the transmission mechanism and the second load are omitted.

[0032] Figure 8 This is a cross-sectional view of a handle control device according to another embodiment of this application, wherein the transmission mechanism and the second load are omitted.

[0033] Figure 9 This is an exploded view of a handle control device according to another embodiment of this application, in which the transmission mechanism and the second load are omitted. In addition, the dashed lines in the figure are used for auxiliary marking.

[0034] Figure label: 1. Base; 11. Wear-resistant support plate; 111. Rotating hole; 112. Supporting protrusion; 113. Friction protrusion; 114. Ring; 2. Operating handle; 21. Multi-directional rotary spindle; 211. First connecting part; 212. Positioning guide groove; 22. Multi-directional translational spindle; 221. Second connecting part; 3. Ball joint connection structure; 31. Connecting body; 311. First limiting surface; 312. Second limiting surface; 313. External fixing component; 3131. Mounting cavity; 3132. Inner cylindrical surface section; 3133. Inner conical surface section; 3134. Boss; 3135. First outer cylindrical surface section; 3136. Second outer cylindrical surface section; 3137. Positioning block; 314. Internal fixing assembly; 3141. Internal fixing component; 31411. Inner ring body; 314 12. Retaining ring; 3142. Elastic element; 3143. Ball head connector; 31431. First pressure cap; 31432. Second pressure cap; 31433. Positioning notch; 31434. First spherical notch; 31435. Second spherical notch; 3144. Elastic locking element; 31441. Elastic O-ring; 31442. O-ring pressure cap; 31443. Locking pressure cap; 315. Limiting element; 3151. Limiting pressure cap; 32. Positioning guide element; 4. First load; 41. Multi-directional moving platform; 42. Washer; 43. Fixed bracket; 431. Annular plate; 432. Support leg; 5. Transmission mechanism; 51. Drive wheel; 6. Wear-resistant steel plate. Detailed Implementation

[0035] The present application is described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] This application provides an ophthalmic medical device for detecting or treating the eyes. The ophthalmic medical device may be a slit lamp, ophthalmic OCT (optical coherence tomography), biometer, corneal topography instrument, ophthalmic AI screening machine, fundus camera, or fundus laser treatment instrument, etc., equipped with an operating handle.

[0037] The ophthalmic medical device according to embodiments of this application includes a controlled device and a multi-degree-of-freedom handle control device. The controlled device can be a part functionally associated with the eye, such as an image acquisition module used to acquire corneal image information. The multi-degree-of-freedom handle control device is used to realize multiple displacement degrees of freedom of the controlled device to ensure precise alignment between the controlled device and the eye.

[0038] Combination Figure 1-9 This application provides a multi-degree-of-freedom handle control device (hereinafter referred to as "handle control device") for the above-mentioned ophthalmic medical device. The handle control device includes a base 1, an operating handle 2, a ball joint connection structure 3, a first load 4, a transmission mechanism 5, and a second load disposed on the first load 4. The operating handle 2 is movably connected to the base 1 and the ball joint connection structure 3 respectively. Pushing the operating handle 2 forward, backward, left, and right can drive the ball joint connection structure 3 to perform translational motion relative to the base 1 on a first plane. Rotating the operating handle 2 can drive the ball joint connection structure 3 to output rotational motion about a first central axis, which is perpendicular to the first plane. The first load 4 is movably connected to the ball joint connection structure 3 and can drive the second load to perform translational motion together with the ball joint connection structure 3. The transmission mechanism 5 is used to convert the rotational motion into linear motion of the second load in a direction perpendicular to the first plane.

[0039] In this embodiment, the ball joint connection structure 3 outputs translational and rotational motion via the operating handle 2. The first load 4 transmits the translational motion to the second load, and the transmission mechanism 5 converts the rotational motion into linear motion of the second load. Accordingly, the operating handle 2 can control the three degrees of freedom of the second load, thereby controlling the three degrees of freedom of the controlled device mounted on the second load. Considering practical applications, when the distance between the person and the equipment is far, the person actively adapts to the equipment; when the distance between the person and the equipment is close and fine adjustments are needed, alignment is achieved by operating the handle to control the device, thus achieving precise adjustment. Consequently, the amplitude of the translational and linear motion of the controlled device is relatively small.

[0040] In this embodiment of the application, the base 1 is used as a support member of the handle control device. The base 1 can be placed horizontally. Correspondingly, the first plane is a horizontally set surface, and the first central axis is a vertical axis. The controlled device ultimately obtains two degrees of freedom of displacement in the horizontal direction and one degree of freedom of displacement in the vertical direction.

[0041] In this embodiment, the base 1 includes a wear-resistant support plate 11, and a ball-and-socket joint structure is formed between the wear-resistant support plate 11 and the operating handle 2, so that the operating handle 2 can obtain three rotational degrees of freedom, so as to realize the control of multiple dimensions of the second load by rotating the operating handle 2. Figure 3 and Figure 8 In the two embodiments shown, the central region of the wear-resistant support plate 11 has a rotating hole 111, and the rotating hole 111 and the spherical structure on the operating handle 2 form a ball-and-socket joint structure. Of course, as an alternative to these two embodiments, the operation can also be reversed, that is, the spherical structure is set on the wear-resistant support plate 11, and the rotating hole 111 is set on the operating handle 2.

[0042] In this embodiment, the wear-resistant support plate 11 can be used in conjunction with the wear-resistant plate 6. The wear-resistant plate 6 is used as an installation reference, and the wear-resistant support plate 11 is placed on the wear-resistant plate 6. The wear-resistant support plate 11 and the wear-resistant plate 6 are not fixedly connected, but the coefficient of friction at the contact point between the two is relatively high, and the static friction between the two is used to maintain the stability of the connection.

[0043] Figure 3 and Figure 8In the two embodiments shown, the wear-resistant support plate 11 is provided with a support protrusion 112, which is positioned directly opposite the rotation hole 111. The wear-resistant support plate 11 is mounted on the wear-resistant plate 6 (i.e., the mounting reference) via the support protrusion 112. Compared to attaching the entire lower surface of the wear-resistant support plate 11 to the wear-resistant plate 6, providing the support protrusion 112 to connect the wear-resistant plate 6 can achieve greater stress at the contact point. Of course, in some other embodiments, as an alternative, the entire lower surface of the wear-resistant support plate 11 is in contact with the wear-resistant plate 6, or multiple protrusions are additionally provided on the wear-resistant support plate 11 to connect the wear-resistant plate 6, which is also within the scope of protection of this application.

[0044] In this embodiment, the wear-resistant support plate 11 also has a plurality of friction protrusions 113 on the side opposite to the support protrusion 112. The friction protrusions 113 are fitted together with the first load 4 and can slide relative to it. The friction protrusions 113 are in contact with the first load 4 and provide support for the first load 4, thereby improving the stability of the first load 4.

[0045] Continue to refer to Figure 3 and Figure 8 In both embodiments, the outer contour of the wear-resistant support plate 11 is circular. The support protrusion 112 and the rotating hole 111 are located at the center of the wear-resistant support plate 11. The wear-resistant support plate 11 also has an upwardly protruding ring 114 to increase the length of the central hole, which can prevent the operating handle 2 from falling off and improve the reliability of the equipment. The upper surface of the friction protrusion 113 is flat, which facilitates sliding connection with the first load 4. The side and the upper surface are smoothly connected by an arc surface, which can prevent the first load 4 from getting stuck and allow the first load 4 to have slight swaying relative to the horizontal plane, thus improving the reliability of the equipment. Figure 3 and Figure 8 In the two embodiments shown, each friction bump 113 is generally circular, of the same size, and evenly arranged around the ring 114 to ensure uniform force distribution across the wear-resistant support plate 11, thereby improving the stability and reliability of the handle control device. In other embodiments, the shape and arrangement of the friction bumps 113 can be adjusted.

[0046] In various embodiments of this application, specifically, as follows: Figures 3 to 5 , Figure 8 , Figure 9As shown, the operating handle 2 has a first connecting part 211 and a second connecting part 221 that are rotatably connected. The axis of rotation between the two is a second central axis, which is located along the length of the operating handle 2. The first connecting part 211 is connected to the ball joint connecting structure 3, and the second connecting part 221 is connected to the base 1. When the operating handle 2 is rotated, the first connecting part 211 rotates, causing the ball joint connecting structure 3 to rotate synchronously. The second connecting part 221, which is connected to the multi-directional translational main shaft 22 located inside the operating handle 2, remains stationary, thereby preventing the wires led out through the internal space of the multi-directional translational main shaft 22 from becoming entangled. The operating handle 2 drives the ball joint connecting structure 3 to perform translational motion by rotating around the second connecting part 221 as a fulcrum; the operating handle 2 drives the ball joint connecting structure 3 to output rotational motion by rotating the first connecting part 211 relative to the second connecting part 221. The translational and rotational motions are achieved by different operations of the operating handle 2. In application, the two motions can be performed individually or simultaneously.

[0047] As described above, the operating handle 2 and the base 1 form a three-degree-of-freedom ball-and-socket joint structure, that is, the second connecting part 221 and the rotation hole 111 of the wear-resistant support plate 11 form a ball-and-socket joint structure, and the second connecting part 221 obtains three rotational degrees of freedom. The operating handle 2 and the ball-head connecting structure 3 form a spherical mechanism with two rotational degrees of freedom, that is, the first connecting part 211 and the ball-head connecting structure 3 are also spherically connected, but one of the rotational degrees of freedom is constrained, so that when the first connecting part 211 rotates relative to the second connecting part 221, the ball-head connecting structure 3 can rotate about the first central axis.

[0048] When the ball joint connection structure 3 only performs translational motion, the operating handle 2 rotates around the second connecting part 221 as the fulcrum. At this time, the first connecting part 211 and the ball joint connection structure 3 are in a relative motion state, allowing the ball joint connection structure 3 to translate in any direction of the first plane. When the ball joint connection structure 3 only performs rotational motion, the first connecting part 211 rotates relative to the second connecting part 221 around the second central axis. The ball joint connection structure 3 rotates together with the first connecting part 211, but the axis of rotation of the ball joint connection structure 3 is the first central axis. When the ball joint connection structure 3 performs both translational and rotational motion, while the operating handle 2 rotates around the second connecting part 221 as the fulcrum, the first connecting part 211 is controlled to rotate relative to the first connecting part 211 around the second central axis.

[0049] In this embodiment, the operating handle 2 includes a multi-directional translational spindle 22 and a multi-directional rotational spindle 21. The multi-directional translational spindle 22 passes through and is rotatably connected to the multi-directional rotational spindle 21. The multi-directional translational spindle 22 and the multi-directional rotational spindle 21 are coaxially arranged, with the axis being the aforementioned second central axis. Figure 5 and Figure 9As shown, the second connecting part 221 is located at the end of the multi-directional translational main shaft 22 and has a spherical structure, which allows it to rotate at a larger angle relative to the base 1. The first connecting part 211 is located at the end of the multi-directional rotational main shaft 21 and is located at the end close to the second connecting part 221. The first connecting part 211 adopts a ball-head structure.

[0050] See Figure 4-5 or Figure 8-9 In this embodiment of the application, the surface of the first connecting part 211 is partially recessed to form a positioning guide groove 212. The length direction of the positioning guide groove 212 is parallel to the direction of the axis of the multi-directional rotating main shaft 21, that is, parallel to the direction of the second central axis. The positioning guide groove 212 and the positioning guide 32 of the ball head connecting structure 3 guide each other.

[0051] Specifically, along the length of the positioning guide groove 212, the guide end of the positioning guide 32 can slide or roll relative to the positioning guide groove 212. Along the width of the positioning guide groove 212, the two sides of the positioning guide groove 212 are in contact with or have a small gap with the positioning guide 32. During the rotation of the operating handle 2 around the second connecting part 221, the first connecting part 211 rotates relative to the ball joint connection structure 3. The guide ends of the positioning guide groove 212 and the positioning guide 32 slide or roll relative to each other, thereby driving the ball joint connection structure 3 to translate on the first plane. This drives the first load 4 and the second load mounted on the first load 4 to move horizontally relative to the base 1, and consequently, drives the controlled device to move horizontally. When the multi-directional rotary spindle 21 rotates relative to the multi-directional translational spindle 22, the positioning guide groove 212 drives the entire ball joint connection structure 3 to rotate by driving the positioning guide 32. Figure 1-9 In the two embodiments shown, the positioning guide 32 is provided on the ball joint connection structure 3, and the positioning guide groove 212 is provided on the ball joint structure of the first connection part 211. In some other embodiments, as an alternative, a structure similar to the positioning guide groove 212 can also be provided on the ball joint connection structure 3, and a structure similar to the positioning guide 32 can be provided on the ball joint of the first connection part 211.

[0052] In the embodiments of this application, such as Figures 3 to 5 , Figure 8 and Figure 9 As shown, the ball joint structure 3 includes a connecting body 31 and the aforementioned positioning guide 32. The connecting body 31 and the first connecting portion 211 of the operating handle 2, which has a ball joint structure, are connected to form a ball-and-socket joint structure with three rotational degrees of freedom. The positioning guide 32 constrains the rotational degrees of freedom between the connecting body 31 and the first connecting portion 211 relative to the first central axis. Therefore, the operating handle 2 ultimately has two rotational degrees of freedom relative to the ball joint structure 3.

[0053] In this embodiment of the application, the connecting body 31 has a first limiting surface 311 and a second limiting surface 312 distributed along a first central axis. The first limiting surface 311 and the second limiting surface 312 are respectively located on both sides of the great circle (the circle obtained by intersecting the sphere with a plane passing through the center of the sphere) corresponding to the ball-head structure of the first connecting part 211. Figure 3 As shown, the first limiting surface 311 and the second limiting surface 312 can be spaced apart, and a space is reserved between them for installing the positioning guide 32, such as... Figure 8 As shown, the first limiting surface 311 and the second limiting surface 312 can also be tightly connected, and the positioning guide 32 is disposed between the component where the first limiting surface 311 is located and the component where the second limiting surface 312 is located. The first limiting surface 311 and the second limiting surface 312 respectively abut against the surfaces of the two ends of the ball head structure of the first connecting part 211, and the connecting body 31 and the first connecting part 211 form a movable connection relationship, so that the first connecting part 211 can rotate relative to the component where the first limiting surface 311 is located and the component where the second limiting surface 312 is located, thereby forming a three-degree-of-freedom ball-and-socket joint structure between the connecting body 31 and the ball head structure of the first connecting part 211.

[0054] In the embodiments of this application, see Figure 3 , 4 The connecting body 31 includes an outer fixing member 313 and an inner fixing component 314 disposed within the outer fixing member 313. The outer fixing member 313 and the inner fixing component 314 are detachably connected. The positioning guide member 32 constrains the degree of freedom of rotation between the outer fixing member 313 and the first connecting part 211 relative to the first central axis. The first limiting surface 311 is disposed on the outer fixing member 313 or the inner fixing component 314, and the second limiting surface 312 is located on the inner fixing component 314. The positioning guide member 32 is disposed on the outer fixing member 313 or the inner fixing component 314. The first load 4 and the transmission mechanism 5 are respectively connected to the outer surface of the fixed outer ring.

[0055] While satisfying the design concept of this application, the ball joint connection structure 3 can be implemented in different ways. Two schemes will be described below with reference to the attached drawings.

[0056] Figure 1-5 Corresponding to a ball joint connection structure 3, the connection body 31 includes an outer fixing member 313, an inner fixing component 314 and a limiting member 315. The limiting member 315 and the outer fixing member 313 are detachably connected, and the limiting member 315 limits the inner fixing component 314, so that the second limiting surface 312 on the inner fixing component 314 abuts against the ball joint structure of the first connecting part 211.

[0057] The internal fixation component 314 includes an internal fixation member 3141 and an elastic member 3142, which are disposed in the mounting cavity 3131 of the external fixation member 313. A limiting member 315 is connected to one end of the external fixation member 313 via fasteners. A first limiting surface 311 is disposed on the external fixation member 313, and a second limiting surface 312 is disposed on the internal fixation member 3141. The first limiting surface 311 and the second limiting surface 312 abut against the ball-head structure under the action of the compressed elastic member 3142. The positions of the external fixation member 313 and the limiting member 315 are relatively fixed. The elastic force of the elastic member 3142 allows the first limiting surface 311 and the second limiting surface 312 to be movably connected to the ball-head structure. The mechanical parameters of the elastic member 3142 can be calculated according to design requirements, thus ensuring that the tightness of the ball-head connection structure 3 and the operating handle 2 after connection is determined and unaffected by manual installation.

[0058] The external fixing member 313 includes a fixing outer ring with a mounting cavity 3131. One end of the fixing outer ring has a first limiting surface 311, and the other end is connected to the limiting member 315 by bolts. The positioning guide member 32 is positioned on the fixing outer ring. Here, "positioned on" can be interpreted as a fixed connection relationship or a rotational connection relationship. For example, the positioning guide member 32 is fixed on the fixing outer ring. Or, for example... Figure 4 As shown, the positioning guide 32 is rotatably connected to the fixed outer ring. The two ends of the positioning guide 32 are respectively limited by the transmission mechanism 5 and the first connecting part 211, so that the positioning guide 32 will not be displaced relative to the fixed outer ring.

[0059] The inner wall of the mounting cavity 3131 includes an inner cylindrical section 3132 and an inner conical section 3133. The diameter of the inner cylindrical section 3132 is larger than the diameter of the inner conical section 3133. The inner fixing member 3141 and the elastic member 3142 are disposed in the space corresponding to the inner cylindrical section 3132. The first limiting surface 311 is located on the inner conical section 3133. The fixing outer ring has a boss 3134, which separates the outer surface of the fixing outer ring into a first outer cylindrical section 3135 and a second outer cylindrical section 3136. The first outer cylindrical section 3135 serves as a bearing mounting surface and connects to the first load 4. The second outer cylindrical section 3136 serves as a drive wheel 51 mounting surface and connects to the transmission mechanism 5. In addition, when the first outer cylindrical section 3135 is connected to the first load 4 through the bearing, the edges of the boss 3134 and the limiting member 315 are respectively used as retaining rings for the inner ring of the bearing to prevent the bearing from moving axially.

[0060] The limiting member 315 includes an annular limiting cover 3151, which is detachably connected to the end face of the outer fixing member 313 by fasteners, making installation convenient. The inner ring of the limiting cover 3151 protrudes towards the inner wall of the fixing outer ring to limit the elastic member 3142. At the same time, the inner ring of the limiting cover 3151 can also limit the lower end of the inner fixing member 3141 to prevent the inner fixing member 3141 from falling off, thereby improving the reliability of the equipment.

[0061] The inner fixing component 3141 includes a fixed inner ring, which comprises an inner ring body 31411 and a retaining ring 31412. The top outer surface of the inner ring body 31411 protrudes outward to form the retaining ring 31412. An elastic element 3142 is disposed between the inner ring body 31411 and the wall of the mounting cavity 3131, preventing the elastic element 3142 from disengaging from the mounting cavity 3131 and improving the stability of the elastic element 3142. The elastic element 3142 abuts against the retaining ring 31412, which is fitted against the inner wall of the fixed outer ring to prevent radial movement of the fixed inner ring and the elastic element 3142, further improving the stability of the equipment. The inner surface of the inner ring body 31411 is provided with a second limiting surface 312, which is a conical surface.

[0062] The elastic element 3142 is a helical spring, sleeved on the inner fixing element 3141. In other embodiments, as an alternative, the elastic element 3142 may be a plurality of spring pieces evenly distributed between the inner fixing ring and the outer fixing ring.

[0063] In this embodiment, the positioning guide 32 is columnar, such as a positioning pin. One end of the positioning guide 32 is fixedly or rotatably connected to the external fixing member 313, and the other end of the positioning guide 32 is guided to the positioning guide groove 212 on the ball head structure. Figure 4 As shown, in this embodiment, the end of the positioning guide 32 away from the ball head structure abuts against the drive wheel 51 of the transmission mechanism 5, which facilitates installation and can use the drive wheel 51 to prevent the positioning guide 32 from moving outward or even falling off.

[0064] Figure 6-9 Corresponding to another ball joint connection structure 3, the inner fixing component 314 and the outer fixing component 313 form a tight connection relationship. The positioning guide 32 is installed on the inner fixing component 314. When the positioning guide 32 rotates with the ball joint structure, the inner fixing component 314 and the outer fixing component 313 also rotate.

[0065] The internal fixation component 314 includes a ball joint connector 3143 and an elastic locking member 3144. One end of the external fixation component 313 is provided with a positioning block 3137. The ball joint connector 3143 is built into the mounting cavity 3131 of the external fixation component 313. The elastic locking member 3144 is threadedly connected to the other end of the external fixation component 313, ensuring a tight abutment between the ball joint connector 3143 and the positioning block 3137. The ball joint connector 3143 and the ball joint structure form a three-degree-of-freedom ball-and-socket joint structure, with one rotational degree of freedom constrained by the positioning guide member 32. This allows the ball joint structure to rotate around the first central axis by driving the positioning guide member 32. In this embodiment, the ball joint connector 3143 and the positioning guide member 32 connect the ball joint structure. The elastic locking member 3144 creates friction between the ball joint connector 3143 and the ball joint structure, allowing rotation under external force without any jerking or slippage, resulting in better control precision.

[0066] The external fixing member 313 includes a fixing outer ring with a mounting cavity 3131. One end of the fixing outer ring protrudes inward to form a positioning block 3137 for connecting with the ball head connector 3143. The other end of the fixing outer ring is provided with an internal thread for connecting with the elastic locking member 3144.

[0067] Specifically, in this embodiment, the fixed outer ring has two symmetrically arranged positioning blocks 3137. In other embodiments, as an alternative, more positioning blocks 3137 can be provided on the inner wall of the fixed outer ring, or the positioning blocks 3137 can be arranged in a ring shape. The fixed outer ring has a boss 3134, which separates the outer surface of the fixed outer ring into a first outer cylindrical surface section 3135 and a second outer cylindrical surface section 3136. The first cylindrical surface section is used as a bearing mounting surface, and the second cylindrical surface section is used as a drive wheel 51 mounting surface.

[0068] The ball joint connector 3143 includes a first pressure cover 31431 and a second pressure cover 31432 arranged sequentially on a first central axis. A first limiting surface 311 is located on the first pressure cover 31431, a second limiting surface 312 is located on the second pressure cover 31432, and a positioning guide 32 is simultaneously provided on the first pressure cover 31431 and the second pressure cover 31432.

[0069] The first pressure cap 31431 is annular, and one end of the first pressure cap 31431 is provided with a positioning notch 31433. The positioning notch 31433 corresponds one-to-one with the positioning block 3137. The two sides of the positioning notch 31433 respectively abut against the positioning block 3137 to constrain the first pressure cap 31431 and the outer fixing member 313 to rotate relative to each other around the first central axis. There is static friction between the first pressure cap 31431 and the fixed outer ring due to the locking force of the elastic locking member 3144, as well as mutual limiting between the positioning block 3137 and the positioning notch 31433, which improves reliability.

[0070] The first pressure cap 31431 is provided with a first spherical notch 31434, and the second pressure cap 31432 is provided with a second spherical notch 31435. The shape and size of the first spherical notch 31434 and the second spherical notch 31435 are adapted to the spherical positioning guide 32. The positioning guide 32 is partially fitted with the first spherical notch 31434 and the second spherical notch 31435. The part of the positioning guide 32 protruding from the first spherical notch 31434 and the second spherical notch 31435 is in rolling connection with the ball head structure.

[0071] The elastic locking element 3144 includes an elastic O-ring 31441 and an O-ring cap 31442. The elastic O-ring 31441 is disposed in the annular groove of the O-ring cap 31442. The O-ring cap 31442 is threadedly connected to the fixed outer ring, and the compression of the elastic O-ring 31441 keeps the first cap 31431 and the second cap 31432 relatively stationary with respect to the fixed outer ring. During assembly, production personnel can judge the pre-tightness of the elastic O-ring 31441 by feel.

[0072] The elastic locking element 3144 also includes a locking cover 31443, which is threadedly connected to the fixed outer ring and abuts against the O-ring cover 31442. The locking cover 31443 is annular, with a hollow area through which the multi-directional translational spindle 22 passes. The locking cover 31443 further enhances the locking tightness of the ball joint connector 3143, preventing loosening of the first connecting part 211 and the ball joint connection structure 3, thus improving the reliability of the equipment.

[0073] The above description, in conjunction with the accompanying drawings, illustrates the two ball-head connection structures 3. While adhering to the design principles of this application, the ball-head connection structure 3 can have other variations. The technical information of the first load 4, the transmission mechanism 5, and the second load will be further elaborated below.

[0074] In this embodiment, the first load 4 includes a multi-directional moving platform 41 and a washer 42. The multi-directional moving platform 41 is rotatably connected to the ball joint connection structure 3 and can be a plate-like structure to facilitate the installation of the second load. The multi-directional moving platform 41 is fixed to the outer ring via a bearing, so that when the outer ring rotates around the first central axis, the multi-directional moving platform remains stationary. The washer 42 is fixed to the multi-directional moving platform 41 by fasteners. The washer 42 is disposed between the multi-directional moving platform and the wear-resistant support plate 11. When the multi-directional moving platform moves, the washer 42 slides relative to the friction protrusion 113 to improve the stability of the multi-directional moving platform 41. A hole is provided in the middle of the washer 42, and a gap is provided between the inner wall of the washer 42 and the ring 114 at the rotating hole 111 to prevent the washer 42 from interfering with the ring 114 when the multi-directional moving platform 41 moves.

[0075] Figure 8 In the illustrated embodiment, the first load 4 has a multi-directional moving platform 41 and a washer 42. Figures 3 to 5 In the embodiment shown, the first load 4 further includes a fixed bracket 43. The fixed bracket 43 includes an annular plate 431 and several legs 432 disposed on the edge of the annular plate 431. The legs 432 are detachably connected to the multi-directional moving platform 41 by fasteners. The annular plate 431 has a central hole in the middle, and there is a gap between the inner wall of the central hole and the supporting protrusion 112, so that the supporting protrusion 112 can pass through the central hole for translational movement, avoiding interference.

[0076] In some embodiments, the transmission mechanism 5 may include a drive wheel 51, a driven wheel, a transmission component, and an output shaft. The drive wheel 51 is fixed to a fixed outer ring and rotates together with the fixed outer ring. The transmission component is a transmission belt or a transmission chain. The drive wheel 51 drives the driven wheel to rotate through the transmission component, which in turn drives the output shaft fixedly connected to the driven wheel. The output shaft is threadedly connected to a second load. In other embodiments, the transmission mechanism 5 may be implemented using a mechanism not used for belt drives or chain drives, as long as it can convert the rotational motion of the fixed outer ring into the linear motion of the second load.

[0077] In this embodiment, the second load can be connected to the multi-directional translation platform via the transmission mechanism 5, for example, by fixing it to the multi-directional translation platform via the aforementioned output shaft. A plate structure or a frame structure can be used.

[0078] The above-disclosed embodiments are only some specific embodiments of this application, but this application is not limited thereto. Any variations that can be conceived by those skilled in the art should fall within the protection scope of this application.

Claims

1. A multi-degree-of-freedom handle control device, characterized in that, The system includes a base, an operating handle, a ball joint connection structure, a first load, a transmission mechanism, and a second load disposed on the first load. The operating handle is movably connected to the base and the ball joint connection structure, and the operating handle can drive the ball joint connection structure to perform translational motion relative to the base on a first plane, and drive the ball joint connection structure to output rotational motion about a first central axis. The first load is movably connected to the ball joint connection structure and can drive the second load to perform the translational motion together with the ball joint connection structure; the transmission mechanism is used to convert the rotational motion into linear motion of the second load in a direction perpendicular to the first plane; The operating handle and the base form a three-degree-of-freedom ball-and-socket joint structure, and the operating handle and the ball-head connection structure form a spherical mechanism with two rotational degrees of freedom. The operating handle includes a multi-directional translational spindle and a multi-directional rotational spindle. The multi-directional translational spindle passes through the multi-directional rotational spindle and is rotatably connected to it. A second connecting part located at the end of the multi-directional translational spindle is connected to the base, and a first connecting part located at the end of the multi-directional rotational spindle and near the second connecting part is connected to the ball-head connection structure. The first connecting part adopts a ball joint structure. The surface of the first connecting part is partially concave to form a positioning guide groove. The length direction of the positioning guide groove is parallel to the direction of the axis of the multi-directional rotating spindle. The positioning guide groove and the positioning guide of the ball joint connecting structure guide each other. When the operating handle rotates with the second connecting part as the fulcrum, the guide ends of the positioning guide groove and the positioning guide roll relative to each other. When the multi-directional rotating spindle rotates relative to the multi-directional translational spindle, the positioning guide groove drives the positioning guide to drive the entire ball joint connecting structure to rotate. The ball joint structure includes a connecting body and a positioning guide that is a rolling ball disposed on the connecting body. The connecting body and the first connecting part with a spherical surface of the operating handle are connected to form a ball-and-socket joint structure with three rotational degrees of freedom. The positioning guide constrains the rotational degrees of freedom between the connecting body and the first connecting part relative to the first central axis. The connecting body includes an external fixing member and an internal fixing component disposed within the external fixing member. The external fixing member and the internal fixing component are detachably connected. The positioning guide member constrains the degree of freedom of rotation between the external fixing member and the first connecting part relative to the first central axis. The first load and the transmission mechanism are respectively connected to the external fixing member. The external fixing component is a single piece and has a positioning block protruding inward at one end and a boss on its outer surface. The boss separates the outer surface of the external fixing component into a first outer cylindrical surface section and a second outer cylindrical surface section. The first outer cylindrical surface section serves as a bearing mounting surface and connects to the first load, while the second outer cylindrical surface section serves as a drive wheel mounting surface and connects to the transmission mechanism. The boss serves as a retaining ring for the inner ring of the bearing to prevent axial movement of the bearing. The inner fixing assembly includes a first pressure cap, a second pressure cap, an elastic O-ring, an O-ring pressure cap, and a locking pressure cap sequentially arranged on the first central shaft. The first pressure cap has the first... The first and second covers have a limiting surface and a positioning notch at their top corresponding to the positioning block. The second cover has the second limiting surface. The first and second covers are respectively provided with positioning grooves that match the shape of the positioning guide to support its rolling. The part of the rolling ball protruding from the positioning groove is guided to the positioning guide groove on the first connecting part. The elastic O-ring is provided in the annular groove of the O-ring cover. The O-ring cover and the locking cover are respectively threaded to the external fixing member. By compressing the elastic O-ring, the first cover and the second cover are kept relatively stationary with the external fixing member.

2. The multi-degree-of-freedom handle control device as described in claim 1, characterized in that, The base includes a wear-resistant support plate. The central area of ​​the wear-resistant support plate has a rotating hole and a support protrusion. The rotating hole is used to form a ball-and-socket joint structure with the operating handle. The support protrusion is positioned opposite the rotating hole. The wear-resistant support plate is mounted on the mounting reference via the support protrusion. The side of the wear-resistant support plate away from the support protrusion also has several friction protrusions. The friction protrusions are fitted to the first load and can slide relative to it.

3. The multi-degree-of-freedom handle control device as described in claim 1, characterized in that, The operating handle has a first connecting part and a second connecting part that are rotatably connected. The first connecting part is connected to the ball joint connecting structure, and the second connecting part is connected to the base. The operating handle drives the ball joint connecting structure to perform the translational motion by rotating around the second connecting part as a fulcrum. The operating handle drives the ball joint connecting structure to output the rotational motion by rotating the first connecting part relative to the second connecting part.

4. The multi-degree-of-freedom handle control device as described in claim 1, characterized in that, The connecting body has a first limiting surface and a second limiting surface distributed along the first central axis. The first limiting surface and the second limiting surface are respectively located on both sides of the large circle corresponding to the spherical surface of the first connecting part. The first limiting surface and the second limiting surface abut against the surfaces of both ends of the spherical head structure of the first connecting part and are movably connected to the first connecting part.

5. The multi-degree-of-freedom handle control device as described in claim 1, characterized in that, The connecting body also includes a limiting cover, which is detachably connected to the outer fixing member; the inner fixing component includes a fixing inner ring and an elastic member, which is disposed between the fixing inner ring and the outer fixing member, and is in a compressed state, with both ends abutting against the flanges of the limiting cover and the fixing inner ring respectively; The first limiting surface is located on the outer fixing member, and the second limiting surface is located on the inner fixing ring.

6. The multi-degree-of-freedom handle control device as described in claim 1, characterized in that, The first load includes a multi-directional moving platform and a washer. The multi-directional moving platform is rotatably connected to the ball joint connection structure. The washer is fixed on the multi-directional moving platform and can slide relative to the base. The first load also includes a fixed bracket. The fixed bracket includes an annular plate and several legs disposed on the edge of the annular plate. The legs are detachably connected to the multi-directional moving platform. The base has a partial protrusion to form a supporting bulge, and the central hole of the annular plate allows the supporting bulge to extend out, with a gap between the inner wall of the central hole and the supporting bulge.

7. The multi-degree-of-freedom handle control device according to any one of claims 1-6, characterized in that, The transmission mechanism adopts belt drive or sprocket drive.

8. An ophthalmic medical device, characterized in that, It includes a controlled device and a multi-degree-of-freedom handle control device as described in any one of claims 1-7, wherein the controlled device is detachably connected to the second load.

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