Opening and closing input device, rotation input device, force feedback master hand and surgical robot

Abstract

The application discloses an opening and closing input device, a rotating input device, a master hand input device, a force feedback master hand and a surgical robot, and relates to the technical field of medical instruments.The technical scheme points of the application are that the opening and closing input device comprises a first motor, a screw block assembly, an opening and closing seat, a finger clamp and a connecting rod;the first motor is a frameless torque motor;the opening and closing seat is fixedly connected with the first motor;the end portion of the finger clamp, which is away from the first motor, is hingedly connected with the opening and closing seat;the portion of the finger clamp, which is close to the first motor, is hingedly connected with the corresponding connecting rod;the connecting rod is hingedly connected with the screw block assembly;the first motor drives all the connecting rods and the hinged portions of the screw block assembly to reciprocate along the first motor axis through the screw block assembly.The screw block assembly is directly connected with the frameless torque motor, the force transmission efficiency and the feedback resolution are improved, a foundation for providing accurate force feedback / force assistance is established, and the compact and small structure requirement of the opening and closing input device is met.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to an opening and closing input device, a rotating input device, a master hand input device, a force feedback master hand, and a surgical robot. Background Technology

[0002] With the continuous development of medical devices, computer technology, and control technology, minimally invasive surgery has been increasingly widely used due to its advantages such as small surgical trauma, short recovery time, and less patient suffering. Minimally invasive surgical robots, with their high dexterity, high control precision, and intuitive surgical images, can avoid operational limitations, such as filtering hand tremors during operation, and are widely applicable to surgical areas such as the abdominal cavity, pelvic cavity, and thoracic cavity. Currently, widely used master-slave surgical robots include a master control arm on the surgeon's control platform and a slave manipulator arm on the patient's surgical platform. The master control arm collects the surgeon's operation signals, which are processed by the control system to generate control signals for the slave manipulator arm, which then executes the surgical operations. During surgery, the surgeon sits in front of the master control arm and operates an input control device to remotely operate instruments mounted on the slave manipulator arm, enabling surgical procedures in different locations. The input control device controls operations such as rotation, clamping, cutting, suturing, and knotting, and needs to meet requirements such as compact structure, light weight, comfortable clamping, safety, and automatic resetting.

[0003] Chinese patent CN112168359B discloses a master hand gripping control device, a master manipulator, and a minimally invasive surgical robot. The core of the device is the master hand gripping control device, which includes a base, a gripping control component, a transmission component, and a feedback component. The transmission component consists of a set of coaxially nested rotating shafts, and the opening, closing, and rotational movements of the gripping control component are independently transmitted coaxially through this transmission component. The feedback component is a motor, and the transmission component is connected to the motor. The gripping control component sends control signals to the slave manipulator and / or provides feedback on the force state of the slave manipulator through the motor. The clamping transmission mechanism includes a clamping shaft, a connecting member, and a clamping gear set. The clamping shaft is rotatably mounted on the base. The clamping shaft is connected to the clamping motor via the clamping gear set. The clamping shaft has a threaded section with threads. The connecting member is sleeved on the threaded section of the clamping shaft. When the connecting member moves along the axial direction of the clamping shaft, it drives the clamping shaft to rotate. When the clamping shaft rotates, it drives the connecting member to move along the axial direction of the clamping shaft. The connecting member is connected to the clamping control component.

[0004] This patent uses a motor with a speed reducer and a bevel gear structure to transmit force to the clamping control component. The gear transmission process suffers from significant force loss, causing even minute feedback / auxiliary forces from the motor to be inaccurately transmitted to the operating end. Simultaneously, subtle changes in contact force at the operating end are also not accurately transmitted to the clamping control component. Furthermore, the backlash from the gear transmission cannot be eliminated, inevitably leading to inaccurate control when changing the clamping direction. Additionally, due to force loss, the clamping opening and closing angle detection is inaccurate or even impossible; even with an incremental encoder at the motor end, the precise clamping opening and closing angle cannot be determined, resulting in insufficient control accuracy. Moreover, the slender dual motors in this patent occupy a large space, resulting in a large and heavy overall main control arm, contradicting the requirement for a compact, lightweight design, making operation cumbersome and inflexible. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide an opening and closing input device, a rotation input device, a master hand input device, a force feedback master hand, and a surgical robot. These devices are directly connected to a frameless torque motor via a lead screw and slider assembly, which improves the force transmission efficiency and feedback resolution, laying the foundation for providing precise force feedback / force assistance. At the same time, the opening and closing input device meets the requirement of a compact and small structure.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an opening and closing input device, comprising an opening and closing base and a finger clip, one end of the finger clip being hinged to the opening and closing base to rotate relative to the opening and closing base about a hinge axis when operated, and further comprising a connecting rod, a first motor disposed within the opening and closing base, and a lead screw and slider assembly; the first motor is a frameless torque motor, comprising a first stator and a first rotor; the first stator is fixed within the opening and closing base, and the first rotor is fixed to the rotating portion of the lead screw and slider assembly; one end of the connecting rod is hinged to a position of the finger clip away from the opening and closing base, and the other end is hinged to the moving portion of the lead screw and slider assembly; when the finger clip is operated to open and close, the first motor drives the movement of the connecting rod through the lead screw and slider assembly to provide at least one of the following forces: a continuous auxiliary force in the opening and closing direction of the finger clip, or a timely feedback force in the opposite direction to the opening and closing direction of the finger clip, or a continuous reset force in the closing direction of the finger clip.

[0007] The present invention is further configured such that: the lead screw and slider assembly includes a lead screw nut and a lead screw, the first rotor is fixedly connected to the lead screw nut, the lead screw nut is threadedly connected to the lead screw, and the lead screw can reciprocate along the axis of the first motor.

[0008] The present invention is further configured such that: a connecting structure is provided at the end of the lead screw away from the first motor, and the connecting structure is hinged to the connecting rod in the radial direction of the lead screw, so as to prevent the lead screw from rotating with the lead screw nut under the restriction of the connecting rod.

[0009] The present invention is further configured such that: the end of the lead screw away from the first motor has an external thread; the connecting structure includes a fixing nut and a connecting block; the connecting block is hinged to the connecting rod; and the fixing nut locks the connecting block; or, the connecting structure is a non-circular fixing nut; and the non-circular fixing nut is hinged to the connecting rod.

[0010] The present invention is further configured to include a first bearing, wherein the opening and closing seat and the lead screw nut are rotatably connected through the first bearing.

[0011] The present invention is further configured to include a clutch button for controlling the master-slave clutch, wherein the signal of the clutch button is transmitted to the controller through a wire, the lead screw is a hollow structure, and the wire passes through the lead screw.

[0012] The present invention is further configured to include a first sensor, which is used to detect the relative rotation angle between the lead screw nut and the lead screw.

[0013] The present invention is further configured such that: the first sensor includes a first code disk and a first encoder; the first code disk is fixed relative to the lead screw nut, and the first encoder is fixed relative to the lead screw.

[0014] The present invention also provides a rotary input device for limiting the rotation of an entire opening and closing input device, comprising a second motor and a rotating base; the second motor is a frameless torque motor, comprising a second stator and a second rotor; the second rotor is fixed on the rotating base, the rotating base being used to connect the opening and closing input device; when the opening and closing input device is operated to rotate, the second motor provides at least one of the following forces to the opening and closing input device through the rotating base: continuously providing an auxiliary force in the direction of rotation of the opening and closing input device, or providing a feedback force in the opposite direction of rotation of the opening and closing input device as appropriate, or continuously providing a reset force to the opening and closing input device to return to the zero position.

[0015] The present invention is further configured such that: the rotating seat is a stepped cylindrical structure, the end of the rotating seat with the smallest diameter is fixed inside the second rotor, and the end of the rotating seat with the largest diameter is fixed to the opening and closing input device.

[0016] The present invention is further configured to include a second bearing, wherein the second rotor is fixedly connected to the rotating base, and the second stator is rotatably connected to the rotating base through the second bearing.

[0017] The present invention is further configured to include a second sensor, which is used to detect the relative rotation angle between the second stator and the opening / closing input device.

[0018] The present invention is further configured such that: the second sensor includes a second code disk and a second encoder; the second code disk is fixed relative to the rotating base, and the second encoder is fixed relative to the second stator.

[0019] The present invention also provides a master hand input device, which includes the above-described opening and closing input device and / or the above-described rotating input device.

[0020] The present invention is further configured such that when the main input device includes the above-mentioned opening and closing input device and the above-mentioned rotating input device, the lead screw can be inserted into the center of the rotating seat and reciprocate along its own axis.

[0021] The present invention also provides a force feedback master hand, which includes a master hand wrist and a master hand input device, wherein the master hand input device adopts the aforementioned master hand input device and is mounted on the master hand wrist.

[0022] The present invention also provides a surgical robot, which includes a slave manipulator, an endoscopic imaging system, and the aforementioned force feedback master hand. The force feedback master hand is used to control the movement of the slave manipulator and to feed back the external force received by the slave manipulator to the operator. The endoscopic imaging system is used to display an image of the surgical area.

[0023] In summary, the present invention has the following advantages compared to the prior art:

[0024] 1. In this invention, the lead screw and slider assembly is directly connected to the first motor. The subtle feedback force of the first motor can be directly and accurately transmitted to the finger clamp. At the same time, the subtle control force changes from the finger clamp can also be directly and accurately transmitted to the first motor. The transmission efficiency is high, the force feedback resolution is high, and the accuracy is high.

[0025] 2. The present invention realizes the opening and closing of the finger clip by the reciprocating movement of the lead screw inside the second motor and the first motor. On the one hand, it makes the structure of the opening and closing input device more compact and small in the direction of the first motor axis; on the other hand, it eliminates the need to reserve space for the movement of the lead screw at the hinge of the finger clip and the opening and closing seat, and the diameter of the hand-held part of the opening and closing input device is smaller, making it easier for the operator to hold.

[0026] 3. In this invention, the second motor is directly connected to the opening and closing input device, and the first motor is directly connected to the lead screw and slider assembly. Therefore, the angle sensors arranged at the stator and rotor of the two motors can accurately collect the rotation angle of the opening and closing input device and the opening and closing angle of the finger clamp in real time, thereby improving the control accuracy. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the internal structure of the opening and closing input device in the embodiment;

[0028] Figure 2 This is an explosion diagram of the part near the finger clip in the opening and closing input device;

[0029] Figure 3 An exploded view of the portion of the opening and closing input device near the first bearing seat;

[0030] Figure 4 A schematic diagram showing the installation position of the connecting rod inside the opening and closing input device on the main hand input device;

[0031] Figure 5 A schematic diagram illustrating the clearance groove on the opening and closing seat;

[0032] Figure 6 This is a schematic diagram of a lead screw and nut.

[0033] Figure 7 This is a schematic diagram of the rotary input device in the base;

[0034] Figure 8 A schematic diagram of the internal structure of the main hand input device;

[0035] Figure 9 A full sectional view of the main hand input device;

[0036] Figure 10 An exploded diagram of the main hand input device;

[0037] Figure 11 A schematic diagram of the main hand input device;

[0038] Figure 12 This is a schematic diagram of a rotating base;

[0039] Figure 13 A schematic diagram illustrating the wiring grooves on the rotating base;

[0040] Figure 14 This is a schematic diagram of the first bearing housing.

[0041] In the diagram: 1. Base; 21. Second motor; 211. Second stator; 212. Second rotor; 22. Second sensor; 221. Second encoder; 222. Second code disk; 23. Second bearing; 24. Rotary seat; 241. Wiring groove; 25. Second bearing cover; 26. Locking nut; 31. First motor; 311. First stator; 312. First rotor; 32. First sensor; 321. First encoder; 322. Second... 1. Code disk; 331. Fixing nut; 332. Connecting block; 341. Lead screw nut; 3411. Top edge; 3412. Limiting surface; 342. Lead screw; 35. Opening / closing seat; 351. Clearance groove; 352. Movable groove; 36. Finger clip; 37. Connecting rod; 38. First bearing; 39. First bearing seat; 391. Wiring groove; 310. First bearing cover; 4. Clutch button; 41. Key body; 42. Touch-sensitive PCB; 5. Spacer. Detailed Implementation

[0042] The technical solution of the present invention will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are not all embodiments of the present invention. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the invention.

[0043] This specification contains numerous specific technical details. However, it should be understood that embodiments of the invention can be implemented without these specific technical details. Such detailed descriptions should not be construed as limiting, and the scope of protection of the invention is defined only by the claims. Elsewhere, well-known structures, circuits, and other details have not been shown in detail to avoid misleading the public about the essential points of the invention.

[0044] In this specification, the accompanying drawings illustrate schematic diagrams of several embodiments of the present invention. However, the drawings are merely illustrative, and it should be understood that other embodiments or combinations may be used, and changes in mechanical structure, physical composition, electrical aspects, and procedures may be made without departing from the spirit and scope of the present invention.

[0045] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. Spatial relative terms, such as “below,” “lower,” “above,” “upper,” etc., are used for ease of explanation to describe the relationship between one element or feature illustrated in the figures and another element or feature. It should be understood that spatial relative terms are intended to cover different orientations of the device in use or operation other than those depicted in the figures. For example, if the device in the figures is flipped over, then an element described as “below” other elements or features will become “above” other elements or features. Thus, the exemplary term “below” can cover both above and below orientations. The device may be oriented in other ways (e.g., rotated 90° or otherwise), and the spatial relative descriptive terms used herein shall be interpreted accordingly.

[0046] As used herein, “several,” the singular form “one,” and “the” are intended to include the plural form as well, unless the context otherwise indicates. It should be further understood that the terms “comprising” and / or “including” specify the presence of a feature, step, operation, element, and / or component without excluding the presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0047] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object," "component," "part," "part," and "piece" are used interchangeably.

[0048] The terms "master input device," "manual controller," "master input device," and "master controller" are used here to describe a device controlled by the operator for inputting the operator's intentions. Generally, it is connected to the end of the master control arm of the doctor's control platform and moves in response to the operator's actions. This device needs to achieve a rotational motion (provided by the rotational input device) and an opening / closing motion (provided by the opening / closing input device). The rotational motion controls the rotation of the surgical instruments on the robotic arm of the patient's surgical platform about their own axis, while the opening / closing motion controls the opening and closing of the actuators of the surgical instruments. Additionally, two clutch buttons are arranged on the opening / closing base to control master-slave disengagement (i.e., movement of the device at the master end does not cause movement of the surgical instruments on the robotic arm of the patient's surgical platform at the slave end).

[0049] The terms “instrument,” “surgical instrument,” and “surgical device” are used herein to describe medical devices configured for insertion into a patient and for performing surgical or diagnostic procedures, including end effectors. End effectors can be surgical tools associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clamp applicators, anastomosis devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used in embodiments of the invention further provide articulated supports (sometimes referred to as “wrists”) for the surgical tool, allowing the position and orientation of the end effector to be manipulated relative to the instrument axis with one or more mechanical degrees of freedom. Further, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or a knife that translates along a path. Instruments may also contain permanent or updatable stored information (e.g., on a PCBA board within the instrument). Accordingly, the system can provide one-way or two-way communication between the instrument and one or more system components.

[0050] The term "mate" can be broadly understood as any situation in which two or more objects are connected in a manner that allows the mate objects to operate in combination with each other. It should be noted that a mate does not require a direct connection (e.g., a direct physical or electrical connection), but rather that many objects or components can be used to mate two or more objects. For example, objects A and B can be mated using object C. Furthermore, the terms "detachably connected" or "detachably mate" can be interpreted as meaning a non-permanent connection or mate between two or more objects. This means that detachably connected objects can be unconnected and separated, allowing them to operate without being physically joined.

[0051] Finally, the terms “or” and “and / or” as used herein should be interpreted inclusively, meaning either one or any combination thereof. Therefore, “A, B, or C” or “A, B, and / or C” means any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C. Exceptions to this definition will only occur when the combination of elements, functions, steps, or actions is inherently mutually exclusive in some way.

[0052] Overview of Master-Slave Teleoperated Laparoscopic Surgical Robots

[0053] Laparoscopic surgical robots typically consist of a surgeon control platform, a patient operating platform, and an imaging platform. The surgeon sits on the surgeon control platform, viewing two-dimensional or three-dimensional images of the surgical area transmitted by a laparoscope placed inside the patient's body. They also control the movement of the robotic arm on the patient operating platform, as well as the surgical instruments or laparoscopes attached to that arm. The robotic arm essentially simulates a human arm, and the surgical instruments simulate a human hand; together, they provide the surgeon with a range of movements mimicking the human wrist while filtering out hand tremors.

[0054] The patient surgical platform includes a chassis, a column, robotic arms connected to the column, and one or more surgical instrument manipulators at the end of a support assembly of each robotic arm. Surgical instruments and / or endoscopes are detachably attached to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or endoscopes operating at the surgical site within the patient's body. The associated surgical instruments can be provided in various forms that allow each surgical instrument manipulator to move with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is restricted by mechanical or software constraints to rotate the associated surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient. This center of motion is typically located at the point where the surgical instrument enters the body, and this center of motion is referred to as the "discentus point."

[0055] An imaging platform typically includes a video image capture function (commonly an endoscope) and one or more video displays for showing surgical instruments in the captured images. In some laparoscopic surgical robots, the endoscope includes optics that transmit images from inside the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope. The video images are then transmitted to the main unit of the imaging platform via photoelectric conversion and other steps. Subsequently, image processing is performed, and the processed images are displayed on the video displays for the assistant to observe.

[0056] The surgeon control platform can be located at a single location within a surgical system comprised of laparoscopic surgical robots, or it can be distributed across two or more locations within the system. Remote master / slave operation can be performed according to a preset level of control. In some embodiments, the surgeon control platform includes one or more manually operated input devices, such as joysticks, exoskeleton gloves, power and gravity-compensated manipulators, etc. These input devices acquire the surgeon's operating signals, which are processed by the control system to generate control signals for the robotic arms and surgical instrument manipulators, thereby controlling the remote-controlled motors on the surgical instrument manipulators, which in turn control the movement of the surgical instruments.

[0057] Typically, the force generated by the remote-controlled motor is transmitted via a drive system to the end effector of the surgical instrument. In some remote surgical embodiments, the input device for controlling the manipulator can be located remotely from the patient, either inside or outside the patient's room, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with remote manipulation, remote control, and remote presentation surgery will understand such a system and its components.

[0058] like Figure 1-6The diagram shown is a schematic representation of a preferred embodiment of the present invention, comprising an opening / closing input device, including an opening / closing base 35 and a finger clip 36. One end of the finger clip 36 is hinged to the opening / closing base 35 to rotate relative to the opening / closing base 35 about a hinge axis when operated. The device also includes a connecting rod 37, a first motor 31 disposed within the opening / closing base 35, and a lead screw and slider assembly. The first motor 31 is a frameless torque motor, including a first stator 311 and a first rotor 312. The first stator 311 is fixed within the opening / closing base 35, and the first rotor 312... 2. Fixed to the rotating part of the lead screw and slider assembly; one end of the connecting rod 37 is hinged to the finger clip 36 at a position far away from the seat 35, and the other end is hinged to the moving part of the lead screw and slider assembly; when the finger clip 36 is operated to open and close, the first motor 31 drives the movement of the connecting rod 37 through the lead screw and slider assembly to provide at least one of the following forces: continuously providing an auxiliary force in the opening and closing direction of the finger clip 36, or providing a feedback force in the opposite direction of the opening and closing direction of the finger clip 36 as appropriate, or continuously providing a reset force in the closing direction of the finger clip 36.

[0059] The transmission system of the opening and closing input device itself generates continuous resistance to the opening and closing movement of the finger clip 36. Furthermore, the change in angle of the connecting rod 37 caused by the opening and closing of the finger clip 36 also alters the magnitude of this resistance. The aforementioned auxiliary force continuously acts on the finger clip 36, in the same direction as its opening and closing, and its magnitude is adapted to counteract the resistance, allowing the operator to open and close the finger clip 36 easily, smoothly, and without resistance (also providing a basis for precise force feedback at the instrument end). It is understood that the magnitude of this resistance can be obtained through prior measurement or a limited number of experiments, and its relationship with the angle is also regular. This regularity can be grasped through theoretical calculations and / or a limited number of experiments. Since the above results are closely related to the structural parameters of the transmission system itself (e.g., the length of the connecting rod 37, the specific position of the hinge, the resistance of the lead screw and slider assembly, etc.), their specific magnitude and relationship are not limited here. Those skilled in the art, based on the description in this specification and their basic mechanical knowledge, can obtain the desired results without any inventive effort.

[0060] During surgical procedures, the operator frequently needs to control the opening and closing of surgical instrument actuators on the manipulator arm via finger clips 36 to achieve purposes such as gripping, lifting, and cutting tissue. At this time, the aforementioned feedback force acts on the finger clips 36, providing resistance to the operator's control of the opening and closing action. This resistance (i.e., the feedback force) is equivalent to the resistance encountered by surgical tissue or other objects preventing the opening and closing of the surgical instrument actuators on the manipulator arm. In this way, the operator can perceive the magnitude of their operating force (the reaction force being the resistance exerted on the instrument actuators by other objects), enabling precise operation, especially in complex and delicate surgeries (such as prostate cancer surgery), ensuring surgical outcomes.

[0061] The aforementioned reset force continuously acts on the finger clip 36. When the operator stops applying force to the finger clip 36, the finger clip 36 automatically resets to its initial position under the action of the reset force. Generally, the initial position refers to the open position, because it is desirable for the end effector of the surgical instrument to be open rather than closed when not being operated. Understandably, if there are special needs, the initial position can also be set to the closed position. In the prior art, there is a solution that provides an opening reset force to the finger clip 36 through a torsion spring. When the doctor pinches the finger clip 36, he needs to overcome the elasticity (resistance) of the torsion spring. However, during the pinching process of the finger clip 36, the torsion spring cannot provide the same elasticity, resulting in a poor operating experience for the doctor, especially at the end of the pinching process, where the elasticity is greater and it is difficult to perform precise operations. The aforementioned reset force continuously acting on the finger clip 36 is a constant value, thus allowing the doctor to operate precisely and have a better experience. It should be noted that the aforementioned reset force is a constant value, but this does not mean that the output force of the first motor 31 is a constant value. On the contrary, the output force of the first motor 31 varies with the opening and closing angle to achieve the aforementioned reset force. As before, the relationship between the magnitude of the output force and the angle also follows a pattern. This pattern can be determined through theoretical calculations and / or a limited number of experiments. Since the above results are closely related to the structural parameters of the transmission system itself (e.g., the length of the connecting rod 37, the specific position of the hinge, the force transmission efficiency of the lead screw and slider assembly), the specific magnitude of the output force and its relationship with the angle are not limited here. Those skilled in the art, based on the description in this specification and their basic mechanical knowledge, can obtain the desired results without any creative effort.

[0062] In this embodiment, the lead screw and slider assembly is directly connected to the first motor 31. The subtle feedback force generated by the first motor 31 based on the detected minute external force acting on the surgical instrument's end effector can be directly and accurately transmitted to the finger clip 36. Simultaneously, subtle changes in control force from the finger clip 36 can also be directly and accurately transmitted to the first motor 31. This results in high transmission efficiency, high resolution of force feedback, and high accuracy, laying the foundation for providing precise force feedback / force assistance. Furthermore, the first motor 31 used in this embodiment is a frameless torque motor, which can be embedded within the opening / closing seat 35, resulting in a compact and lightweight structure that is easy and flexible to operate. It should be noted that this application only focuses on the structure and force feedback of the master end; therefore, it does not limit the structure and force detection of the slave end. Understandably, end-effector force detection can be achieved by mounting a miniature three-dimensional force sensor or a miniature fiber optic force sensor on the end effector mount of the surgical instrument. Examples include the FT-4010F from NextInput, the HSFPAR003A or HSFPAR0O7A from Alps Alpine, and the solutions disclosed in Chinese patents CN101325920B, CN103376172B, and CN102095534B. While numerous theoretical devices exist for end-effector force detection, its practical application in surgical robot force feedback remains a major challenge. On one hand, the instrument end effector is very small, only 6-8 mm, making it difficult to find suitable miniature force sensors. On the other hand, the application environment, including contact with tissue and sterilization, also complicates the stability of the force detection device.

[0063] Specifically, at least one finger clip 36 is provided, and each finger clip 36 corresponds one-to-one with a connecting rod 37. All finger clips 36 are evenly distributed around the axis of the lead screw 342. In this embodiment, two finger clips 36 are provided. In this embodiment, the opening and closing seat 35 is provided with a relief groove 351 for accommodating the connecting rod 37. Since the connecting rod 37 will rotate when the finger clips 36 open and close, the relief groove 351 needs to have a certain length to accommodate the rotation range of the connecting rod 37. Of course, it can also serve as a mechanical limit for the opening and closing limit of the finger clips 36, preventing a dead point position between the connecting rod 37 and the finger clips 36.

[0064] Specifically, the lead screw and slider assembly includes a lead screw nut 341 and a lead screw 342. The lead screw 342 is collinear with the axis of the first motor 31. Preferably, all connecting rods 37 are hinged to the ends of the lead screw 342. The lead screw nut 341 is threaded onto the lead screw 342 and fixedly connected to the first rotor 312 of the torque frameless motor. The lead screw 342 can reciprocate along the axis of the first motor 31 when the lead screw nut 341 rotates. With this configuration, the lead screw nut 341 only rotates, while the lead screw 342 reciprocates. Since the radial dimension of the lead screw 342 is smaller than that of the lead screw nut 341, the radial space of the opening and closing seat 35 can be saved, allowing the opening and closing seat 35 to be made smaller, easier for the operator to hold, and not to obstruct the operator's palm, resulting in a better ergonomic experience. It is understandable that, if this issue is not considered, the lead screw 342 can also be fixedly connected to the first rotor 312, while the lead screw nut 341 reciprocates. This conventional variation does not require creative effort and will not be elaborated further.

[0065] In this embodiment, the reciprocating movement of the lead screw 342 inside the first motor 31 drives the connecting rod 37 to realize the opening and closing of the finger clip 36. On the one hand, this makes the structure of the opening and closing input device more compact and small in the axial direction of the first motor 31. On the other hand, it eliminates the need to reserve space for the movement of the lead screw 342 at the hinge point between the finger clip 36 and the opening and closing seat 35. The diameter of the handheld part of the opening and closing input device is smaller and the length is shorter, making it easier for the operator to hold and preventing it from pressing against the operator's palm, resulting in a better ergonomic experience.

[0066] Specifically, a connecting structure is fixed at the end of the lead screw 342 away from the first motor 31. A connecting rod 37 is hinged to the connecting structure along the radial direction of the lead screw 342, so that the lead screw 342 is prevented from rotating with the lead screw nut 341 under the restriction of the connecting rod 37. It can be understood that the finger clip 36 is limited by the opening and closing seat 35 to only be able to open and close (rotate) around the hinge axis. The connecting rod 37, which is hinged to it, can naturally only rotate around the hinge axis. Since the connecting rod 37 is also hinged to the connecting structure, the connecting structure can only rotate around the hinge axis. The connecting structure is relatively fixed to the lead screw 342, so the lead screw 342 can only reciprocate along the axis of the first motor 31 and cannot rotate with the lead screw nut 341. It should be noted that the aforementioned hinge axis does not refer to the same component. The position where the two components are hinged to each other has a hinge axis, that is, the aforementioned structure has at least three hinge axes.

[0067] Regarding the specific composition of the connecting structure, for example, the end of the lead screw 342 away from the first motor 31 has an external thread. The connecting structure includes a fixing nut 331 and a connecting block 332. The connecting block 332 is hinged to the connecting rod 37. A limiting end face is provided on the lead screw 342, and the limiting end face and the fixing nut 331 cooperate to lock the connecting block 332. Alternatively, the connecting structure is a non-circular fixing nut, which is hinged to the connecting rod 37. Preferably, the connecting structure consists of a fixing nut and a connecting block.

[0068] The opening and closing input device also includes a first bearing 38. The opening and closing seat 35 and the lead screw nut 341 are rotatably connected through the first bearing 38. The first bearing 38 ensures that the axis of the first stator 311 is collinear with the axis of the lead screw nut 341, thereby reducing the radial runout of the axis of the lead screw nut 341.

[0069] In this embodiment, two first bearings 38 are provided, located on both sides of the lead screw nut 341. A first bearing seat 39 is fixed inside the opening and closing seat 35. The first bearing 38 located on the side of the lead screw nut 341 away from the finger clip 36 is mounted on the first bearing seat 39. In this embodiment, the lead screw nut 341 is provided with a top edge 3411, and the end face of the lead screw nut 341 away from the finger clip 36 is a limiting surface 3412. The first bearing cover 310 is fixedly connected to the limiting surface 3412. The first bearing cover 310 and the top edge 3411 are located on both sides of the first bearing 38 to limit the axial position of the first bearing 38. Since the screw nut 341 and the first rotor 312 are conventionally fixed by adhesive (if the first rotor 312 can be customized, a mating structure can also be used for fixing), in order to improve the fixing reliability, preferably, two spacers 5 are provided at both ends of the first rotor 312 on the outer circumferential surface of the screw nut 341 (only the larger end is shown in the figure). The spacers 5 fix the first rotor 312 axially between the end face of the first bearing 38 and the end face of the screw nut 341, thereby improving the fixing reliability of the screw nut 341 and the first rotor 312.

[0070] The opening and closing input device also includes at least one clutch button 4. All clutch buttons 4 are disposed on the opening and closing base 35. The clutch buttons 4 are used to control the master-slave disengagement, that is, to control the on / off of the control signal between the master control arm and the slave operating arm. When there are multiple clutch buttons 4, all clutch buttons 4 are distributed around the axis of the opening and closing base 35. When there are multiple finger clips 36, it is optimal for the clutch buttons 4 to be located between two adjacent finger clips 36. In this embodiment, two clutch buttons 4 are provided, and the two clutch buttons 4 are symmetrically arranged between two finger clips 36.

[0071] In this embodiment, the clutch button 4 includes a key body 41 slidably connected to the opening / closing base 35 and a touch-sensitive PCB 42 fixedly installed within the opening / closing base 35. By changing the position of the key body 41 on the opening / closing base 35, it presses against or moves away from the touch-sensitive PCB 42, causing the touch-sensitive PCB 42 to send an electrical signal via a wire to the robotic arm to control the on / off state of the first motor 31 and the robotic arm. Specifically, the opening / closing base 35 is also provided with a movable groove 352 that limits the sliding of the key body 41.

[0072] Specifically, when the signal from clutch button 4 is transmitted via wire, it is transmitted to the controller through a wire (not shown in the figure). The controller is the main control unit for both the master control arm and the slave control arm. The controller in the slave control arm is responsible for sending commands to the driver to control the movement of the motor in the slave control arm. The driver is the control unit for the motor in the slave control arm, mainly responsible for converting the commands from the controller into electrical signals required for motor movement. To achieve wire passage, the lead screw 342 is designed as a hollow structure, through which the wire passes, further improving the compactness of the opening and closing input device structure. Furthermore, since the wire passes through the center of rotation, the overall angle range that the opening and closing input device can rotate with the rotary input device can be significantly increased. Further, friction may occur as the wire passes through the lead screw 342. To solve this problem, the wire can be fixed to the center hole of the lead screw 342, while redundant length is added to the free portions of the wire at both ends of the lead screw 342. That is, the front and rear ends of the wire are long enough to extend / bend, while the portion of the wire inside the lead screw 342 is fixed to the lead screw 342. This avoids damage to the wires due to friction, thus extending the lifespan of the main input device. Of course, if wireless signal transmission is used, there are no wires, and the friction issue is not a concern. However, the stability and speed of power supply and signal transmission need to be considered. This aspect is irrelevant to this application, and there is extensive research on it in the prior art, so it will not be elaborated upon further.

[0073] The opening / closing input device also includes a first sensor 32, which is used to detect the relative rotation angle between the lead screw nut 341 and the lead screw 342 to obtain the opening / closing angle of the finger clip 36. In this embodiment, the first motor 31 is directly connected to the lead screw nut 341, so the opening / closing angle of the finger clip 36 can be calculated in real time and accurately based on the detection results of the first sensor 32 arranged at the first stator 311 and the first rotor 312, thereby improving control accuracy.

[0074] Specifically, the first sensor 32 includes a first code disk 322 and a first encoder 321; in this embodiment, the first code disk 322 is fixed on the lead screw nut 341, and the first encoder 321 is fixed on the first bearing seat 39 which is fixed relative to the position of the lead screw 342.

[0075] like Figure 7As shown, this embodiment also provides a rotary input device for limiting the overall rotation of the opening and closing input device. It should be noted that the opening and closing input device here can be the aforementioned device, or any structure capable of transmitting and feeding back the clamping force signal between the master hand and the slave operating arm. It can also be described as an opening and closing input device that only transmits the clamping force signal between the hand and the slave operating arm; this is not limited. The rotary input device includes a second motor 21 and a rotating base 24. The second motor 21 is a frameless torque motor, including a second stator 211 and a second rotor 212. The second rotor 212 is fixed to the rotating base 24, which is used to connect the opening and closing input device. When the opening and closing input device is operated to rotate, the second motor 21 provides at least one of several forces to the opening and closing input device through the rotating base 24: continuously providing an auxiliary force in the direction of rotation, or providing a feedback force in the opposite direction of rotation, or continuously providing a reset force to return the opening and closing input device to its zero position.

[0076] The friction between the mechanical structures of the rotary input device creates continuous resistance to its rotational movement. The aforementioned auxiliary force continuously acts on the second motor 21, in the same direction as the rotation of the input device, and its magnitude is adapted to counteract this resistance, allowing the operator to rotate the input device easily, smoothly, and without resistance (also providing a basis for precise force feedback guided by the instrument end). It is understood that the magnitude of this resistance can be determined through prior measurement or a limited number of experiments. Since the magnitude of this resistance is closely related to the structural parameters of the rotary input device, its specific magnitude and relationship are not limited here. Those skilled in the art, based on the description in this specification and their basic mechanical knowledge, can obtain the desired results without any inventive effort.

[0077] During surgical procedures, the operator frequently needs to control the rotation of surgical instrument actuators on the control arm via a rotary input device to achieve the optimal operating angle. At this time, the aforementioned feedback force acts on the opening / closing input device, providing resistance to the operator's control of its rotation. This resistance (i.e., the feedback force) is equivalent to the resistance encountered by surgical tissue or other objects preventing the rotation of the surgical instrument actuators on the control arm. In this way, the operator can perceive the magnitude of their operating force (the reaction force being the resistance exerted on the instrument actuators by other objects), enabling precise operation, especially in complex and delicate surgeries, ensuring surgical outcomes.

[0078] The aforementioned reset force continuously acts on the opening and closing input device. When the operator stops applying rotational force to the device, it tends to automatically reset to the zero position under the action of the reset force. This reset force, acting continuously on the device, is a constant value, allowing it to easily guide the surgeon to the zero position and ensuring the surgical instrument actuator does not exceed its range of motion limits. It is understandable that while the rotary input device may rotate indefinitely, the surgical instrument actuator it controls cannot; it has mechanical limits. Generally, a software limit is also added. The aforementioned reset force ensures that the surgeon is guided to return the rotary input device to the zero position during each operation, thus allowing for greater range of rotation in both directions during subsequent operations.

[0079] The rotating base 24 is a stepped cylindrical structure. The end of the rotating base 24 with the smallest diameter is fixed inside the second rotor 212, and the end with the largest diameter is fixed to the opening and closing input device. Specifically, it is fixed to the stationary part of the opening and closing input device, so that the entire opening and closing input device can be driven to rotate under the action of the second rotor 212. The cylindrical structure design also facilitates the routing of the wires led out from the opening and closing input device. Furthermore, when the opening and closing input device is the aforementioned frameless torque motor direct-drive lead screw and slider assembly, the hollow part of the cylinder can also serve as a receiving part for the reciprocating motion of the lead screw 342, thereby increasing the stroke of the lead screw 342 and achieving the goal of minimizing the structural size of the main input device while meeting technical requirements.

[0080] The rotary input device also includes a second bearing 23. The second rotor 212 is fixedly connected to the rotary seat 24, thereby driving the rotary seat 24 to follow the movement. The rotary seat 24 is rotatably connected to the fixed part of the rotary input device through the second bearing 23. The second bearing 23 ensures that the axis of the rotary seat 24 is collinear with the axis of the entire rotary input device, reducing the radial runout of the axis of the rotary seat 24.

[0081] The rotary input device also includes a second sensor 22, which is used to detect the relative rotation angle between the second stator 211 and the opening / closing input device. In this embodiment, the second motor 21 directly drives the rotating base 24, and the rotating base 24 is fixedly connected to the opening / closing input device. Therefore, the second sensor 22 arranged at the second stator 211 and the rotating base 24 can accurately read the rotation angle of the opening / closing input device under the drive of the second motor 21 in real time, thereby improving control accuracy.

[0082] Specifically, the second sensor 22 includes a second code disk 222 and a second encoder 221; the second code disk 222 is fixed relative to the rotating base 24, and the second encoder 221 is fixed relative to the second stator 211.

[0083] This embodiment also provides a master hand input device, which includes the above-mentioned opening and closing input device and / or the above-mentioned rotating input device.

[0084] like Figure 8-14 As shown, when the main hand input device includes the aforementioned opening / closing input device and the aforementioned rotating input device, the second motor 21 drives the first motor 31 to rotate. Ideally, the second motor 21 and the first motor 31 should be coaxial. The lead screw 342 can be inserted into the inner side of the rotating base 24 and reciprocate along its own axis. In this embodiment, the second motor 21 is also configured as a compact frameless torque motor, further expanding the movement space of the lead screw 342, increasing the opening / closing angle range of the finger clip 36, while ensuring the overall compactness of the main hand input device structure.

[0085] The first stator 311 is fixed relative to the end of the rotating base 24 with the largest diameter. There is a gap between the second motor 21 and the first motor 31; because the distance between the second motor 21 and the first motor 31 is large, the second motor 21 and the first motor 31 will not be damaged or malfunction due to thermal coupling. This connection method can improve the reliability and stability of the system, reduce the risk of failure, and extend the lifespan of the second motor 21, the first motor 31, and the main input device.

[0086] In this embodiment, the end with the largest diameter of the rotary seat 24 is provided with a wiring slot 241 for accommodating the control circuit of the frameless torque motor. Specifically, the wiring slot 241 is a notch reserved in the fixed step part between the rotary seat 24 and the opening and closing input device. The drive and power lines of the first motor 31 pass through the wiring slot 241 and then enter the hollow part of the rotary seat 24, finally leading to the rear end of the main control arm. This method can ensure that the motor driver is set far enough away, without causing problems such as heat generation and heavy weight.

[0087] The main input device also includes a base 1, with a second motor 21 inside the base 1. The base 1 is rotatably connected to the rotating seat 24. In this embodiment, the base 1 and the rotating seat 24 are rotatably connected via bearings. The opening / closing seat 35, the outer edge of the rotating seat 24, and the base 1 form a closed housing to protect the internal structure of the main input device and prevent dust and sweat from entering, which could affect the stability and service life of the device.

[0088] In this embodiment, two second bearings 23 are provided, located on opposite sides of the second motor 21. A second bearing cap 25 is fixed inside the base 1, and a locking nut 26 is installed on the rotating seat 24. The second bearing 23 located on the side of the second motor 21 away from the first motor 31 is sleeved on the rotating seat 24 and sandwiched between the second bearing cap 25 and the locking nut 26. Since the rotating seat 24 and the second rotor 212 are conventionally fixed by adhesive (if the second rotor 212 can be customized, a mating structure can also be used for fixing), to improve the reliability of the fixation, preferably, two spacers 5 are sleeved on the outer circumferential surface of the rotating seat 24 at both ends of the second rotor 212 (only the larger end is shown in the figure). The spacers 5 fix the second rotor 212 axially between the end face of the second bearing 23 and the rotating seat 24, thus improving the reliability of the fixation between the rotating seat 24 and the second rotor 212.

[0089] like Figure 5 As shown, in this embodiment, both the second bearing cap 25 and the first bearing seat 39 have reserved wiring grooves 391. The wiring grooves 391 are used to accommodate the control wires of the second motor 21 and the first motor 31. In addition to the aforementioned function, they can also keep the control wires of the second motor 21 and the first motor 31 away from the movement path of the lead screw 342, so as to avoid the control wires of the second motor 21 and the first motor 31 interfering with the movement of the lead screw 342.

[0090] In this embodiment, the second code disk 222 is fixed on the rotating base 24, and the second encoder 221 is fixed on the second bearing cover 25 fixedly connected to the second stator 211. This allows the rotation angle of the rotating base 24 relative to the second stator 211 to be measured, so as to obtain how much the opening and closing input device has rotated relative to the overall rotation input device.

[0091] This embodiment also provides a force feedback master hand, including a master hand wrist and the aforementioned master hand input device. The master hand input device is installed on the master hand wrist, so that the force feedback master hand also has the aforementioned technical effects.

[0092] This embodiment also provides a surgical robot, which includes a slave manipulator, an endoscopic imaging system, and the aforementioned force feedback master hand. The force feedback master hand is used to control the movement of the slave manipulator and to feed back the external force received from the manipulator to the operator. The endoscopic imaging system is used to display images of the surgical area.

[0093] In summary, in this embodiment, the lead screw and slider assembly of the opening and closing input device is directly connected to the first motor 31. The minute feedback force from the first motor 31 can be directly and accurately transmitted to the finger clip 36, and the minute control force changes from the finger clip 36 can also be directly and accurately transmitted to the first motor 31. This results in high transmission efficiency, high force feedback resolution, and high accuracy. Furthermore, in this embodiment, the opening and closing of the finger clip 36 is achieved through the reciprocating movement of the lead screw 342 within the second motor 21 and the first motor 31. This makes the structure of the opening and closing input device more compact and smaller along the axis of the first motor 31. On the other hand, it eliminates the need for reserved space for the movement of the lead screw 342 at the hinge point between the finger clip 36 and the opening and closing seat 35, resulting in a smaller diameter handheld portion of the opening and closing input device, making it easier for the operator to grip. Simultaneously, the angle sensors arranged at the stator and rotor of the second motor 21 and the first motor 31 in this embodiment can accurately collect the rotation angle of the opening and closing input device and the opening and closing angle of the finger clip 36 in real time, improving control accuracy. The rotary input device has similar technical effects and will not be elaborated further.

[0094] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An opening and closing input device, comprising an opening and closing base and a finger clip, one end of the finger clip being hinged to the opening and closing base to rotate about a hinge axis relative to the opening and closing base when operated, characterized in that: It also includes a connecting rod, a first motor disposed within the opening / closing seat, and a lead screw and slider assembly; the first motor is a frameless torque motor, including a first stator and a first rotor; the first stator is fixed within the opening / closing seat, and the first rotor is fixed to the rotating portion of the lead screw and slider assembly; one end of the connecting rod is hinged to a position of the finger clip away from the opening / closing seat, and the other end is hinged to the moving portion of the lead screw and slider assembly; when the finger clip is operated to open and close, the first motor drives the movement of the connecting rod through the lead screw and slider assembly to provide at least one of the following forces: a continuous auxiliary force in the opening / closing direction of the finger clip, or a timely feedback force in the opposite direction to the opening / closing direction of the finger clip, or a continuous reset force in the closing direction of the finger clip.

2. The opening and closing input device according to claim 1, characterized in that: The lead screw and slider assembly includes a lead screw nut and a lead screw. The first rotor is fixedly connected to the lead screw nut, and the lead screw nut is threaded onto the lead screw. The lead screw can reciprocate along the axis of the first motor.

3. The opening and closing input device according to claim 2, characterized in that: The end of the lead screw away from the first motor is provided with a connecting structure, and the connecting structure is hinged to the connecting rod in the radial direction of the lead screw so as to prevent the lead screw from rotating with the lead screw nut under the restriction of the connecting rod.

4. The opening and closing input device according to claim 3, characterized in that: The lead screw has an external thread at the end away from the first motor. The connection structure includes a fixing nut and a connecting block. The connecting block is hinged to the connecting rod, and the fixing nut locks the connecting block. Alternatively, the connection structure is a non-circular fixing nut, which is hinged to the connecting rod.

5. The opening and closing input device according to any one of claims 2-4, characterized in that: It also includes a first bearing, and the opening and closing seat and the lead screw nut are rotatably connected through the first bearing.

6. The opening and closing input device according to any one of claims 2-4, characterized in that: It also includes a clutch button for controlling the master and slave clutches. The signal from the clutch button is transmitted to the controller via a wire. The lead screw has a hollow structure, and the wire passes through the lead screw.

7. The opening and closing input device according to any one of claims 2-4, characterized in that: It also includes a first sensor, which is used to detect the relative rotation angle between the lead screw nut and the lead screw.

8. The opening and closing input device according to claim 7, characterized in that: The first sensor includes a first code disk and a first encoder; the first code disk is fixed relative to the lead screw nut, and the first encoder is fixed relative to the lead screw.

9. A rotary input device for limiting the rotation of an entire opening and closing input device, the opening and closing input device comprising an opening and closing base and a finger clamp, one end of the finger clamp being hinged to the opening and closing base to rotate about a hinge axis relative to the opening and closing base when operated; characterized in that: It includes a second motor and a rotating base; the second motor is a frameless torque motor, including a second stator and a second rotor; the second rotor is fixed on the rotating base, which is used to connect to the opening and closing input device. When the opening and closing input device is operated and rotated, the second motor provides at least one of the following forces to the opening and closing input device through the rotating base: continuously providing an auxiliary force in the direction of rotation of the opening and closing input device, or providing a feedback force in the opposite direction of rotation of the opening and closing input device as appropriate, or continuously providing a reset force to the opening and closing input device to return to the zero position.

10. The rotary input device according to claim 9, characterized in that: The rotating seat is a stepped cylindrical structure. The end of the rotating seat with the smallest diameter is fixed inside the second rotor, and the end of the rotating seat with the largest diameter is fixed to the opening and closing input device.

11. The rotary input device according to claim 9 or 10, characterized in that: It also includes a second bearing, a second rotor fixedly connected to a rotating base, and a second stator rotatably connected to the rotating base via the second bearing.

12. The rotary input device according to claim 11, characterized in that: It also includes a second sensor, which is used to detect the relative rotation angle between the second stator and the opening / closing input device.

13. The rotary input device according to claim 12, characterized in that: The second sensor includes a second code disk and a second encoder; the second code disk is fixed relative to the rotary base, and the second encoder is fixed relative to the second stator.

14. A master hand input device, characterized in that: It includes the opening and closing input device according to any one of claims 1-8 and the rotary input device according to any one of claims 9-13.

15. The main hand input device according to claim 14, characterized in that: The lead screw can be inserted into the center of the rotating seat and reciprocate along its own axis.

16. A force feedback master hand, characterized in that: It includes a master wrist and a master input device, wherein the master input device is the master input device as described in any one of claims 14-15, and the master input device is mounted on the master wrist.

17. A surgical robot, characterized in that: The device includes a slave manipulator, an endoscopic imaging system, and a force feedback master hand as described in claim 16, wherein the force feedback master hand is used to control the movement of the slave manipulator and to feed back the external force received by the slave manipulator to the operator, and the endoscopic imaging system is used to display an image of the surgical area.

Images