Input device and surgical robot

Abstract

This application provides an input device and a surgical robot having the input device. The input device includes a support, a handle, a first sensor, a second sensor, and a magnet. The handle and the support are rotatably connected via a pivot. The first sensor is located inside the handle and is used to detect the opening and closing degrees of freedom of a clamp mounted on the handle. The second sensor is located inside the support and is used to detect the rotational degrees of freedom of the handle. The magnet is fixed at the distal end of the pivot. The second sensor detects the rotational degrees of freedom of the handle by detecting changes in the magnetic field of the magnet.

Description

[0001] This application is a divisional application of Chinese Patent Application No. 202110462541.6, filed on April 27, 2021, entitled "Input Device, Main Operating Equipment and Surgical Robot". Technical Field

[0002] This application relates to the field of medical devices, and in particular to an input device and a surgical robot having the input device. Background Technology

[0003] Minimally invasive surgery refers to a surgical procedure performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery.

[0004] With advancements in technology, minimally invasive surgical robot technology has matured and is widely used. A minimally invasive surgical robot typically includes a master control panel and slave control devices. The master control panel sends control commands to the slave control devices based on the surgeon's instructions, controlling the slave control devices. The slave control devices respond to these control commands and perform the corresponding surgical procedures. Surgical instruments are connected to the drive mechanisms of the slave control devices to perform the surgical procedures. The end effectors of the surgical instruments include end effectors for performing surgical operations and joints connected to the end effectors that can move with multiple degrees of freedom.

[0005] The main operating device is connected to an input device, which establishes a mapping relationship with the end effector. The operator controls the movement of the end effector by operating the input device. The input device generally includes a handle and a support, which are rotatably connected. However, the existing support is relatively large. Summary of the Invention

[0006] In view of this, and to solve the above problems, the first aspect of this application provides an input device, which includes:

[0007] Support section;

[0008] A handle, configured to be rotatably connected to the support portion;

[0009] A first sensor, located inside the handle, is used to detect the opening and closing degrees of freedom of the clamp mounted on the handle;

[0010] The second sensor, located within the support portion, is used to detect the rotational degrees of freedom of the handle.

[0011] A rotating shaft is fixedly connected to the handle and rotatably connected to the support portion;

[0012] A magnet is fixed at one end of the rotating shaft located within the support. The second sensor detects the rotational degree of freedom of the handle by detecting changes in the magnetic field of the magnet.

[0013] In one specific embodiment, the input device further includes at least one magnet located within the handle, and the first sensor detects the opening and closing degrees of freedom of the clamp by detecting changes in the magnetic field of the magnet within the handle.

[0014] In one specific embodiment, the input device further includes a cordless electrical connector, which includes a first connecting portion and a second connecting portion. The first connecting portion is mounted on the support portion, and the second connecting portion is mounted on the handle. The surface of the first connecting portion abuts against the surface of the second connecting portion to electrically connect the first connecting portion and the second connecting portion, and the first sensor is electrically connected to the second connecting portion.

[0015] In one specific embodiment, the first connecting portion includes a first conductive ring, and the second connecting portion includes a conductive terminal, with the surface of the first conductive ring abutting the conductive terminal; or the first connecting portion includes a conductive terminal, and the second connecting portion includes a first conductive ring, with the surface of the first conductive ring abutting the surface of the conductive terminal.

[0016] In one specific embodiment, there are multiple first conductive rings, which are concentrically arranged and all located on a first plane, which is perpendicular to the rotation axis of the handle.

[0017] In one specific embodiment, the input device further includes a first circuit board and a second circuit board. The first circuit board is mounted on the handle, and the conductive terminals are alternately mounted on the first circuit board and electrically connected to the first circuit board. The second circuit board is mounted inside the support portion, and the plurality of first conductive rings are connected to the second circuit board.

[0018] In one specific embodiment, the magnet is connected to the clamp via a linkage assembly, the linkage assembly including a first link and a second link, one end of the first link being pivotally connected to the clamp and the other end being pivotally connected to the proximal end of the second link, the second link being located between the first link and the support portion, and the magnet being fixed to the distal end of the second link.

[0019] In one specific embodiment, the input device further includes a motor located within the support portion, wherein the rotating shaft of the motor is connected to the rotating shaft via gears, or the rotating shaft is fixedly connected to the rotor of the motor.

[0020] In one specific embodiment, the input device further includes a third sensor and a controller, the third sensor being used to detect the rotational motion of the motor, and the controller being used to control the motor based on the information detected by the second sensor and the third sensor.

[0021] This application provides a surgical robot in a first aspect, comprising a master operating device and a slave operating device, wherein the master operating device controls the slave operating device through a master-slave mapping, and the input includes:

[0022] Support section;

[0023] A handle, configured to be rotatably connected to the support portion;

[0024] A first sensor, located inside the handle, is used to detect the opening and closing degrees of freedom of the clamp mounted on the handle;

[0025] The second sensor, located within the support portion, is used to detect the rotational degrees of freedom of the handle.

[0026] A rotating shaft is fixedly connected to the handle and rotatably connected to the support. The second sensor is located near one end of the rotating shaft within the support.

[0027] In one specific embodiment, the input device further includes a first magnet, which is connected to the clamp via a transmission structure. The first sensor detects the opening and closing degrees of freedom of the clamp by detecting changes in the magnetic field of the first magnet.

[0028] In one specific embodiment, the input device includes a second magnet disposed on one end of the rotating shaft located within the support portion, and the second sensor detects the rotational degree of freedom of the clamp by detecting changes in the magnetic field of the second magnet.

[0029] This application also includes, in a third aspect, an input device, said input device comprising:

[0030] Support section;

[0031] A handle, configured to be rotatably connected to the support portion;

[0032] A first sensor, located inside the handle, is used to detect the opening and closing degrees of freedom of the clamp mounted on the handle;

[0033] The second sensor, located within the support portion, is used to detect the rotational degrees of freedom of the handle. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the operating device of a surgical robot according to one embodiment of this application;

[0035] Figure 2 This is a schematic diagram of the main operating device of a surgical robot according to an embodiment of this application;

[0036] Figure 3 This is a schematic diagram of a surgical instrument according to one embodiment of this application;

[0037] Figure 4 This is a schematic diagram of the input device structure according to an embodiment of this application;

[0038] Figure 5 for Figure 4 A cross-sectional view of the input device along the vertical direction of the rotation axis Y;

[0039] Figure 6 This is a cross-sectional view of an input device according to another embodiment of this application;

[0040] Figure 7A This is a cross-sectional view of an input device according to yet another embodiment of this application;

[0041] Figure 7B This is a schematic diagram of the operation of an end effector according to an embodiment of this application;

[0042] Figure 8A This is a cross-sectional view of an input device according to yet another embodiment of this application;

[0043] Figure 8B for Figure 8A A schematic diagram of the synchronization mechanism in the diagram;

[0044] Figures 9A-9B This is an exploded view of an input device according to an embodiment of this application;

[0045] Figure 10 for Figure 9A A schematic diagram of the structure of the input device handle side in the embodiment shown;

[0046] Figure 11 for Figure 9A A perspective view of the input device in the illustrated embodiment;

[0047] Figure 12 for Figure 11 A partial cross-sectional view of the input device along the vertical direction of the rotation axis Y;

[0048] Figure 13 This is a block diagram of signal transmission of an input device in one embodiment of this application. Detailed Implementation

[0049] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application.

[0050] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. When an element is considered to be "coupled" to another element, it can be directly coupled to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or operation, in addition to those depicted in the drawings. For example, if the device is flipped in the drawings, an element or feature described as "below" or "under" other elements or features would be oriented "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.

[0051] The terms "distal" and "proximal" used in this article are directional terms commonly used in the field of interventional medical devices. "Distal" refers to the end furthest from the operator during the procedure, while "proximal" refers to the end closest to the operator. The term "coupling" as used in this article can be broadly understood as two or more objects being connected to any event in a manner that allows absolutely coupled objects to operate together such that there is no relative movement between the objects in at least one direction. For example, the coupling of a protrusion and a groove, where they can move radially relative to each other but not axially.

[0052] The term "instrument" is used herein to describe a medical device for insertion into a patient's body and for performing surgical or diagnostic procedures. This instrument includes an end effector, which can be a surgical tool used to perform surgical procedures, such as an electrocautery device, clamp, stapler, scissor, imaging device (e.g., an endoscope or ultrasound probe), and the like. Some instruments used in embodiments of this application further include an articulated component (e.g., a joint assembly) for the end effector, allowing the position and orientation of the end effector to be manipulated with one or more mechanical degrees of freedom relative to an instrument axis. Further, the end effector includes functional mechanical degrees of freedom, such as opening and closing clamps. The instrument may also include stored information that can be updated by a surgical system, whereby the storage system can provide one-way or two-way communication between the instrument and one or more system components.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The terms “and / or” and “and / or” as used herein include any and all combinations of one or more of the associated listed items.

[0054] One embodiment of the surgical robot in this application is as follows: Figure 1 and Figure 2 As shown, the surgical robot includes a slave manipulator 10 and a master manipulator 20. The slave manipulator 10 is located on the patient's side for performing surgical procedures. The slave manipulator 10 includes multiple robotic arms 11 and instruments 12 mounted on the robotic arms 11. The instruments 12 can be electrocautery devices, clamps, staplers, scissors, etc., used to perform surgical operations, or cameras or other surgical instruments for acquiring images. The multiple instruments 12 are inserted into the patient's body through different incisions. The robotic arms are configured to be supported by struts via multiple large arms. In other embodiments, the robotic arms of the slave manipulator may also be mounted on a wall or ceiling.

[0055] The robotic arm 11 further includes a parallelogram linkage mechanism, with the instrument 12 detachably mounted on the distal end of the parallelogram linkage mechanism. The parallelogram linkage mechanism allows the instrument 12 to move or move multiple mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). The parallelogram linkage mechanism is used to restrain movement of the instrument 12 near a remote center of motion (RCM) on a surgical instrument that remains stationary relative to the patient. This remote center of motion is typically located where the instrument enters the patient's body. In some other embodiments, a different configuration exists for the upper arm of the manipulator, in which multiple instruments are detachably mounted on a power mechanism at the distal end of the upper arm. Multiple instruments enter the body through an incision, and multiple upper arms control and restrain the movement of the instruments near the remote center of motion, as detailed in Chinese patent application CN201810664598.2.

[0056] Surgical robots typically also include an imaging system (not shown) that allows the operator to view the surgical site from outside the patient's body. This imaging system typically includes a video image acquisition function (e.g., an instrument 12 with image acquisition capabilities) and one or more video display devices for displaying the acquired images. Generally, the instrument 12 with image acquisition capabilities includes optics of one or more imaging sensors (e.g., CCD or CMOS sensors) that acquire images of the patient's body. These one or more imaging sensors may be positioned distal to the instrument 12 with image acquisition capabilities, and the signals generated by these sensors may be transmitted via cable or wirelessly for processing and display on the video display devices.

[0057] The main operating device 20 is located on the operator's side. The main operating device 20 sends control commands to the slave operating device 10 and displays images acquired by the slave operating device 10 based on the operator's actions. The operator can observe three-dimensional images of the patient's body provided by the imaging system through the main and slave operating devices 20. By observing these three-dimensional images, the operator can immerse themselves in the experience and control the slave operating device 10 to perform related operations (e.g., performing surgery or acquiring images of the patient's body). The main operating device 20 includes a main console 21 and an input device 22. The main console 21 includes a display device, armrests, a control signal processing system, and an observation device. The display device displays the images acquired by the imaging system. The armrests provide support for the operator's arms and / or hands, allowing for more comfortable operation of the input device. The observation device allows for viewing the images displayed on the display device. Depending on the needs, the armrests or observation device can be omitted, allowing for direct observation. The operator controls the movement of the slave operating device 10 through the operation input device 22. After the control signal processing system of the main console 21 processes the input signal of the input device 22, it sends control commands to the slave operating device. The slave operating device 300 is used to respond to the control commands sent by the main console 21 and perform corresponding operations.

[0058] like Figure 3 As shown, the instrument 12 includes an end effector 15, a long shaft 14, and a drive unit 13. The drive unit 13 contains multiple transmission units, which are coupled to the drive unit within the robotic arm 11 and can be driven by the drive unit. The drive unit, according to control commands from the main control console 21, drives the movement of the end effector 15 through the transmission units. The transmission units can be multiple flexible cables and a winch. The proximal ends of the multiple cables are wound around the winch, and the distal ends of the multiple cables are connected to the end effector. The drive unit 13 controls the end effector by driving the winch to rotate and thus retract / pull the flexible cables. The end effector 15 has a joint assembly, which allows it to perform multiple Cartesian degrees of freedom movements, such as pitch and yaw. The end instrument 15 is used to perform surgical operations. Depending on the needs of the surgical operation, the end effector 15 can be an electrocautery device, clamp, stapler, scissors, camera, etc.

[0059] like Figure 4As shown, the input device 22 includes a handle 111, a clamp 210, multiple L-shaped links 113, 115, 117, and multiple rotary joints 112, 114, 116. The clamp 210 is movably mounted on the handle 111 and can move relative to the handle 111. The handle 111 is rotatably connected to the first L-shaped link 113 via the first rotary joint 112, so that the handle 111 and the clamp 210 can rotate around the rotation axis Y of the rotary joint 112. The first L-shaped link 113 is rotatably connected to the second L-shaped link 115 via the second rotary joint 114, so that the first L-shaped link 113 can rotate around the rotation axis Z1 of the second rotary joint 114. The second L-shaped link 115 is rotatably connected to the third L-shaped link 117 via the third rotary joint 116, so that the second L-shaped link 115 can rotate around the rotation axis X of the third rotary joint 116. The third L-shaped link 117 is rotatably connected to the fourth rotary joint (…). Figure 4 (Not shown) is rotatably connected to the main control console 21, so that the third L-shaped link 117 can rotate about the rotation axis of the fourth rotary joint.

[0060] The fixture 210 can perform multiple degrees of freedom of movement via the handle 111, multiple L-shaped links 113, 115, 117 and multiple rotary joints 112, 114, 116. In other embodiments, the number of L-shaped links and rotary joints can be set according to the actual needs of the fixture 210.

[0061] The input device 22 and the end effector 15 establish a pose mapping control through the main operating device 20. This mapping can be a positional correspondence, such as a proportional distance or a corresponding distance trend. Alternatively, it can be a motion correspondence, such as a motion posture or a motion trend. This allows the operator to control the instrument 12 to perform corresponding actions (e.g., pitch, yaw, roll, clamping, etc.) by operating the input device 22. The input device 22 can be located on the main control console 21, or in other embodiments, it can be located separately from the main control console 2.

[0062] The opening and closing motion of the clamp 210 relative to the handle 111 is mapped to the device 12, which can control the opening and closing action of the end effector 15 (such as clamping or shearing). The rotational motion of the clamp 210 and / or the handle 111 around the rotation axis Y of the first rotary joint 112 is mapped to the device 12, which can control the rolling motion of the end effector 15.

[0063] One embodiment of this application is, for example... Figure 5 As shown, Figure 5 for Figure 4A schematic diagram of a vertical section along the rotation axis Y shows that the first clamping arm 211 and the second clamping arm 212 of the clamp 210 are pivotally connected to the handle 111. The first clamping arm 211 and the second clamping arm 212 can rotate about pivots 216a and 216b in directions Ha and Hb, respectively, which represents the opening and closing freedom of the clamp 210. An elastic element 215 is provided between the first clamping arm 211 and the second clamping arm 212. The elastic element 215 is in a stretched state to maintain the state of the clamp 210 and provide the operator with a tactile feel.

[0064] The distal end of the handle 111 is fixedly connected to the rotating shaft 242 via the end cap 124. The end cap 124 is fixedly mounted on the handle 111. The rotating shaft 242 is rotatably connected to the support part 121 of the first L-shaped connecting rod 113 via the bearing 122, so that the handle 111 is rotatably connected to the support part 121 via the rotating shaft 242 (first rotary joint), so that the handle 210 and the clamp 210 can rotate along the rotation axis Y of the rotating shaft 242, that is, the rotational degree of freedom of the clamp 210 / or the handle 111.

[0065] The input device 22 also includes a first sensor 221 and a second sensor 227. The first sensor 221 is installed in the handle 210 and is used to detect the opening and closing degree of freedom of the clamp 210. The second sensor 227 is installed in the support 121 and is used to detect the rotational degree of freedom of the clamp 210.

[0066] Furthermore, a first magnet 222 is provided inside the handle 111. The first magnet 222 is indirectly connected to the clamp 210 through a linkage assembly. The linkage assembly includes a first link 213 and a second link 214. The first link 213 is rotatably connected to the first clamping arm 211 and the second clamping arm 212 through pivots 216c and 216d. The proximal end of the second link 214 is rotatably connected to the first link 213 through pivot 216e. The linkage assembly enables the first clamping arm 211 and the second clamping arm 212 to move together. Co-movement means that when the operator operates only one of the clamping arms 211 and 212 to perform an opening and closing degree of freedom movement, the other clamping arm is also driven by a synchronous motion mechanism (such as the linkage assembly) to perform an opening and closing degree of freedom movement at the same angular velocity.

[0067] The first magnet 222 is fixedly installed at the far end of the first link 214. When the first clamping arm 211 and the second clamping arm 212 move in the opening and closing degree of freedom, the first link 214 will move linearly along the axis of rotation Y, thereby changing the relative distance between the first magnet 222 and the first sensor 221. The first sensor 221 detects the opening and closing degree of freedom of the first clamping arm 221 and the second clamping arm 212, such as the opening and closing angle, by detecting the change in the magnetic field strength of the first magnet 222 on it. The main control console 21 issues an opening and closing movement command to the end effector 15 based on the detection result of the first sensor 221.

[0068] A second magnet 226 is provided inside the support part 121. The second magnet 226 is fixedly mounted on the rotating shaft 242. When the clamp 210 performs rotational freedom movement, the second magnet 226 rotates relative to the second sensor 227, causing the magnetic field strength of the second magnet 226 to change on the second sensor 227. The second sensor 227 detects the rotational freedom movement of the clamp 210 by detecting the change in the magnetic field strength of the second magnet 226 on it.

[0069] Since both the first sensor 221 and the second sensor 227 in this embodiment are magnetic sensors (e.g., Hall sensors), the first magnet 221 and the second magnet 226 are set separately. That is, the first magnet 221 is set inside the handle 111 and the second magnet 226 is set inside the support part 121. This can avoid the magnetic fields of the first magnet 221 and the second magnet 226 from interfering with each other and improve the detection accuracy.

[0070] Furthermore, the input device 22 also includes a motor 240, which is disposed within the first L-shaped connecting rod 113. The rotating shaft of the motor 240 is connected to the rotating shaft 242 via a gear set 241. The first helical gear 241a of the gear set 240 is fixedly mounted on the rotating shaft 242, and the second helical gear 241b is fixedly connected to the rotating shaft of the motor 240. The motor 240 applies torque to the rotating shaft 242 through the gear set 241, and then applies torque to the handle 111, thereby enabling the motor 240 to apply force feedback to the clamp 210. The motor 240 can also provide gravity compensation for the handle 111 and the clamp 210, preventing the handle 111 and the clamp 210 from rotating around the rotation axis Y due to gravity after the operator leaves the handle 111.

[0071] In one embodiment, the input device 22 further includes a controller 252 and a third sensor 243. The rotational freedom motion information of the handle 111 detected by the second sensor 227 is fed back to the controller 252. The third sensor 243 is used to detect the rotational motion of the motor 240 and input it to the controller 252. The controller 252 compares the rotational freedom motion information of the handle 111 with the rotational motion information of the motor 240 detected by the third sensor 243 and then controls the motor 240, so that the controller 252 forms a feedback closed-loop control of the motor 240, avoiding inaccurate control of the output of the motor 240 due to the backlash of the gear set 241 or other transmissions, and making the output control of the motor 240 by the controller 252 more precise. In some embodiments, the third sensor 243 is an encoder.

[0072] Since the first sensor 221 and the first magnet 222 are located inside the handle 111, the rotating shaft 242 has more space to install the gear set 241, and the volume of the support part 121 is also reduced.

[0073] An example of the input device in this application is as follows: Figure 6 As shown, the handle 111 is connected to the support part 121 via the rotating shaft 342. The rotating shaft 342 is also the rotating shaft of the motor 340. The motor 340 includes a stator 341a and a rotor 341a. The rotating shaft 342 is fixedly connected to the rotor 341a.

[0074] Furthermore, the rotating shaft 342 is hollow, and the distal end of the first link 217 of the linkage assembly passes through the rotating shaft 342. The first magnet 315 is fixed to the distal end of the first link 217. The first sensor 334 is installed in the support 121 at a position opposite to the first magnet 315. When the clamp 210 performs the opening and closing degree of freedom movement, the first link 217 moves linearly along the rotation axis Y. The first sensor 344 detects the opening and closing degree of freedom movement of the clamp 210 by detecting the change in the magnetic field strength of the first magnet 345 on it.

[0075] The second sensor 343 is directly mounted on the motor 340. The second sensor 343 directly detects the rotational motion of the motor 340. Since the shaft 342 is the rotating shaft of the motor 340, there are no intermediate transmission components such as gear sets, and therefore no backlash. Thus, the rotational motion of the motor 340 detected by the second sensor 343 is the output rotational motion of the motor 340, and also the rotational motion of the handle 111. Therefore, there is no need to set a third sensor to detect the output of the motor 340, reducing the number of sensors and simplifying the control of the motor 340. In one embodiment, the second sensor 343 is an encoder.

[0076] An example of the input device in this application is as follows: Figure 7A As shown, in this embodiment, the input device has no linkage assembly. The first clamping arm 411 and the second clamping arm 412 are respectively connected to the handle 111 through the first elastic member 215a and the second elastic member 215b. The first clamping arm 411 and the second clamping arm 412 move independently of each other.

[0077] The first magnet 247a is mounted on the first clamping arm 411, the first magnet 247b is mounted on the second clamping arm 412, and the first sensors 246a and 246b are located between the first magnet 247a and the first magnet 247b inside the handle 111.

[0078] When the first clamping arm 411 and the second clamping arm 412 perform opening and closing freedom movements, the first magnets 247a and 247b move closer to or further away from the first sensors 246a and 246b as the first clamping arm 411 and the second clamping arm 412 move. The first sensor 246a detects the opening and closing movement of the first clamping arm 411 by detecting the magnetic field strength of the first magnet 247a, and the first sensor 246b detects the opening and closing movement of the second clamping arm 412 by detecting the magnetic field strength of the first magnet 247b.

[0079] Since the input device in this embodiment does not have a linkage assembly, the opening and closing degrees of freedom of the first clamping arm 411 and the second clamping arm 412 are independent of each other. The movement of one clamping arm 411 or the second clamping arm 412 will not affect the movement of the other clamping arm. Therefore, it can be applied to application scenarios where the operator needs to control the individual movement of each clamping component of the end effector 15 through the first clamping arm 411 and the second clamping arm 412 (for example, when the end effector is a retractor).

[0080] like Figure 7B As shown, the first clamping arm 411 and the second clamping arm 412 are mapped to the end effector 15, and the first clamping component 151 and the second clamping component 152 of the end effector 15 can be controlled to rotate around the rotation axis BB' independently. For example, the moving first clamping arm 411 can control the first clamping component 151 to move independently, while the stationary second clamping arm 412 controls the second clamping component 152 to maintain its original state.

[0081] An example of the input device in this application is as follows: Figure 8A and Figure 8BAs shown, the first clamping arm 411 and the second clamping arm 412 are provided with a synchronous motion mechanism 218 near the pivots 216a and 216b. The synchronous motion mechanism 218 is used to make the first clamping arm 411 and the second clamping arm 412 move at the same angular velocity. This ensures that when the operator operates only one of the clamping arms 411 and 412 to perform the opening and closing degree of freedom movement, the synchronous motion mechanism 218 can make the other clamping arm not operated by the operator perform the opening and closing degree of freedom movement at the same angular velocity. This allows the end effector 15 to perform clamping actions even when the operator operates only one clamping arm.

[0082] Since the first clamping arm 411 and the second clamping arm 412 move synchronously, the movement of any one clamping arm will cause the other clamping arm to move at the same angular velocity. Therefore, the opening and closing degrees of freedom of the first clamping arm 411 and the second clamping arm 412 can be detected by a first sensor 246.

[0083] like Figure 8B As shown, the synchronous motion mechanism 218 includes a first support 218a and a second support 218b. The first support 218a is fixedly connected to the first clamping arm 411, and the second support 218b is fixedly connected to the second clamping arm 412. The free end of the first support 218a is provided with an arc-shaped groove 219a, and the free end of the second support 218b is provided with a protrusion 219b. The protrusion 219b is accommodated in the arc-shaped groove 219a, and the inner wall 219c of the arc-shaped groove 219a is in close contact with the protrusion 219b.

[0084] The arc groove 219a is roughly C-shaped, and the protruding direction B of the arc groove 219a points to the far end of the input device. The curvature of the arc groove 219a is selected to satisfy the condition that when one of the first clamping arms 411 and the second clamping arm 412 moves, it causes the other clamping arm to move at the same angular velocity. Thus, when the first clamping arm 411 moves toward the handle 111, the arc groove 219a moves against the protrusion 219b, thereby driving the second clamping arm 412 to move toward the handle 111 at the same angular velocity as the first clamping arm 411.

[0085] Furthermore, such as Figures 5 to 7A , Figure 8A As shown, the input device 22 also includes a cordless electrical connector 230. A cordless electrical connector is an electrical connector that does not directly connect via a cable, such as an electrical slip ring. The cordless electrical connector 230 electrically connects a first electronic device located within the handle 111 and a second electronic device located within the support 121, enabling the first and second electronic devices to communicate or transmit power via the cordless electrical connector. The first and second electronic devices may include one or more electronic components. Figure 5In the embodiment shown, the first electronic device includes a first sensor 221 and / or a switch assembly 223, and the second electronic device includes a signal processor 253, a controller 252 and a power supply 254 located in the support portion 121. The signal processor 253, the controller 252 and the power supply 254 are all mounted on the second circuit board 251.

[0086] The information on the opening and closing degrees of freedom motion of the clamp 210 detected by the first sensor 221 is transmitted to the signal processor 253 through the cordless electrical connector 230. The signal processor 253 processes the information on the opening and closing degrees of freedom motion of the clamp 210 and then transmits it to the control signal processing system of the main console 21. For example, the signal processor 253 converts the analog signal input from the first sensor 221 into a digital signal and then transmits it to the control signal processing system of the main console 21.

[0087] Power supply 254 provides power to the first electronic device via cordless connector 230. Since power supply 254 directly supplies power to the electronic device on one side of handle 111 via cordless connector 230, there is no intermediate power conversion, reducing power conversion components, making the entire input device more compact, and improving power utilization. Figure 6 In the illustrated embodiment, the first electronic device includes a switch assembly 223, and the second electronic device includes a switch signal processor (not shown), which is used to receive control signals from the switch assembly 223.

[0088] Furthermore, the cordless electrical connector 230 includes a first connecting portion 231 and a second connecting portion 232. The first connecting portion 231 is fixedly mounted on the support portion 121, and the second connecting portion 232 is fixedly mounted on the handle 111. The surface of the conductive portion of the first connecting portion 231 abuts against the surface of the conductive portion of the second connecting portion 232, thereby electrically connecting the first connecting portion 231 and the second connecting portion 232. This ensures that the first connecting portion 231 and the second connecting portion 232 maintain an electrical connection regardless of how the handle 111 rotates, thus allowing the handle 111 to rotate infinitely. The infinite rotation of the handle 111 is essential; for example, during surgery, the infinite rotation of the handle 111 allows the operator to more easily control the rolling movement of the instrument 12.

[0089] The second connecting part 232 is electrically connected to the first electronic device through the first circuit board 225, and the first connecting part 232 is connected to the second electronic device through the second circuit board 251. Since the electrical signal of the first electronic device in the handle 111 communicates with the second electronic device in the support part through the cordless connector 230, the transmission of electrical signals in the handle 111 will not be affected no matter how the handle 111 is rotated. Moreover, during the transmission of the electrical signal of the first electronic device to the second electronic device through the cordless connector 230, the electrical signal does not need to be converted in any way, thus avoiding the signal loss that occurs during transmission due to the signal conversion method.

[0090] An embodiment of the input device 33 of this application is as follows: Figures 9A-12 The diagram shows the internal structure of the input device 33. Figure 9A The handle and the housing of the first L-shaped link are not shown. The first sensor 321 and the first magnet 322 of the input device 33 are located inside the handle. The first magnet 322 is located at the far end of the second link 314. The second link 314 is pivotally connected to the first link 313. The first link 313 is pivotally connected to the first clamping arm 311 and the second clamping arm 312. The first sensor 321 detects the opening and closing free movement of the clamp 210 by detecting the change in the magnetic field strength of the first magnet 362 on it.

[0091] In this embodiment, the first clamping arm 311 and the second clamping arm 312 are connected simultaneously via a linkage assembly and a synchronous motion mechanism 318. An elastic element 315 is located between the linkage assembly and the synchronous motion mechanism 318 to ensure that the first clamping arm 311 and the second clamping arm 312 can move at the same angular velocity. A toggle switch 323a is also provided on the handle 111. The toggle switch 323a is coupled to the switch assembly 323, allowing the operator to activate the switch assembly 323 by operating the toggle switch 323a.

[0092] The first sensor 321 and / or switch assembly 323 are connected to the first circuit board 325 via a flexible circuit board 361. The first circuit board 325 is electrically connected to the cordless electrical connector 330. The electrical signals of the first sensor 321 and / or switch assembly 323 are transmitted to the support portion via the cordless electrical connector 330. The flexible circuit board 361 allows the first sensor 321 and switch assembly 323 to be connected to the first circuit board 325 more conveniently.

[0093] In this embodiment, the first connecting part 331 of the cordless electrical connector 330 is disc-shaped, which includes multiple conductive rings 331a and a base 335. The multiple conductive rings 331a are fixedly mounted on the base 335. The second connecting part 332 includes multiple conductive terminals 333. The conductive terminals 333 include conductive and elastic connecting pieces 333a and a base 334. The surface of the free end 333b of the multiple connecting pieces 333a abuts against the first surface of the distal end of the multiple conductive rings 331a, thereby realizing the electrical connection between the second connecting part 332 and the first connecting part 331.

[0094] Multiple conductive rings 331a are concentrically arranged with the rotation axis Y as the center. Each conductive ring 331a is insulated from each other and located on the same first plane. Similarly, multiple conductive terminals 333 are also distributed on multiple concentric circles with the rotation axis Y as the center. When the first clamping arm 311 and the second clamping arm 312 perform rotational freedom movement, the free ends 333b of the multiple conductive terminals 333 slide on the first surface of the multiple conductive rings 331a respectively. During the sliding process, the conductive terminals 333 always abut against the conductive rings 331a to maintain the electrical connection between the two, thereby allowing the handle 111 and the clamp 210 to rotate infinitely with electrical connection.

[0095] The other end 333c of the connecting piece 333a is fixedly connected to the first circuit board 325 via the base 334, and the multiple conductive terminals 333 are electrically connected to the flexible circuit board 361 through the first circuit board 325. In one embodiment, the multiple conductive terminals 333 are staggered on the first circuit board 325, which has a generally C-shaped structure, and the free ends 333a of the multiple conductive terminals 333 are generally distributed on a first straight line perpendicular to the rotation axis Y. This layout can reduce the space occupied by the multiple conductive terminals 333, thereby making the first circuit board 325 more compact.

[0096] Furthermore, such as Figure 9BAs shown, the flexible circuit board 361 is triangular in shape. The flexible circuit board 361 includes an integral first flexible circuit board body 361a, a second flexible circuit board body 361b, and a third flexible circuit board body 361c. These three flexible circuit boards form a triangular shape, with the free ends of the first and second flexible circuit boards 361a and 361b extending proximally along the handle 111, and the third flexible circuit board body 361b extending distally along the handle 111 to the first circuit board body 325. The first, second, and third flexible circuit boards 361a, 361b, and 361c are all connected to a fourth flexible circuit board body 361d in the middle region of the flexible circuit board 361. The first sensor 321 is disposed on the fourth flexible circuit board body 361d. The first and second flexible circuit boards 361a are positioned opposite each other, forming a space between them to accommodate the distal end of the second connecting rod 314. During the opening and closing freedom movement of the clamp 210, the distal end of the second connecting rod 314 moves linearly within this space.

[0097] Two switch assemblies 323 are respectively disposed on opposite sides of the first flexible circuit board 361a and the second flexible circuit board 361b. The signals from the switch assemblies 323 and the first sensor 321 are transmitted through the third flexible circuit board 361c to the second connection portion 332 of the cordless electrical connector 330, and then through the first connection portion 331 to the signal processor 353 on the second circuit board 351. The controller 352 and power supply 354 of the motor 360 are also mounted on the second circuit board 351. The first flexible circuit board 361 electrically connects the first sensor 321 and the switch assembly 323 to the first circuit board 325 through the flexible circuit board 361, and also serves to fix and support the first sensor 321 and the switch assembly 323.

[0098] Furthermore, the rotating shaft 342 of the motor 360 passes through the first connecting part 331 and is fixedly connected to the handle 111. The proximal end of the rotating shaft 342 is fixedly connected to the handle 111 through the end cap 324, which is fixed inside the handle 111. The rotating shaft 342 is rotatably connected to the support part through the bearing 122, and the motor 360 directly applies torque to the handle through the rotating shaft 342. The second magnet 326 is installed at the distal end of the rotating shaft 342, and the second sensor 327 detects the rotation of the rotating shaft 342 by detecting the change in the magnetic field strength of the second magnet 326 on it, thereby detecting the opening and closing degree of freedom of the clamp 210.

[0099] like Figure 10-12As shown, the first circuit board 325 is fixed to the inner side of the distal end of the handle 111 by the fixing part 123. The fixing part 123 can be a snap and / or bolt fixing structure. The distal end of the handle 111 extends out a first edge 1110. The distal surface 1111 of the first edge 1110 is located between the distal surface 3251 of the first circuit board 325 and the first connecting part 331.

[0100] Furthermore, such as Figure 11 As shown, the first connecting part 331 of the cordless electrical connector 330 is fixedly mounted on the support part 131 via the base 312. The first connecting part 331 is electrically connected to the second circuit board 351 via the cable 361. The top of the support part 131 has a notch 131a for accommodating the cable 161. The base 312 has a through hole 312a. One end of the cable 361 is electrically connected to the second surface of the first connecting part 331 away from the second connecting part 332. The other end passes through the through hole 312a and along the notch 131a through the support part 131, extends along the distal end of the input device 33 and connects to the second circuit board 351. This allows the electrical signal from the handle 111 to be transmitted to the electronic device in the support part 131 first through the cordless electrical connector 330 and then through the cable 361. The electronic device in the handle 111 and the electronic device in the support part 131 have no direct cable connection.

[0101] Furthermore, such as Figure 12 As shown, a second edge 1310 extends from the proximal end of the support portion 131, and the proximal surface 1311 of the second edge 1310 is located between the distal surface 1111 of the first edge 1110 and the first circuit board 325. After the handle 111 is connected to the support portion 131, the distal surface 1111 of the first edge 1110 of the handle 111 is closer to the first connecting portion 331 than the proximal surface 1311 of the second edge 1310, so that the first edge 1110 and the second edge 1310 partially overlap, thereby preventing foreign objects from entering the input device 33 from the gap between the first connecting portion 331 and the second connecting portion 332.

[0102] like Figure 13 The diagram shows the internal electrical signal transmission of the input device. The signal processor 452 and the power supply 453 are located inside the support. The first sensor 421 and the switch assembly 423 are located inside the handle. The power supply 4531 establishes an electrical connection with the first sensor 421 and the switch assembly 423 through the power cords 4531, 4532 and the cordless connector 430, thereby providing power to the first sensor 421 and the switch assembly 423 through the cordless connector 430.

[0103] The signal emitted by the first sensor 421 is transmitted to the first input signal line 4521 through the first signal output line 4211 and the cordless electrical connector 430, and then input to the signal processing 452. After processing the information emitted by the first sensor 421, the signal processing 452 outputs it to the control signal processing system in the main console 21 through the second signal output line 4522.

[0104] The switch assembly 423 sends control signals to the control signal processing system within the main control console 21 via the third signal output line 4231, the cordless connector 430, and the second signal output line 4522. The switch assembly 432 sends control signals to control the master-slave mapping between the master operating device 20 and the slave operating device 10, thereby cutting off the master operating device 20's control over the slave operating device 10. And / or the control signals sent by the switch assembly 432 are used to control the on / off of the power supply 453, thereby cutting off the power supply 453 to the electronic devices within the support and / or handle, thus suspending the operation of the electronic devices.

[0105] For example, the switch assembly 432 sends a signal to cut off the power supply 453 to the first sensor 421, causing the first sensor 432 to stop working due to the loss of power, and the free movement of the clamp cannot be detected and therefore cannot be mapped to the operating device.

[0106] It is understood that in some other embodiments, the first connecting portion of the cordless connector may be a plurality of conductive terminals and the second connecting portion may include a plurality of conductive rings, or both the first connecting portion and the second connecting portion may be a plurality of conductive rings.

[0107] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0108] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An input device for a surgical robot, characterized in that, The input device includes: Support section; A handle, configured to be rotatably connected to the support portion; A rotating shaft is fixedly connected to the handle and rotatably connected to the support portion; The first sensor is located inside the handle; The second sensor is located inside the support portion; A first magnet is connected to the clamp of the handle via a transmission structure. The first sensor detects the opening and closing freedom of the clamp by detecting the change in the magnetic field of the first magnet. The second magnet is fixed at one end of the rotating shaft located within the support portion. The second sensor detects the rotational degrees of freedom of the clamp by detecting changes in the magnetic field of the second magnet.

2. The input device as claimed in claim 1, characterized in that, The input device further includes a cordless electrical connector, which includes a first connecting part and a second connecting part. The first connecting part is mounted on the support part, and the second connecting part is mounted on the handle. The surface of the first connecting part abuts against the surface of the second connecting part to make the first connecting part and the second connecting part electrically connected. The first sensor is electrically connected to the second connecting part.

3. The input device as described in claim 2, characterized in that, The first connecting portion includes a first conductive ring, and the second connecting portion includes a conductive terminal, with the surface of the first conductive ring abutting the conductive terminal; or the first connecting portion includes a conductive terminal, and the second connecting portion includes a first conductive ring, with the surface of the first conductive ring abutting the surface of the conductive terminal.

4. The input device as claimed in claim 3, characterized in that, There are multiple first conductive rings, which are concentrically arranged and located on a first plane, which is perpendicular to the rotation axis of the handle.

5. The input device as claimed in claim 3, characterized in that, The input device further includes a first circuit board and a second circuit board. The first circuit board is mounted on the handle, and the conductive terminals are alternately mounted on the first circuit board and electrically connected to the first circuit board. The second circuit board is mounted inside the support portion, and the first conductive ring is connected to the second circuit board.

6. The input device as claimed in claim 1, characterized in that, The first magnet inside the handle is connected to the clamp via a linkage assembly. The linkage assembly includes a first link and a second link. One end of the first link is pivotally connected to the clamp, and the other end is pivotally connected to the proximal end of the second link. The second link is located between the first link and the support portion. The first magnet inside the handle is fixed to the distal end of the second link.

7. The input device as claimed in claim 6, characterized in that, The input device also includes a motor located within the support portion, wherein the rotating shaft of the motor is connected to the rotating shaft via gears, or the rotating shaft is fixedly connected to the rotor of the motor.

8. The input device as claimed in claim 7, characterized in that, The input device further includes a third sensor and a controller. The third sensor is used to detect the rotational motion of the motor, and the controller is used to control the motor based on the information detected by the second sensor and the third sensor.

9. The input device as claimed in claim 1, characterized in that, The second sensor is located near one end of the rotating shaft within the support.

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