Gripping assembly and surgical robot

Abstract

The application provides a gripping assembly and a surgical robot, and relates to the technical field of medical equipment. The gripping assembly comprises a first gripping part, a second gripping part, a first elastic part and a second elastic part. The first gripping part and the second gripping part can be gripped by a user. When the user grips the first gripping part and the second gripping part and exerts force on the first gripping part and the second gripping part, the first gripping part moves towards each other. When the gripping assembly is in a first state, the first elastic part is deformed under the action of the force of the first gripping part and the second gripping part. Since the elastic coefficient of the first elastic part is smaller than the elastic coefficient of the second elastic part, the first elastic part can be deformed and generate a feedback force on the user's hand under the action of a smaller force of the first gripping part and the second gripping part. When the gripping assembly is in a second state, the second elastic part is deformed under the action of force, and the second elastic part can be deformed and generate a feedback force on the user's hand.

Description

Technical Field

[0001] The present application relates to a gripping assembly and a surgical robot, belonging to the technical field of medical equipment. Background Art

[0002] With the development of surgical robots, users can perform related surgical operations by controlling hand-held devices through a console, achieving precise operations to improve the safety and success rate of the operation.

[0003] In the related art, to facilitate user operation of the console, the console includes a gripping mechanism that the user can hold. The user controls the hand device (such as the opening and closing clamp) by gripping and applying pressure. For delicate operations, such as when the opening and closing clamp needs to have a smaller opening and closing angle, the user needs to apply less force to the gripping mechanism. However, this makes it difficult for the user to feel force feedback, resulting in a reduced accuracy in the force applied by the user to the gripping mechanism. This, in turn, results in a lower accuracy in the angle of the opening and closing clamp, which ultimately affects the surgical operation. Summary of the Invention

[0004] The present application provides a gripping assembly and a surgical robot, which solve the problem in the related art that the gripping control mechanism has poor force feedback effect when performing fine operations.

[0005] In a first aspect, the present application provides a gripping assembly, comprising:

[0006] a first gripping member;

[0007] a second gripping member, located on one side of the first gripping member, wherein the first gripping member and the second gripping member are configured to be movable toward each other or away from each other;

[0008] a first elastic member, located at least on one side of the first gripping member;

[0009] a second elastic member, located at least on one side of the first gripping member, wherein the elastic coefficient of the second elastic member is greater than the elastic coefficient of the first elastic member;

[0010] When the first gripping member and the second gripping member move toward each other, the gripping assembly switches from the first state to the second state. When the gripping assembly is in the first state, the first elastic member is deformed by the first gripping member and / or the second gripping member, and the interaction force between the second elastic member and the first gripping member and the second gripping member is zero.

[0011] When the gripping assembly is in the second state, the second elastic member is deformed by the first gripping member and / or the second gripping member.

[0012] In some embodiments, when the gripping assembly is in the second state, the first elastic member and the second elastic member are deformed by the first gripping member and the second gripping member.

[0013] In some embodiments, a base is further included, and the first gripping member and the second gripping member are rotatably connected to the base. During the process of switching the gripping assembly from the first state to the second state, the first gripping member and the second gripping member rotate toward each other, and during the process of switching the gripping assembly from the second state to the first state, the first gripping member and the second gripping member rotate away from each other.

[0014] In some embodiments, it also includes a first synchronization gear and a second synchronization gear, the first synchronization gear and the second synchronization gear are rotatably disposed on the base, the first synchronization gear is connected to the first holding member, the second synchronization gear is connected to the second holding member, and the first synchronization gear is engaged with the second synchronization gear so that the first holding member and the second holding member rotate synchronously.

[0015] In some embodiments, the first elastic member and the second elastic member are both located between the first gripping member and the second gripping member.

[0016] In some embodiments, a bracket is further included, which is arranged on the base, and the bracket is provided with a first inner cavity and a first opening connected to the two ends of the first inner cavity. The second elastic member is provided in the first inner cavity, and the two ends of the second elastic member are respectively opposite to the two first openings, and the two ends of the second elastic member are against the inner wall of the first inner cavity. The first gripping member has a first side surface, and the second gripping member has a second side surface. The first side surface and the second side surface are arranged opposite to each other, and the first side surface is provided with a first protrusion, and the second side surface is provided with a second protrusion. When the first gripping member and the second gripping member move toward each other, the first protrusion and the second protrusion extend into the first opening and are crimped to the two ends of the second elastic member.

[0017] In some embodiments, the first elastic member is also disposed in the first inner cavity, and the first elastic member and the second elastic member are nested with each other, both ends of the second elastic member extend out of the bracket through the first opening and are respectively connected to the first side surface and the second side surface, and the axis of the first elastic member is parallel to the second elastic member.

[0018] In some embodiments, the bracket has a second inner cavity and a second opening connected to both ends of the second inner cavity. The first elastic member is arranged in the second inner cavity. The two ends of the first elastic member extend out of the bracket through the second opening and are respectively connected to the first gripping member and the second gripping member. The axis of the first elastic member is parallel to the second elastic member.

[0019] In some embodiments, the device further comprises a mounting rib, a magnetic member, and a sensor, wherein the mounting rib is disposed on the base, and the mounting rib has a first mounting portion opposite to the first gripping member, and a second mounting portion opposite to the second gripping member;

[0020] The sensor is disposed at the first installation portion or the second installation portion, the magnetic member is disposed at the first gripping member or the second gripping member, and the magnetic member is opposite to the sensor;

[0021] Alternatively, the magnetic member is disposed at the first installation portion or the second installation portion, the sensor is disposed at the first gripping member or the second gripping member, and the magnetic member is opposite to the sensor;

[0022] The sensor is configured to detect a relative position between the magnetic member and the sensor to determine a rotation angle of the first gripping member.

[0023] Secondly, based on the above-mentioned gripping assembly, the present application also proposes a surgical robot, including a doctor's operating platform and a patient's operating platform. The doctor's operating platform includes the above-mentioned gripping assembly, and the patient's operating platform includes an instrument part. The opening and closing of the gripping assembly is synchronized with the opening and closing of the instrument part.

[0024] In the gripping assembly proposed in the present application, the first gripping member and the second gripping member are provided for the user to grip. After the user grips the first gripping member and the second gripping member and applies force to the first gripping member and the second gripping member, the first gripping member can be moved toward each other. When the gripping assembly is in the first state, the first elastic member is deformed by the force applied by the first gripping member and the second gripping member. Since the elastic coefficient of the first elastic member is smaller than the elastic coefficient of the second elastic member, correspondingly, when the user applies a smaller force to the first gripping member and the second gripping member, the first elastic member can be deformed and generate a feedback force on the user's hand. When the gripping assembly is in the second state, the second elastic member is deformed by force. When the user applies a larger force to the first gripping member and the second gripping member, the second elastic member can be deformed and generate a feedback force on the user's hand.

[0025] The gripping assembly of the present application, by providing a first elastic member and a second elastic member, allows the user to obtain clear force feedback when applying a small or large force to the gripping assembly, thereby allowing the user to more accurately control the relative movement of the first gripping member and the second gripping member. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and other objects, features and advantages of the embodiments of the present application will become more readily understood through the following detailed description with reference to the accompanying drawings, in which various embodiments of the present application are illustrated by way of example and not limitation, wherein:

[0027] Figure 1 A three-dimensional diagram of a gripping assembly according to an embodiment of the present application;

[0028] Figure 2 This is a structural diagram of a gripping assembly according to an embodiment of the present application in one implementation manner;

[0029] Figure 3 This is a structural diagram of the gripping assembly of an embodiment of the present application under another implementation manner;

[0030] Figure 4 A three-dimensional diagram of a first gripping member of a gripping assembly according to an embodiment of the present application;

[0031] Figure 5 A three-dimensional diagram of a first gripping member of a gripping assembly according to an embodiment of the present application;

[0032] Figure 6 A three-dimensional diagram of a bracket of a gripping assembly according to an embodiment of the present application;

[0033] Figure 7 A three-dimensional diagram of the base of the gripping assembly according to an embodiment of the present application;

[0034] Figure 8 This is a structural diagram of the first elastic member of the gripping assembly of the embodiment of the present application being a torsion spring;

[0035] Figure 9 This is a structural diagram of the connection between the first elastic member of the gripping assembly and the first connecting rod and the second connecting rod according to an embodiment of the present application;

[0036] Figure 10 This is a structural diagram of the connection between the second elastic member, the first gripping member and the second gripping member in another implementation manner of the gripping assembly of an embodiment of the present application.

[0037] Reference numerals:

[0038] 100 - first gripping member, 110 - first side, 120 - first protrusion, 140 - first end, 150 - second end, 160 - first limiting portion, 170 - second limiting portion,

[0039] 200 - second gripping member, 210 - second side surface, 220 - second protrusion, 240 - third end, 250 - fourth end, 260 - third limiting portion, 270 - fourth limiting portion,

[0040] 300-first elastic member, 310-first connecting rod, 320-second connecting rod, 330-elastic part, 340-slider,

[0041] 400- second elastic member,

[0042] 500-base, 510-first synchronous gear, 520-second synchronous gear, 530-bracket, 531-first inner cavity, 533-second inner cavity, 540-limiting surface, 550-mounting rib,

[0043] 610-magnetic component, 620-sensor. DETAILED DESCRIPTION

[0044] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0045] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0046] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0047] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0048] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0049] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0050] With the development of surgical robots, users can perform related surgical operations by controlling hand-held devices through a console, achieving precise operations to improve the safety and success rate of the operation.

[0051] In the related art, to facilitate user operation of the console, the console includes a gripping mechanism that the user can hold. The user controls the hand device (such as the opening and closing clamp) by gripping and applying pressure. For delicate operations, such as when the opening and closing clamp needs to have a smaller opening and closing angle, the user needs to apply less force to the gripping mechanism. However, this makes it difficult for the user to feel force feedback, resulting in a reduced accuracy in the force applied by the user to the gripping mechanism. This, in turn, results in a lower accuracy in the angle of the opening and closing clamp, which ultimately affects the surgical operation.

[0052] In the gripping assembly proposed in the present application, the first gripping member and the second gripping member are provided for the user to grip. After the user grips the first gripping member and the second gripping member and applies force to the first gripping member and the second gripping member, the first gripping member can be moved toward each other. When the gripping assembly is in the first state, the first elastic member is deformed by the force applied by the first gripping member and the second gripping member. Since the elastic coefficient of the first elastic member is smaller than the elastic coefficient of the second elastic member, correspondingly, when the user applies a smaller force to the first gripping member and the second gripping member, the first elastic member can be deformed and generate a feedback force on the user's hand. When the gripping assembly is in the second state, the second elastic member is deformed by force. When the user applies a larger force to the first gripping member and the second gripping member, the second elastic member can be deformed and generate a feedback force on the user's hand.

[0053] The gripping assembly of the present application, by providing a first elastic member and a second elastic member, allows the user to obtain clear force feedback when applying a small or large force to the gripping assembly, thereby allowing the user to more accurately control the relative movement of the first gripping member and the second gripping member.

[0054] After the surgical robot of the present application applies the above-mentioned gripping assembly, the activity detection part can detect the amplitude of the relative movement of the first gripping member and the second gripping member, thereby controlling the corresponding action of the slave hand device of the surgical robot according to the relative movement amplitude of the first gripping member and the second gripping member. In this way, the user can more accurately control the gripping assembly to make the slave hand device of the surgical robot perform corresponding actions, thereby improving the safety of the surgical operation.

[0055] The gripping assembly provided in this application is described in detail below with reference to specific embodiments.

[0056] The embodiment of the present application proposes a surgical robot, including a doctor operating platform and a patient operating platform, wherein the doctor operating platform includes a gripping assembly, and the patient operating platform includes an instrument part, wherein the gripping assembly is electrically connected to the instrument part, and the user can control the instrument part to make corresponding movements by holding the gripping assembly and applying force to the gripping assembly. The magnitude of the force applied by the user to the gripping assembly matches the magnitude of the movement amplitude of the instrument part. Specifically, the greater the force applied by the user to the gripping assembly, the greater the movement amplitude of the instrument part. Conversely, the smaller the force applied by the user to the gripping assembly, the smaller the movement amplitude of the instrument part. The main problem with the current gripping assembly is that when the user applies a small force to the gripping assembly, the gripping assembly cannot provide clear and definite force feedback, so that the user cannot more accurately perceive and control the force applied to the gripping assembly, which results in the user being unable to accurately control the movement amplitude of the instrument part, resulting in low operating accuracy of the surgical robot.

[0057] In order to solve the above problems, the present application embodiment proposes a gripping assembly, referring to Figure 1-Figure 3, comprising a first gripping member 100, a second gripping member 200, a first elastic member 300, a second elastic member 400, a motion detection portion and a base 500. The gripping assembly can be applied to a surgical robot.

[0058] Among them, the base 500 is the basic component of the grip assembly of the present application, and the base 500 can provide a mounting base for at least some of the other components of the grip assembly. At least one of the first grip 100 and the second grip 200 is movably connected to the base 500, and the first grip 100 is located on one side of the second grip 200. Specifically, when the first grip 100 or the second grip 200 is movably connected to the base 500, the first grip 100 or the second grip 200 can move relative to the base 500, so that the first grip 100 and the second grip 200 can move relative to each other. When both the first grip 100 and the second grip 200 are movably connected to the base 500, the first grip 100 and the second grip 200 can move relative to each other.

[0059] The first gripping member 100 and the second gripping member 200 are configured to move toward or away from each other, so that when a user grasps the first gripping member 100 and the second gripping member 200 and applies force to the first gripping member 100 and the second gripping member 200, the distance between the first gripping member 100 and the second gripping member 200 can be reduced or increased. When the gripping assembly of the present application is used in a surgical robot, the greater the force applied by the user to the first gripping member 100 and the second gripping member 200, the greater the movement amplitude of the instrument; and the smaller the force applied by the user to the first gripping member 100 and the second gripping member 200, the smaller the movement amplitude of the instrument.

[0060] The first elastic member 300 and the second elastic member 400 are both disposed on one side of the first grip 100. Of course, the first elastic member 300 and the second elastic member 400 can be disposed on the same side or on opposite sides, and this is not limited in this application. The elastic coefficient of the first elastic member 300 is smaller than the elastic coefficient of the second elastic member 400. Therefore, applying a smaller force to the first elastic member 300 can cause the first elastic member 300 to deform and generate a corresponding elastic force, while applying a larger force to the second elastic member 400 is required to cause the second elastic member 400 to deform and generate a corresponding elastic force.

[0061] The grip assembly of the present application has a first state and a second state. When the grip assembly is in the first state, the user applies a force to at least one of the first grip 100 and the second grip 200, causing the first grip 100 and the second grip 200 to move relative to each other. The first elastic member 300 can be deformed by the force applied by at least one of the first grip 100 and the second grip 200, thereby generating a corresponding elastic force. The elastic force of the first elastic member 300 can be fed back to the user's hand holding the first grip 100 and the second grip 200 through at least one of the first grip 100 and the second grip 200, allowing the user to relatively clearly feel the extent of the relative movement of the first grip 100 and the second grip 200. Since the first elastic member 300 can be deformed and generate corresponding elastic force by applying a small force to the first grip 100 and the second grip 200, the user can apply a small force to the first grip 100 and the second grip 200 to cause a small relative movement range between the first grip 100 and the second grip 200, and then the first elastic member 300 can be deformed and fed back to the user, so that the user can relatively clearly feel the relative movement range of the first grip 100 and the second grip 200 when applying a small force to the first grip 100 and the second grip 200, so that the user can control the grip assembly relatively accurately.

[0062] When the grip assembly is in the second state, the user applies a force to at least one of the first grip 100 and the second grip 200, causing the first grip 100 and the second grip 200 to move relative to each other. The second elastic member 400 can be deformed by the force applied by at least one of the first grip 100 and the second grip 200, thereby generating a corresponding elastic force. The elastic force of the second elastic member 400 can be fed back to the user's hand holding the first grip 100 and the second grip 200 through at least one of the first grip 100 and the second grip 200, allowing the user to relatively clearly feel the extent of the relative movement of the first grip 100 and the second grip 200. Since applying a large force to the second elastic member 400 can cause the second elastic member 400 to deform and generate corresponding elastic force, after the user applies a large force to the first grip 100 and the second grip 200 to cause the first grip 100 and the second grip 200 to have a large relative movement range, the second elastic member 400 can be deformed and fed back to the user, so that the user can relatively clearly feel the relative movement range of the first grip 100 and the second grip 200 when applying a large force to the first grip 100 and the second grip 200, so that the user can control the grip assembly relatively accurately.

[0063] In summary, when the user holds the gripping assembly of the present application and applies a force to the gripping assembly, regardless of whether the user applies a smaller or larger force to the gripping assembly, the first elastic member 300 or the second elastic member 400 can feed back the elastic force to the user through the first gripping member 100 and / or the second gripping member 200, so that the user can more clearly feel the relative range of motion of the first gripping member 100 and the second gripping member 200, thereby accurately controlling the movement of the instrument member.

[0064] The activity detection part can be specifically arranged on the base 500. The activity detection part can detect the amplitude of the relative movement of the first grip 100 and the second grip 200. The activity detection part is also electrically connected to the instrument part of the surgical robot, so that the instrument part can perform corresponding actions according to the relative movement amplitude of the first grip 100 and the second grip 200 detected by the activity detection part, so that the user can accurately control the instrument part to perform relative surgical actions.

[0065] In some embodiments, reference Figure 2 and Figure 3 As shown, the first grip 100 and the second grip 200 in the present application can be rotatably connected to the base 500, so that the first grip 100 and the second grip 200 can move relative to the base 500, thereby allowing the first grip 100 and the second grip 200 to rotate toward each other or rotate away from each other. Specifically, during the process of switching the grip assembly from the first state to the second state, the first grip 100 and the second grip 200 rotate toward each other. During the process of switching the grip assembly from the second state to the first state, the first grip 100 and the second grip 200 rotate away from each other, so that when the user clamps the first grip 100 and the grip, the first elastic member 300 and the second elastic member 400 can be deformed in sequence.

[0066] Specifically, the grip assembly of the present application also has an initial state. When the grip assembly is in the initial state, the first elastic member 300 and the second elastic member 400 are not affected by the first grip 100 and / or the second grip 200, so that the first elastic member 300 and the second elastic member 400 do not generate force feedback on the first grip 100 and the second grip 200. When the user applies a small force to the first grip 100 and the second grip 200, causing the first grip 100 and the second grip 200 to rotate toward each other by a small amplitude, the first elastic member 300 is deformed by the force, so that the elastic force of the first elastic member 300 can act on the first grip 100 and the second grip 200, and then be fed back to the user. When the user continues to increase the force applied to the first grip 100 and the second grip 200, the first grip 100 and the second grip 200 continue to rotate toward each other until the first grip 100 and the second grip 200 apply a force to the second elastic member 400. At this time, the elastic force of the second elastic member 400 can be fed back to the user through the first grip 100 and the second grip 200.

[0067] Therefore, when the user operates the gripping assembly of the present application and performs a gripping action on the gripping assembly, causing the first gripping member 100 and the second gripping member 200 to rotate toward each other, the corresponding slave device can generate a corresponding movement amplitude. As the user continues to perform a gripping action on the gripping assembly, the force applied by the user to the gripping assembly needs to gradually increase so that the first elastic member 300 and the second elastic member 400 can generate force feedback to the user. This operation method is also more in line with the user's normal operating habits. That is, the greater the force applied to the gripping assembly, the greater the relative movement amplitude of the first gripping member 100 and the second gripping member 200, thereby causing the movement amplitude of the instrument member to be greater.

[0068] In addition, in other embodiments, the first gripping member 100 and the second gripping member 200 can be arranged to move toward or away from each other, which can also change the distance between the first gripping member 100 and the second gripping member 200, thereby causing the first elastic member 300 and the second elastic member 40 to deform under force.

[0069] In some embodiments, reference Figure 2 and Figure 3As shown, the base 500 of the present application may be provided with a second limit block 540 and a first limit block 560, and the first grip 100 may be provided with a first limit portion 160 opposite to the first limit block 560, and a second limit portion 170 opposite to the second limit block 540. When the first grip 100 and the second grip 200 continue to rotate toward each other, the distance between the first limit portion 160 and the first limit block 560 decreases until the first limit portion 160 abuts against the first limit block 560, at which point the first grip 100 and the second grip 200 cannot continue to rotate toward each other. When the first grip 100 and the second grip 200 rotate away from each other, the distance between the second limit portion 170 and the second limit block 540 decreases. As the first grip 100 and the second grip 200 continue to rotate toward each other, the second limit portion 170 may eventually abut against the second limit block 540, so that the first grip 100 cannot continue to rotate away from the second grip 200.

[0070] The second grip 200 may be provided with a third limiting portion 260 opposite to the first limiting block 560, and a fourth limiting portion 270 opposite to the second limiting block 540. When the first grip 100 and the second grip 200 continue to rotate toward each other, the distance between the third limiting portion 260 and the first limiting block 560 decreases until the third limiting portion 260 abuts against the first limiting block 560, at which point the first grip 100 and the second grip 200 cannot continue to rotate toward each other. When the first grip 100 and the second grip 200 rotate away from each other, the distance between the fourth limiting portion 270 and the second limiting block 540 decreases. As the first grip 100 and the second grip 200 continue to rotate away from each other, the fourth limiting portion 270 may eventually abut against the second limiting block 540, preventing the second grip 200 from continuing to rotate away from the first grip 100.

[0071] Therefore, by controlling the rotation angle of the first gripping member 100 and the second gripping member 200, the first gripping member 100 and the second gripping member 200 can be prevented from rotating excessively, so that the overall structure of the gripping assembly of the present application can always remain relatively compact.

[0072] In some embodiments, reference Figure 2 and Figure 3 As shown, in order to provide a better feel when the user applies force to the first grip 100 and the second grip 200, the first grip 100 and the second grip 200 can be configured to rotate synchronously. That is, when the first grip 100 and the second grip 200 rotate toward each other, the first grip 100 and the second grip 200 can both rotate relative to the base 500, and the rotation amplitude is consistent.

[0073] In order to achieve synchronous rotation of the first gripping member 100 and the second gripping member 200, the gripping assembly of the present application further includes a first synchronous gear 510 and a second synchronous gear 520. The first synchronous gear 510 and the second synchronous gear 520 are rotatably disposed on the base 500. The first synchronous gear 510 can be connected to the first gripping member 100, and the second synchronous gear 520 can be connected to the second gripping member 200. The first synchronous gear 510 and the second synchronous gear 520 are meshed. When the first gripping member 100 rotates relative to the base 500, the first synchronous gear 510 can be driven to rotate about the rotational connection between the first synchronous gear 510 and the base 500. When the second gripping member 200 rotates relative to the base 500, the second synchronous gear 520 can be driven to rotate about the rotational connection between the second synchronous gear 520 and the base 500.

[0074] Therefore, when only the first gripping member 100 is driven to rotate the first synchronous gear 510, the second synchronous gear 520 meshed with the first synchronous gear 510 may also rotate, thereby driving the second gripping member 200 to rotate relative to the base 500. When only the second gripping member 200 is driven to rotate the second synchronous gear 520, the first synchronous gear 510 meshed with the second synchronous gear 520 may also rotate, thereby driving the first gripping member 100 to rotate relative to the base 500. The first and second synchronous gears 510, 520 have the same number of teeth. Thus, after the first and second synchronous gears 510, 520 are meshed, the first and second synchronous gears 510, 520 rotate at the same angular velocity. Consequently, the first and second gripping members 100, 200 rotate at the same angular velocity relative to the base 500, thereby achieving synchronized rotation of the first and second gripping members 100, 200. In the present application, the first synchronous gear 510 and the second synchronous gear 520 can be gears with the same structural dimensions, so that the first synchronous gear 510 and the second synchronous gear 520 can be processed in batches, thereby reducing the preparation cost of the gripping assembly.

[0075] In addition, a synchronous wheel structure can be used in the present application instead of a gear structure. Specifically, two synchronous wheels can be provided to be connected to the first grip 100 and the second grip 200 respectively, and the two synchronous wheels are connected by a belt, so that the rotation of any one of the first grip 100 and the second grip 200 can cause the first grip 100 and the second grip 200 to rotate synchronously.

[0076] In some embodiments, reference Figure 2 and Figure 3As shown, the activity detection portion of the present application may specifically include a magnetic member 610 and a sensor 620. Since the first grip 100 and the second grip 200 can rotate synchronously, the magnetic member 610 can be disposed on the first grip 100 or the second grip 200, and the sensor 620 can be disposed on the base 500. The sensor 620 is configured to detect the relative position of the magnetic member 610 and the sensor 620 to determine the rotation angle of the first grip 100. Specifically, when the magnetic member 610 is disposed on the first grip 100, the sensor 620 detects the position of the magnetic member 610 and can determine the rotation angle of the magnetic member 610 based on the change in the position of the magnetic member 610. In this way, the rotation angle of the first grip 100 can be determined. Since the first grip 100 and the second grip 200 rotate synchronously, the rotation angle of the second grip 200 can also be determined.

[0077] In some embodiments, it should be understood that because the first grip 100 and the second grip 200 of the present application can rotate toward or away from each other, a certain space is provided between the first grip 100 and the second grip 200 for both to move. To make the structure of the grip assembly of the present application more compact, the first elastic member 300 and the second elastic member 400 of the present application can be disposed between the first grip 100 and the second grip 200, allowing the first elastic member 300 and the second elastic member 400 to utilize the space between the first grip 100 and the second grip 200. In this way, when the grip assembly is in the first state, the first grip 100 and the second grip 200 rotate toward each other, squeezing the first elastic member 300, causing it to be compressed. The elastic restoring force of the first elastic member 300 can react to the first grip 100 and the second grip 200, thereby providing force feedback to the user. When the gripping assembly is in the second state, the first gripping member 100 and the second gripping member 200 rotate toward each other, and the first gripping member 100 and the second gripping member 200 can squeeze the first elastic member 300 and the second elastic member 400, so that the first elastic member 300 and the second elastic member 400 are both compressed, and the elastic recovery force of the first elastic member 300 and the second elastic member 400 can react to the first gripping member 100 and the second gripping member 200, thereby bringing stronger force feedback to the user.

[0078] Of course, in other embodiments, a portion of the first elastic member 300 and a portion of the second elastic member 400 may also be located outside the first gripping member 100 and the second gripping member 200. Figure 10 The two ends of the first elastic member 300 can be connected to the opposite sides of the first gripping member 100 and the second gripping member 200 respectively, so that when the first gripping member 100 and the second gripping member 200 move relative to each other, the first elastic member 300 is deformed by force.

[0079] In some embodiments, reference Figure 2-Figure 5 As shown, when the gripping assembly is in the first state, only the first elastic member 300 is deformed by the action of the first gripping member 100 and the second gripping member 200. Accordingly, when the gripping assembly is in the first state, the first gripping member 100 and the second gripping member 200 are in a non-contact state with the second elastic member 400. In this way, when the gripping assembly is in the first state, even if the first gripping member 100 and the second gripping member 200 rotate toward each other, the first gripping member 100 and the second gripping member 200 will not interact with the second elastic member 400.

[0080] Specifically, the first gripping member 100 has a first side surface 110, and the second gripping member 200 has a second side surface 210, with the first side surface 110 and the second side surface 210 being disposed opposite each other. A second elastic member 400 may be disposed on the base 500, with both ends of the second elastic member 400 respectively opposite the first side surface 110 and the second side surface 210. When the first gripping member 100 and the second gripping member 200 rotate toward each other, the first side surface 110 and the second side surface 210 also rotate toward each other, thereby reducing the distance between the first side surface 110 and the second side surface 210. After the first side surface 110 and the second side surface 210 rotate toward each other until they contact the respective ends of the second elastic member 400, the first side surface 110 and the second side surface 210 continue to rotate toward each other, causing the gripping assembly to switch to the second state. At this time, the first grip 100 and the second grip 200 can act on the second elastic member 400 and continue to act on the first elastic member 300, so that the second elastic member 400 is compressed by force, so that the first elastic member 300 and the second elastic member 400 both provide force feedback to the user through the first grip 100 and the second grip 200.

[0081] In the present application, the magnetic part 610 can be specifically arranged on the first side surface 110 of the first grip 100, the base 500 can be arranged between the first grip 100 and the second grip 200, part of the outer wall of the base 500 is arranged opposite to the first side surface 110, and the sensor 620 can be arranged on the outer wall of the base 500 opposite to the first side surface 110, so that the sensor 620 can be arranged opposite to the magnetic part 610.

[0082] In some embodiments, reference Figure 2 、 Figure 3 、 Figure 6 and Figure 7As shown, in order to facilitate the installation of the second elastic member 400 on the base 500, the gripping assembly of the present application may further include a bracket 530, which is installed on the base 500 and the second elastic member 400 is installed on the bracket 530, so that the second elastic member 400 is installed on the base 500. The bracket 530 may specifically be a frame structure, with a first cavity for accommodating the second elastic member 400 therein. The second elastic member 400 is installed in the first cavity of the bracket 530. The two ends of the bracket 530 may be provided with first openings corresponding to the two ends of the second elastic member 400, and the first openings are connected to the two ends of the first cavity. The first protrusion 120 of a convex structure may be provided on the first gripping member 100, and the second protrusion 220 of a convex structure may be provided on the second gripping member 200. When the first gripping member 100 and the second gripping member 200 rotate toward each other, the first protrusion 120 on the first gripping member 100 and the second protrusion 220 on the second gripping member 200 can respectively extend into the bracket 530 through the two openings on the bracket 530 and abut against the two ends of the second elastic member 400. As the first gripping member 100 and the second gripping member 200 continue to rotate toward each other, the first protrusion 120 of the first gripping member 100 and the second protrusion 220 of the second gripping member 200 can squeeze the second elastic member 400, causing the second elastic member 400 to deform.

[0083] The two ends of the second elastic member 400 may be configured as planar structures, so that the first protrusion 120 and the second protrusion 220 squeeze the two ends of the second elastic member 400 to make the deformation under force smoother.

[0084] The center of the bracket 530 can be located in the middle between the first grip 100 and the second grip 200. When the second elastic member 400 is arranged in the bracket 530, the center of the second elastic member 400 can be aligned with the center of the base 500. Since the first grip 100 and the second grip 200 rotate synchronously, the forces on both sides of the second elastic member 400 can be balanced, so that the second elastic member 400 exerts the same force on the first grip 100 and the second grip 200, so that the force feedback effect felt by the user is better. The bracket 530 and the base 500 can be connected in a detachable manner. The bracket 530 and the base 500 can be prepared separately and then fixed together by means of bolts and screw holes. The bracket 530 and the base 500 can also be prepared using an integrated molding process, which is not limited by this application.

[0085] In some embodiments, reference Figure 2 and Figure 3As shown, in order to further enhance the user's feel when using the grip assembly of the present application, it can be configured that when the grip assembly is in the first state, the second elastic member 400 is also in a state of force deformation, so that the second elastic member 400 has a certain pre-elastic recovery force. When the first grip 100 and the second grip 200 contact and act on the second elastic member 400, the second elastic member 400 has a relatively obvious recovery deformation force. In this way, the effect of the force exerted by the second elastic member 400 on the first grip 100 and the second grip 200 is more obvious, thereby making the force feedback felt by the user more obvious.

[0086] Specifically, when the user applies a clamping action to the first grip 100 and the second grip 200 so that the first grip 100 and the second grip 200 rotate toward each other, the first grip 100 and the second grip 200 first act on the first elastic member 300. As the user continues to increase the force applied to the first grip 100 and the second grip 200, the first elastic member 300 is continuously compressed. According to the formula f=kx, the restoring deformation force of the first elastic member 300 continues to increase, and the force feedback applied by the first elastic member 300 to the user also becomes greater. When the gripping assembly switches from the first state to the second state, since the second elastic member 400 is already in a state of force compression at this time, the first grip 100 and the second grip 200 contact and squeeze the second elastic member 400. After the second elastic member 400 acts on the first grip 100 and the second grip 200, the second elastic member 400 can generate an obvious reaction force on the first grip 100 and the second grip 200. The force feedback that the user can feel is an obvious linear increase, thereby enhancing the user's feel.

[0087] To ensure that the second elastic member 400 is deformed when the grip assembly is in the first position, the second elastic member 400 is compressed when the second elastic member 400 is installed in the first inner cavity 531 of the bracket 530. Specifically, the bracket 530 is a rigid structural member, and the length of the first inner cavity 531 of the bracket 530 is smaller than the length of the second elastic member 400. Therefore, when the second elastic member 400 is within the bracket 530, the two ends of the second elastic member 400 abut against the inner wall of the bracket 530, thereby maintaining the second elastic member 400 in a compressed state.

[0088] In addition, in other embodiments, the bracket 530 can also adopt a flexible structural member, and the first protrusion 120 does not need to be set on the first gripping member 100, and the second protrusion 220 does not need to be set on the second gripping member 200. The first gripping member 100 and the second gripping member 200 can act on the bracket 530 to act on the second elastic member 400, so as to deform the second elastic member 400.

[0089] In some embodiments, reference Figure 2 and Figure 3 In order to allow sufficient space for the first grip 100 and the second grip 200 to accommodate the sensor 620, the bracket 530 of the present application can be located adjacent to the pivotal connection between the first grip 100 and the second grip 200 and the base 500. Accordingly, the sensor 620 can be located relatively far away from the pivotal connection between the first grip 100 and the second grip 200 and the base 500, thereby avoiding interference between the sensor 620 and the bracket 530. Furthermore, since the second elastic member 400 is disposed within the bracket 530, the second elastic member 400 will not interfere with the sensor 620. The first elastic member 300 of the present application can also be disposed within the bracket 530. Specifically, the bracket 530 defines a second inner cavity 533, and the first elastic member 300 can be disposed within the second inner cavity 533. The bracket 530 also defines two second openings communicating with the second inner cavity 533. The two ends of the first elastic member 300 extend out of the bracket 530 through the second openings and connect to the first side surface 110 and the second side surface 210. The axis of the first elastic member 300 is arranged parallel to the axis of the second elastic member 400 .

[0090] Specifically, the first grip 100 may include a first end 140 and a second end 150, the first end 140 and the second end 150 being disposed opposite each other, and the first end 140 being rotatably connected to the base 500. The second grip 200 may include a third end 240 and a fourth end 250, the third end 240 and the fourth end 250 being disposed opposite each other, and the third end 240 being rotatably connected to the base 500. The bracket 530 may be adjacent to the first end 140 and the third end 240, such that the first elastic member 300 and the second elastic member 400 may be adjacent to the first end 140 and the third end 240. The sensor 620 may be adjacent to the second end 150 and the fourth end 250. In this way, the sensor 620 and the bracket 530 can be distributed on both sides of the area between the first grip 100 and the second grip 200, thereby fully utilizing the area between the first grip 100 and the second grip 200, making the sensor 620 and the bracket 530 more freely set up, and also preventing the sensor 620 and the bracket 530 from interfering with each other.

[0091] Furthermore, in other embodiments, the first elastic member 300 may be disposed within the first inner cavity 531, and the first elastic member 300 and the second elastic member 400 may be nested within each other, such that the first elastic member 300 and the second elastic member 400 are coaxially disposed. The first elastic member 300 is longer than the second elastic member 400. Therefore, when the grip assembly is in the first state, the ends of the first elastic member 300 are connected to the first side surface 110 and the second side surface 210, while the ends of the second elastic member 400 are separated from the first side surface 110 and the second side surface 210. As the first gripping member 100 and the second gripping member 200 rotate toward each other, the first gripping member 100 and the second gripping member 200 may act on the second elastic member 400.

[0092] Specifically, the second elastic member 400 has a greater elastic coefficient, so the second elastic member 400 can be a spring with a larger outer diameter than the first elastic member 300, and the second elastic member 400 is arranged on the first elastic member 300. In this way, the first elastic member 300 and the second elastic member 400 can be more compact, thereby making the structure of the gripping assembly of the present application more compact.

[0093] In some embodiments, reference Figure 2 and Figure 3 The gripping assembly of the present application further includes a mounting rib 550, which is disposed on the base 500 and extends along the direction from the first elastic member 300 to the second elastic member 400. One end of the mounting rib 550 is connected to the bracket 530. The sensor 620 is disposed on the mounting rib 550. The mounting rib 550 has a first mounting portion opposite the first gripping member 100 and a second mounting portion opposite the second gripping member 200. Specifically, the first mounting portion and the second mounting portion are located on opposite sides of the mounting rib 550. The sensor 620 is disposed at the first mounting portion or the second mounting portion of the mounting rib 550, and the magnetic member 610 is disposed on the first gripping member 100 or the second gripping member 200, opposite the sensor 620. Alternatively, the magnetic member 610 is disposed at the first mounting portion or the second mounting portion of the mounting rib 550, and the sensor 620 is disposed on the first gripping member 100 or the second gripping member 200, opposite the magnetic member 610. The mounting rib 550, the base 500 and the bracket 530 may be configured as an integral structure, so that the mounting rib 550 may also increase the structural strength of the base, thereby improving the structural reliability of the gripping assembly of the present application.

[0094] In some embodiments, reference Figure 8As shown, both ends of the first elastic member 300 of the present application can be connected to the first gripping member 100 and the second gripping member 200. Specifically, the first elastic member 300 can be a torsion spring, and the portions of the first elastic member 300 adjacent to its two ends can be connected to the first side surface 110 and the second side surface 210, respectively. When the first gripping member 100 and the second gripping member 200 rotate toward each other, the first elastic member 300 can be compressed and deformed. Specifically, the side walls on both sides of the torsion spring can be connected to the first side surface 110 and the second side surface 210, respectively, so that the contact area between the torsion spring and the first gripping member 100 and the second gripping member 200 can be increased, making the connection between the first elastic member 300 and the first gripping member 100 and the second gripping member 200 more reliable. The center of the torsion spring can be set at the center between the first grip 100 and the second grip 200. Since the first grip 100 and the second grip 200 rotate synchronously, the forces on both sides of the torsion spring can be balanced, so that the first elastic member 300 exerts the same force on the first grip 100 and the second grip 200, so that the force feedback effect felt by the user is better.

[0095] In some embodiments, the first elastic member 300 of the present application may adopt other alternatives besides the torsion spring structure. Figure 9 Specifically, the first elastic member of the present application may be provided with a first connecting rod 310, a second connecting rod 320 and an elastic portion 330, one end of the first connecting rod 310 may be rotatably connected to the first gripping member 100, one end of the second connecting rod 320 may be rotatably connected to the second gripping member 200, and the other end of the first connecting rod 310 may be rotatably connected to the other end of the second connecting rod 320, so that the first connecting rod 310 and the second connecting rod 320 constitute a connecting rod mechanism. One end of the elastic portion 330 can be connected to the base 500, and the other end of the elastic portion 330 can be connected to the rotational connection between the first link 310 and the second link 320. The rotational connection between the first link 310 and the second link 320 can be adjacent to the rotational connection between the first grip 100 and the base 500, and adjacent to the rotational connection between the second grip 200 and the base 500. The connection between the elastic portion 330 and the base 500 is also adjacent to the rotational connection between the first grip 100 and the second grip 200 and the base 500, so that the elastic portion 330 can be compressed after the first grip 100 and the second grip 200 rotate toward each other.

[0096] Specifically, the elastic part 330 can be connected to the bracket 530 at the rotation connection point away from the first connecting rod 310 and the second connecting rod 320, so that the structure of the gripping assembly of the present application is more compact. The bracket 530 can be provided with a slot that matches the elastic part 330, and a part of the elastic part 330 can be embedded in the slot to ensure a stable connection between the elastic part 330 and the bracket 530. Figure 6As shown, a slider 340 structure may also be provided on the base 500. The rotational connection between the first gripping member 100 and the second gripping member 200 may be hinged to the slider 340. The slider 340 is slidably connected to the base 500. One end of the elastic portion 330 is connected to the slider 340. In this way, the first connecting rod 310 and the second connecting rod 320 can push the slider 340 to move, thereby squeezing the elastic portion 330. The provision of the slider 340 can make the connection between the first connecting rod 310 and the second connecting rod 320 more stable.

[0097] In the present application, one end of the elastic portion 330 can be specifically connected to the side of the first connecting rod 310 and the second connecting rod 320 facing the first end 140 and the third end 240, and correspondingly, the other end of the elastic portion 330 can be connected to the bracket 530, so that when the first grip 100 and the second grip 200 rotate toward each other, the elastic portion 330 can be compressed. Alternatively, one end of the elastic portion 330 can be specifically connected to the side of the first connecting rod 310 and the second connecting rod 320 facing the second end 150 and the fourth end 250, so that when the first grip 100 and the second grip 200 rotate toward each other, the elastic portion 330 can be stretched.

[0098] Finally, it should be noted that the above implementation modes are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned implementation modes, ordinary technicians in this field should understand that they can still modify the technical solutions described in the aforementioned implementation modes, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the implementation modes of the present application.

Claims

1. A gripping assembly, characterized in that: include A first gripping member (100); a second gripping member (200) located on one side of the first gripping member (100), the first gripping member (100) and the second gripping member (200) being configured to be movable toward each other or away from each other; A first elastic member (300), located at least on one side of the first gripping member (100); a second elastic member (400) located at least on one side of the first gripping member (100), the elastic coefficient of the second elastic member (400) being greater than the elastic coefficient of the first elastic member (300), and the second elastic member (400) being a spring; Wherein, when the first gripping member (100) and the second gripping member (200) move toward each other, the gripping assembly switches from the first state to the second state; when the gripping assembly is in the first state, the first elastic member (300) is deformed by the first gripping member (100) and / or the second gripping member (200), and the interaction force between the second elastic member (400) and the first gripping member (100) and the second gripping member (200) is zero; When the gripping assembly is in the second state, the second elastic member (400) is deformed by the first gripping member (100) and / or the second gripping member (200); The gripping assembly also has an initial state. When in the initial state, the first elastic member (300) and the second elastic member (400) are not affected by the first gripping member (100) and / or the second gripping member (200).

2. The gripping assembly according to claim 1, wherein: When the gripping assembly is in the second state, the first elastic member (300) and the second elastic member (400) are deformed by the first gripping member (100) and the second gripping member (200).

3. The gripping assembly according to claim 2, wherein: The invention also includes a base (500), wherein the first gripping member (100) and the second gripping member (200) are both rotatably connected to the base (500); when the gripping assembly switches from the first state to the second state, the first gripping member (100) and the second gripping member (200) rotate toward each other; and when the gripping assembly switches from the second state to the first state, the first gripping member (100) and the second gripping member (200) rotate away from each other.

4. The gripping assembly according to claim 3, wherein: The invention also includes a first synchronous gear (510) and a second synchronous gear (520), wherein the first synchronous gear (510) and the second synchronous gear (520) are rotatably arranged on the base (500), the first synchronous gear (510) is connected to the first holding member (100), and the second synchronous gear (520) is connected to the second holding member (200), and the first synchronous gear (510) and the second synchronous gear (520) are meshed to enable the first holding member (100) and the second holding member (200) to rotate synchronously.

5. The gripping assembly according to claim 3, wherein: The first elastic member (300) and the second elastic member (400) are both located between the first gripping member (100) and the second gripping member (200).

6. The gripping assembly according to claim 5, wherein: The device further comprises a bracket (530), wherein the bracket (530) is arranged on the base (500), and the bracket (530) is provided with a first inner cavity (531) and a first opening communicating with both ends of the first inner cavity (531); the second elastic member (400) is arranged in the first inner cavity (531), and the two ends of the second elastic member (400) are respectively opposite to the two first openings, and the two ends of the second elastic member (400) are against the inner wall of the first inner cavity (531); the first gripping member (100) has a first side surface ( 110), the second gripping member (200) has a second side surface (210), the first side surface (110) and the second side surface (210) are arranged opposite to each other, the first side surface (110) is provided with a first protrusion (120), and the second side surface (210) is provided with a second protrusion (220), when the first gripping member (100) and the second gripping member (200) move toward each other, the first protrusion (120) and the second protrusion (220) extend into the first opening and are pressed against the two ends of the second elastic member (400).

7. The gripping assembly according to claim 6, wherein: The first elastic member (300) is also arranged in the first inner cavity (531), and the first elastic member (300) and the second elastic member (400) are arranged on each other, and both ends of the second elastic member (400) extend out of the bracket (530) through the first opening and are respectively connected to the first side surface (110) and the second side surface (210), and the axis of the first elastic member (300) is parallel to the second elastic member (400).

8. The gripping assembly according to claim 6, wherein: The bracket (530) has a second inner cavity (533) and a second opening connected to both ends of the second inner cavity (533); the first elastic member (300) is arranged in the second inner cavity (533); both ends of the first elastic member (300) extend out of the bracket (530) through the second opening and are respectively connected to the first gripping member (100) and the second gripping member (200); the axis of the first elastic member (300) is parallel to the second elastic member (400).

9. The gripping assembly according to any one of claims 4 to 8, characterized in that: It also includes a mounting rib (550), a magnetic member (610), and a sensor (620), wherein the mounting rib (550) is disposed on the base (500), and the mounting rib (550) has a first mounting portion opposite to the first gripping member (100), and a second mounting portion opposite to the second gripping member (200); The sensor (620) is arranged at the first installation position or the second installation position, the magnetic member (610) is arranged at the first gripping member (100) or the second gripping member (200), and the magnetic member (610) is opposite to the sensor (620); Alternatively, the magnetic member (610) is provided at the first installation portion or the second installation portion, the sensor (620) is provided at the first gripping member (100) or the second gripping member (200), and the magnetic member (610) is opposite to the sensor (620); The sensor (620) is configured to detect the relative position of the magnetic member (610) and the sensor (620) to determine the rotation angle of the first gripping member (100).

10. A surgical robot, characterized in that: It comprises a doctor operating platform and a patient operating platform, wherein the doctor operating platform comprises the gripping assembly as described in any one of claims 1 to 9, and the patient operating platform comprises an instrument part, and the opening and closing of the gripping assembly is synchronized with the opening and closing of the instrument part.

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