Master input device, master arm, and surgical robot

Abstract

The application relates to the technical field of surgical robots, and discloses a master hand input mechanism, a master arm and a surgical robot. The master hand input mechanism comprises a wrist assembly, an operating assembly, a movable piece and a first detection piece. The operating assembly comprises a body and a handle, the first end of the body is rotationally connected to the wrist assembly, and the handle is connected to the body and located on one side of the second end of the body. The movable piece comprises a shielding part, one end of the shielding part is arranged in the handle, the other end of the shielding part extends out of the handle and away from the side of the first end of the body, the movable piece is movably connected with the handle to change the length of the shielding part extending into the handle, and when the length of the shielding part extending into the handle is the maximum value, the first detection piece is triggered and sends a signal outward. The application can reduce the complexity of operation, improve the convenience, ensure the safety of surgery and treatment effect, and improve the practicability of the master hand input mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mobile robots, and in particular to a master input mechanism, a master arm and a surgical robot. BACKGROUND

[0002] Surgical robots are widely used in the medical field. The surgical robot includes a doctor operating end and a patient surgery end. The doctor operating end includes a base and a master arm. The master arm includes an arm mechanism and an input device. The arm mechanism is connected between the base and the input mechanism.

[0003] Chinese patent CN210872023U discloses an input device and a minimally invasive surgical robot. The input device includes a handle, a wrist and an opening and closing part. When performing a surgical operation, the operator holds the handle and twists or moves the wrist to control the surgical instrument of the patient surgery end to act. The operator controls the end effector of the surgical instrument to rotate and open and close by rotating, pinching or relaxing the opening and closing part. In order to prevent the wrist and the opening and closing part from being accidentally touched, a slider and a contact switch for detecting whether the operator's hand is holding the handle are arranged on the handle. When the slider is pressed down, the contact switch in the handle is triggered and sends a signal to the external controller, so that the controller controls the surgical instrument and the input device to move synchronously. However, the contact switch is arranged on the side of the handle facing the opening and closing part. When the operator holds the handle, the palm of the operator is located on the side of the handle opposite to the slider. The operator's fingers need to pass around the handle and point to the palm to press the slider. This arrangement increases the complexity of operating the input device, reduces the convenience of use, and is not conducive to reducing the fatigue of the operator. Since the range of movement of the fingers is limited when the operator holds the handle, it is also not conducive to arranging other function buttons in the range of movement of the fingers, thereby limiting the functions of the input device.

[0004] Therefore, there is an urgent need for a master input mechanism, a master arm and a surgical robot to solve the above-mentioned problems. SUMMARY

[0005] The purpose of the present application is to provide a master input mechanism, a master arm and a surgical robot to reduce the complexity of operation, improve the convenience of use, ensure the safety of surgery and the treatment effect, and improve the practicality of the master input mechanism.

[0006] To achieve this purpose, the present application adopts the following technical solutions:

[0007] The master input mechanism comprises:

[0008] a wrist assembly;

[0009] The operating assembly comprises a body and a handle, the first end of the body is rotatably connected to the wrist assembly, and the handle is connected to the body and located on one side of the second end of the body.

[0010] The movable member comprises a shielding part, one end of the shielding part is located in the handle, and the other end of the shielding part extends out of the handle away from one side of the first end of the body, and the movable member is movably connected to the handle to change the length of the shielding part extending into the handle.

[0011] When the length of the shielding part extending into the handle is the maximum value, the first detection member is triggered and sends a signal outward.

[0012] As an optional technical solution of the master hand input mechanism, the operating assembly further comprises a protective cover, the body is columnar, the protective cover is hollow inside and has an open end, a cover through hole is formed through the sidewall of the protective cover, the open end of the protective cover is connected to the end face of the body, the handle is arranged in the cover through hole, and the first end of the handle is located in the protective cover and connected to the end face of the body.

[0013] As an optional technical solution of the master hand input mechanism, the handle comprises a connecting section and a holding section, the holding section is located outside the protective cover, the connecting section is arranged in the cover through hole and connected between the body and the holding section.

[0014] The size of the connecting section along the axial direction of the body is smaller than the size of the holding section along the axial direction of the body, and the size of the connecting section along the radial direction of the body is smaller than the size of the holding section along the radial direction of the body.

[0015] As an optional technical solution of the master hand input mechanism, the master hand input mechanism further comprises an opening and closing member, the opening and closing member is connected to the body, the body is provided with the opening and closing member on both sides along a first direction, the first end and the second end of the body are both ends of the body along a second direction, the handle is located on one side of the body along a third direction, one end of the handle along a length direction is connected to the end face of the body, the first direction, the second direction and the third direction are arranged perpendicularly two by two, and the length direction is arranged perpendicularly to the second direction.

[0016] The length direction is arranged obliquely to the third direction, and / or the movable member is located on one side of the handle along a fourth direction, the fourth direction is perpendicular to the length direction, and the fourth direction is arranged obliquely to the second direction.

[0017] As an optional technical solution of the master input mechanism, the length direction is arranged obliquely to the first direction, and the master input mechanism further comprises a limiting part connected to the body, the limiting part extending along the length direction, and the grip being attached to the limiting part.

[0018] As an optional technical solution of the master input mechanism, the master input mechanism further comprises a rotating shaft and a guide part, the rotating shaft and the guide part being connected to the grip, the movable part further comprising a connecting part connected to the shielding part, the connecting part being rotatably connected to the grip through the rotating shaft, an arc-shaped hole being formed on the connecting part, an axis of the arc-shaped hole coinciding with an axis of the rotating shaft, and the guide part being arranged in the arc-shaped hole and being movable along the arc-shaped hole relative to the connecting part.

[0019] As an optional technical solution of the master input mechanism, the movable part has a first position and a second position, the shielding part being configured to have a minimum length extending into the grip when the movable part is in the first position, and the shielding part being configured to have a maximum length extending into the grip when the movable part is in the second position.

[0020] The master input mechanism further comprises an elastic part, one end of the elastic part being connected to the grip, and the other end of the elastic part being connected to the movable part, the elastic part being used to return the movable part from the second position to the first position.

[0021] As an optional technical solution of the master input mechanism, the first detection part is provided with two, when the length of the shielding part extending into the grip is the maximum, both of the first detection parts are triggered and send signals outward; and / or,

[0022] The master input mechanism further comprises a second detection part, and the master input mechanism further comprises an opening and closing part rotatably connected to the body, the second detection part being arranged on the opening and closing part, and the second detection part being used to detect fingers of an operator.

[0023] The active arm comprises the master input mechanism as described above.

[0024] The surgical robot comprises a surgical instrument and the active arm as described above, and the master input mechanism is used to control actions of the surgical instrument.

[0025] As an optional technical solution of the surgical robot, the surgical robot further comprises a controller, and the controller executes a control method, the control method comprising:

[0026] S1, acquiring a state of the first detection part, if the first detection part is triggered, performing step S2, otherwise performing step S3;

[0027] S2, the master hand input mechanism can control the surgical instrument to act;

[0028] S3, the master hand input mechanism cannot control the surgical instrument to act.

[0029] As an optional technical solution of the surgical robot, the first detection member is provided with two, and step S1 specifically comprises: acquiring the state of the two first detection members, if both of the two first detection members are triggered, step S2 is performed; if any of the first detection members is not triggered, step S3 is performed.

[0030] As an optional technical solution of the surgical robot, the master hand input mechanism further comprises a second detection member, and the master hand input mechanism further comprises an opening and closing member, the opening and closing member is rotationally connected to the body, and the second detection member is arranged on the opening and closing member, and the second detection member is used for detecting the fingers of the operator;

[0031] Step S1 comprises: acquiring the state of the first detection member and the second detection member, if the first detection member is triggered and the second detection member detects the fingers, step S2 is performed; if the first detection member is not triggered or the second detection member does not detect the fingers, step S3 is performed;

[0032] Or, step S1 comprises:

[0033] S11, acquiring the state of the first detection member, if the first detection member is triggered, step S12 is performed, otherwise step S3 is performed;

[0034] S12, acquiring the state of the second detection member, if the second detection member detects the fingers, step S2 is performed, otherwise step S3 is performed.

[0035] The beneficial effects of the present application are:

[0036] The main hand input mechanism provided by the application comprises a wrist assembly, an operating assembly, a movable element and a first detection element, the movable element is arranged at the end of the grip away from the wrist assembly, when the operator holds the grip, the palm of the operator is opposite to the movable element, the operator can directly press the movable element into the grip by the palm, so that the first detection element is triggered, the complexity of operating the main hand input mechanism is reduced, the use convenience is improved, the fatigue degree of the operator is reduced, the safety of the operation and the treatment effect are ensured, and the possibility of secondary injury to the patient is reduced; meanwhile, since the movable element is opposite to the palm of the operator, other function buttons can be arranged in the range where the fingers can move conveniently, the function of the main hand input mechanism is increased, and the practicability of the main hand input mechanism is improved; in addition, the grip is arranged, the comfort degree of the operator is improved, and the grip is arranged on the main body, so that when the operator twists the main body, the grip can rotate synchronously with the main body, the fingers and the palm of the operator can rotate synchronously, the comfort degree of the operator is further improved, and the safety of the operation is ensured.

[0037] The active arm provided by the application comprises the main hand input mechanism, the complexity of operating the main hand input mechanism is reduced, the use convenience is improved, the fatigue degree of the operator is reduced, the safety of the operation and the treatment effect are ensured, and the function of the main hand input mechanism is increased.

[0038] The surgical robot provided by the application comprises the active arm, the complexity of operating the active arm is reduced, the use convenience is improved, the fatigue degree of the operator is reduced, the safety of the operation and the treatment effect are ensured, and the function of the active arm is increased.

[0039] The control method of the surgical robot provided by the application can judge whether the main hand input mechanism can control the operation of the surgical instrument according to the state of the first detection element, the operation of the surgical instrument caused by the accidental touch of the main hand input mechanism is avoided, the safety of the operation is improved, and the possibility of secondary injury to the patient is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 It is a structure schematic view of the active arm provided by the embodiment of the application.

[0041] Figure 2 It is a structure schematic view of the main hand input mechanism provided by the embodiment of the application.

[0042] Figure 3 It is a split view of the operating assembly provided by the embodiment of the application.

[0043] Figure 4 It is a structure schematic view of the operating assembly from the first perspective provided by the embodiment of the application.

[0044] Figure 5 is a structural schematic view of a second perspective of the operating assembly provided by an embodiment of the present application;

[0045] Figure 6 is a sectional view of the operating assembly and the movable piece provided by an embodiment of the present application;

[0046] Figure 7 is a structural schematic view of a partial structure of the operating assembly and the movable piece provided by an embodiment of the present application;

[0047] Figure 8 is a partial structural schematic view of the handle provided by an embodiment of the present application;

[0048] Figure 9 is a flow chart of the control method of the surgical robot provided by an embodiment of the present application.

[0049] In the drawings:

[0050] 10, master hand input mechanism; 20, arm mechanism;

[0051] 1, wrist assembly;

[0052] 2, operating assembly; 21, body; 22, handle; 221, connecting section; 222, holding section; 2221, mounting portion; 22211, groove; 22212, limiting table; 22213, boss portion; 2222, shell; 22221, handle through hole; 223, mounting rack; 2231, second accommodating groove; 23, protective cover;

[0053] 3, movable piece; 31, shielding portion; 32, connecting portion; 321, arc-shaped hole; 322, first accommodating groove; 33, pressing portion;

[0054] 41, first detection piece; 411, transmitting end; 412, receiving end; 42, second detection piece;

[0055] 5, opening and closing piece; 6, limiting piece; 61, limiting portion; 62, plugging portion;

[0056] 7, rotating shaft; 8, guide piece; 9, elastic piece. DETAILED DESCRIPTION

[0057] In order to make the technical problems solved by the present application, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present application will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0058] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "linked", "fixed" should be understood broadly, for example, can be fixedly connected, can be detachably connected, or integrated; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, can be internal communication of two elements or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0059] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "over" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher in horizontal height than the second feature. The first feature "under", "below" and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower in horizontal height than the second feature.

[0060] The technical solutions of the present application will be further illustrated by specific embodiments in conjunction with the accompanying drawings.

[0061] The present embodiment provides a surgical robot. Specifically, the surgical robot includes a physician control end and a patient surgery end. The physician control end includes a master arm. As shown in the figure, the master arm includes a master input mechanism 10. The patient surgery end includes a surgical instrument. The master input mechanism 10 is used to control the action of the surgical instrument. Figure 1

[0062] The patient surgery end further includes a trolley and a surgical operating arm, and the surgical operating arm is connected between the surgical instrument and the trolley.

[0063] The master arm further includes an arm mechanism 20, and the physician control end further includes a base, one end of the arm mechanism 20 being connected to the base.

[0064] Specifically, as shown in the figure, the arm mechanism 20 includes a plurality of arm links 21 connected in series. Figures 1-8 ​As shown, the master hand input mechanism 10 comprises a wrist assembly 1, an operating assembly 2, a movable piece 3 and a first detection piece 41. The wrist assembly 1 is connected to the other end of the arm mechanism. The operating assembly 2 comprises a body 21 and a grip 22, the first end of the body 21 is rotationally connected to the wrist assembly 1, the grip 22 is connected to the body 21 and located on one side of the second end of the body 21; the movable piece 3 comprises a shielding part 31, one end of the shielding part 31 is placed in the grip 22, and the other end of the shielding part 31 extends out of the grip 22 away from the first end of the body 21, the movable piece 3 is movably connected with the grip 22 to change the length of the shielding part 31 extending into the grip 22; when the length of the shielding part 31 extending into the grip 22 is the maximum value, the first detection piece 41 is triggered and sends a signal outward.

[0065] Specifically, the movable piece 3 has a first position and a second position, when the movable piece 3 is in the first position, the length of the shielding part 31 extending into the grip 22 is the minimum value, when the movable piece 3 is in the second position, the length of the shielding part 31 extending into the grip 22 is the maximum value.

[0066] The master hand input mechanism 10 provided by the embodiment comprises the wrist assembly 1, the operating assembly 2, the movable piece 3 and the first detection piece 41, the movable piece 3 is arranged at the end of the grip 22 away from the wrist assembly 1, when the operator holds the grip 22, the palm of the operator is opposite to the movable piece 3, the operator can directly press the movable piece 3 into the grip 22 by the palm, so that the first detection piece 41 is triggered, which avoids occupying other fingers of the operator, reduces the complexity of operating the master hand input mechanism 10, improves the use convenience, reduces the fatigue degree of the operator, ensures the safety of the operation and the treatment effect, and reduces the possibility of secondary injury to the patient; at the same time, since the movable piece 3 is opposite to the palm of the operator, it is beneficial to arrange other function buttons in the range where the fingers can move conveniently, beneficial to increase the functions of the master hand input mechanism 10, and improve the practicality of the master hand input mechanism 10; in addition, the grip 22 is arranged, which improves the comfort degree of the operator, and the grip 22 is arranged on the body 21, so that when the operator twists the body 21, the grip 22 can rotate synchronously with the body 21, so that the fingers and the palm of the operator can rotate synchronously, which further improves the comfort degree of the operator and ensures the safety of the operation.

[0067] The master hand input mechanism 10 provided by the embodiment comprises the wrist assembly 1, the operating assembly 2, the movable piece 3 and the first detection piece 41, the movable piece 3 is arranged at the end of the grip 22 away from the wrist assembly 1, when the operator holds the grip 22, the palm of the operator is opposite to the movable piece 3, the operator can directly press the movable piece 3 into the grip 22 by the palm, so that the first detection piece 41 is triggered, which avoids occupying other fingers of the operator, reduces the complexity of operating the master hand input mechanism 10, improves the use convenience, reduces the fatigue degree of the operator, ensures the safety of the operation and the treatment effect, and reduces the possibility of secondary injury to the patient; at the same time, since the movable piece 3 is opposite to the palm of the operator, it is beneficial to arrange other function buttons in the range where the fingers can move conveniently, beneficial to increase the functions of the master hand input mechanism 10, and improve the practicality of the master hand input mechanism 10; in addition, the grip 22 is arranged, which improves the comfort degree of the operator, and the grip 22 is arranged on the body 21, so that when the operator twists the body 21, the grip 22 can rotate synchronously with the body 21, so that the fingers and the palm of the operator can rotate synchronously, which further improves the comfort degree of the operator and ensures the safety of the operation.

[0068] The surgical robot provided by the embodiment includes the active arm described above, reduces the complexity of operating the active arm, improves the convenience of use, thereby reducing the fatigue degree of the operator, ensuring the safety of the operation and the treatment effect, and being beneficial to increasing the functions of the active arm.

[0069] In the embodiment, the first detection member 41 is an optical sensor, and the first detection member 41 includes an emitting end 411 and a receiving end 412. When the first detection member 41 is not triggered, the receiving end 412 can receive the light from the emitting end 411. When the shielding part 31 moves to between the emitting end 411 and the receiving end 412, the first detection member 41 is triggered, and the receiving end 412 cannot receive the light from the emitting end 411. In other embodiments, the first detection member 41 can also be triggered when the receiving end 412 can receive the light from the emitting end 411, and at this time, the first detection member 41 is not triggered when the receiving end 412 cannot receive the light from the emitting end 411. Alternatively, the first detection member 41 can also be other types of sensors, which are not limited herein.

[0070] Specifically, the base of the doctor control end is provided with a controller, the first detection member 41 is in signal connection with the sensor, and the controller is in signal connection with each driving member on the surgical instrument. The controller can control the start and stop of each driving member according to the signal sent by the first detection member 41. The driving member can be a motor, a cylinder or other structures. The structure of the controller, the communication mode between the controller and the first detection member 41, and the principle of the controller controlling the start and stop of the driving member according to the signal of the first detection member 41 can all refer to the prior art, which are not the protection focus of the embodiment, and are not limited herein.

[0071] As a preferred solution, the first detection member 41 is provided with two, and when the movable member 3 is in the second position, the length of the shielding part 31 extending into the grip 22 is the maximum value, and both of the two first detection members 41 are triggered and send signals outward. By providing two first detection members 41, when one first detection member 41 fails, the other first detection member 41 can still reliably switch between the triggered state and the untriggered state, improving the durability and reliability of the master hand input mechanism 10 during the operation. At the same time, two first detection members 41 can be triggered at the same time by one movable member 3, which further simplifies the structure of the master hand input mechanism 10 and reduces the complexity of operation.

[0072] In the embodiment, the body 21 is in a cylindrical shape. For the convenience of description, the first direction extends along the radial direction of the body 21, the second direction extends along the axial direction of the body 21, the third direction extends along the radial direction of the body 21, and the first direction and the third direction are perpendicular to each other. The first end and the second end of the body 21 are respectively two ends of the body 21 along the second direction, and the grip 22 is located on one side of the second end of the body 21 along the third direction. Figure 4The view is perpendicular to the second direction. In Figure 4 and Figure 5 In the embodiment, the straight line L1 extends along the first direction, the straight line L2 extends along the second direction, the straight line L3 extends along the third direction, and the straight line L1, the straight line L2 and the straight line L3 intersect at the point O.

[0073] Preferably, the length direction of the handle 22 extends along the radial direction of the body 21. The end of the handle 21 extends to and is connected with the second end face of the body 21, avoiding connecting the handle 22 on the arc-shaped side wall of the body 21, simplifying the process of connecting the handle 22 on the body 21, and facilitating assembly.

[0074] Further, the operating assembly 2 further comprises a protective cover 23, the interior of the protective cover 23 is hollow and one end is open, a cover through hole is formed in the side wall of the protective cover 23, and the open end of the protective cover 23 is connected to the end face of the body 21. The handle 22 is arranged in the cover through hole, and the first end of the handle 22 is arranged in the protective cover 23 and connected with the end face of the body 21. By arranging the protective cover 23, the connection position between the handle 22 and the body 21 can be covered, the reliable connection between the handle 22 and the body 21 is ensured, and the durability and reliability of the master hand input mechanism 10 during surgery are improved.

[0075] It can be understood that the first end of the handle 22 is connected with the second end face of the body 21.

[0076] In the embodiment, the cross section of the protective cover 23 perpendicular to the first direction is circular, and the outer diameter of the one end of the protective cover 23 facing the body 21 is the same as the outer diameter of the body 21, so that the convex edges formed on the operating assembly 2 are reduced, the aesthetic degree is improved, and the comfort degree of the operator is improved.

[0077] Specifically, the handle 22 comprises a connecting section 221 and a holding section 222, the holding section 222 is arranged outside the protective cover 23, and the connecting section 221 is arranged in the cover through hole and connected between the body 21 and the holding section 222. Preferably, the size of the connecting section 221 along the axial direction of the body 21 is smaller than the size of the holding section 222 along the axial direction of the body 21, and the size of the connecting section 221 along the radial direction of the body 21 is smaller than the size of the holding section 222 along the radial direction of the body 21. The above arrangement makes the cross-sectional size of the connecting section 221 smaller than the cross-sectional size of the holding section 222, so that the area of the second end face of the body 21 and the volume of the protective cover 23 are reduced, thereby reducing the volume of the operating assembly 2, facilitating the operator to operate other buttons on the body 21, facilitating to increase the functions of the master hand input mechanism 10, and improving the practicability of the master hand input mechanism 10.

[0078] In the embodiment, the connecting section 221 and the holding section 222 are integrally formed. The connecting section 221 is located at one end of the holding section 222 along the length direction of the handle 22.

[0079] The master input mechanism further comprises an opening and closing member 5 connected to the body 21, and the body 21 is provided with the opening and closing member 5 on both sides along the first direction. Specifically, the opening and closing member 5 gradually moves away from the body 21 along the direction close to the wrist assembly 1, and the end of the opening and closing member 5 away from the wrist assembly 1 is rotationally connected to the body 21, and the rotation axis between the opening and closing member 5 and the body 21 extends along the third direction. When the operator holds the operating assembly 2 with the hand, the thumb and the middle finger of the operator are placed at the end of the opening and closing member 5 close to the wrist assembly 1.

[0080] As a preferred solution, the length direction of the handle 22 is perpendicular to the second direction, and the length direction is inclined to the third direction, and the end of the handle 22 away from the body 21 is inclined to the direction of the middle finger of the operator. The above-mentioned arrangement makes the handle 22 more fit the palm of the operator, ensuring that the handle 22 plays a role in supporting the palm of the operator, further reducing the fatigue degree of the operator. The handle 22 held by the left hand of the operator is set as the first handle, and the handle 22 held by the right hand of the operator is set as the second handle. It can be understood that when the first direction is horizontally arranged, the handle 22 is located below the body 21, and the second end of the body 21 is directed to the operator, the bottom of the first handle is inclined to the left side of the operator, and the bottom of the second handle is inclined to the right side of the operator. As shown in Figure 4 and Figure 5 The first handle is shown.

[0081] In Figure 4 , the straight line L5 extends along the length direction of the handle 22, and the straight line L5 passes through the point O. The above-mentioned "the length direction is inclined to the third direction" is that the straight line L5 is inclined to the straight line L3. In the embodiment, the angle between the straight line L5 and the straight line L3 is α, and 0 < α < 15°. In other embodiments, the size of α can be adaptively adjusted, which is not limited here.

[0082] Further, the master input mechanism 10 further comprises a limiting portion 61 connected to the body 21, and the limiting portion 61 extends along the length direction, and the side wall of the connecting segment 221 of the handle 22 is fitted to the limiting portion 61. Through the arrangement that the handle 22 is fitted to the limiting portion 61, the length direction of the handle 22 can be determined, and the convenience of installation of the handle 22 is improved.

[0083] In the embodiment, since the diameter of the body 21 is small, the connecting segment 221 is fastened to the body 21 by a screw, and the situation that the connecting segment 221 rotates relative to the body 21 is easy to occur. By arranging the limiting portion 61, the rotation of the connecting segment 221 relative to the body 21 can also be avoided, the stability of the structure of the operating assembly 2 is ensured, the influence of the relative rotation of the handle 22 and the body 21 on the operator is reduced, and the safety of the operation is further improved.

[0084] Further, the limiting part 61 is connected to the second end surface of the body 21, and extends along the length direction of the handle 22.

[0085] In the embodiment, the limiting part 61 is provided in a U shape, and includes two side arms and a connecting arm connected between the two side arms, the side arms are perpendicular to the second end surface of the body 21, and the connecting arm is parallel to the second end surface of the body 21. The connecting segment 221 is arranged in the opening of the limiting part 61, and the three side arms of the connecting segment 221 respectively abut the three inner side walls of the limiting part 61. The above arrangement of the limiting part 61 further limits the relative position between the handle 22 and the body 21, avoids the movement of the handle 22 relative to the body 21 along the axial direction of the body 21, ensures the stability of the structure of the operating assembly 2, reduces the influence on the operator due to the relative movement of the handle 22 and the body 21, and further improves the safety of the operation.

[0086] Preferably, the second end surface of the body 21 is fixedly provided with a limiting part 6, which includes the limiting part 61 and a blocking part 62. The blocking part 62 blocks one side of the limiting part 61 along the length direction, so that the blocking part 62 can contact the end surface of the connecting segment 221 to determine the installation position of the connecting segment 221, and further improves the convenience of installation of the handle 22.

[0087] In the embodiment, the limiting part 6 is arranged inside the protective cover 23, and the protective cover 23 is fastened to the limiting part 6 by screws to realize the connection between the protective cover 23 and the body 21.

[0088] Further, the movable part 3 is located on one side of the handle 22 along a fourth direction, the fourth direction is perpendicular to the length direction, and the fourth direction is obliquely arranged relative to the second direction. The above arrangement enables the movable part 3 to further abut the palm of the operator, so that the operator can only contact and press the movable part 3 by the palm, further avoids the occupation of other fingers of the operator, reduces the complexity of the operation master input mechanism 10, improves the convenience of use, thereby reduces the fatigue degree of the operator, ensures the safety of the operation and the treatment effect, and reduces the possibility of secondary injury to the patient. It can be understood that when the first direction is horizontally arranged, the handle 22 is located below the body 21, and the second end of the body 21 faces the operator, the movable part 3 is arranged on the side of the first handle close to the left side of the operator, and the movable part 3 is arranged on the side of the first handle close to the right side of the operator.

[0089] It should be noted that, Figure 5 The view is perpendicular to the length direction of the handle 22. In the view, Figure 5In the embodiment, the straight line L4 extends along the fourth direction, and the straight line L4 passes through the point O. The fourth direction is obliquely arranged with the second direction, as described above, that is, the straight line L4 is obliquely arranged with the straight line L2. In the embodiment, an angle between the straight line L4 and the straight line L2 is β, and 15°<β<40°. In other embodiments, the size of β can be adjusted adaptively, which is not limited herein.

[0090] In the embodiment, the two first detection members 41 are arranged along the fourth direction. When the movable member 3 is in the second position, the shielding part 31 extends along the fourth direction.

[0091] Specifically, the movable member 3 further comprises a pressing part 33 and a connecting part 32, one end of the connecting part 32 along the fourth direction is connected with the shielding part 31, the other end of the connecting part 32 along the fourth direction is connected with the pressing part 33, and the pressing part 33 is used to contact with the palm of the operator.

[0092] Further, the master input mechanism 10 further comprises a rotating shaft 7 connected with the grip 22, and the movable member 3 further comprises the connecting part 32 connected with the end of the shielding part 31 extending out of the grip 22, and the connecting part 32 is rotatably connected with the grip 22 through the rotating shaft 7, so as to switch the movable member 3 between the first position and the second position.

[0093] In the embodiment, the connecting part 32 is fixedly connected with the rotating shaft 7, and the rotating shaft 7 is rotatably connected with the grip 22. In other embodiments, the connecting part 32 can be rotatably connected with the rotating shaft 7, and the rotating shaft 7 is fixedly connected with the grip 22, which is not limited herein.

[0094] The master input mechanism 10 further comprises a guide member 8 connected with the grip 22, and the connecting part 32 is provided with an arc-shaped hole 321, an axis of the arc-shaped hole 321 coincides with an axis of the rotating shaft 7, and the guide member 8 is arranged in the arc-shaped hole 321 and can move along the arc-shaped hole 321 relative to the connecting part 32.

[0095] By arranging the guide member 8, the movable member 3 can rotate along the guide member 8, so as to avoid collision between the movable member 3 and the grip 22, facilitate smooth switching of the movable member 3 between the first position and the second position, ensure smooth switching of the first detection member 41 between the triggered state and the untriggered state, further avoid misoperation of the master input mechanism 10, and ensure that the controller can timely control the surgical instrument and the master input mechanism 10 to move synchronously, so as to ensure smooth implementation of the surgical operation and ensure the safety of the operation. In addition, the arrangement of the guide member 8 reduces the possibility of damage of the movable member 3, the grip 22 and the internal structure of the grip 22, improves the durability and stability of the master input mechanism 10, and reduces the maintenance cost.

[0096] Specifically, the holding section 222 comprises a mounting portion 2221 connected to one end of the connecting section 221 away from the body 21 and a shell 2222 with a hollow interior and an open end, and the mounting portion 2221 blocks the opening of the shell 2222 and is connected to the shell 2222 away from one end of the connecting section 221. A handle pass-through 22221 is formed in the side wall of the shell 2222, and the connecting portion 32 passes through the handle pass-through 22221. The shielding portion 31 passes through the handle pass-through 22221. The shell 2222 is internally provided with a mounting bracket 223 fixedly connected to the mounting portion 2221, the connecting portion 32 is rotationally connected to the mounting bracket 223 through the rotating shaft 7, and the guide 8 is fixedly arranged on the mounting bracket 223. The guide 8 is arranged in parallel with the rotating shaft 7, and the length direction of the handle 22 and the fourth direction are both arranged perpendicularly to the rotating shaft 7.

[0097] In order to reduce the volume of the handle 22, a groove 22211 is formed in one end of the mounting portion 2221 facing the shell 2222, and the two first detection pieces 41 are both arranged in the groove 22211. Two boss portions 22213 are protrudingly arranged on the end face of one end of the mounting portion 2221 facing the shell 2222, and the two boss portions 22213 are arranged in a spaced manner, and the spacing between the two boss portions 22213 is arranged opposite to the opening of the groove 22211, and the emitting end 411 and the receiving end 412 of the first detection piece 41 extend out of the groove 22211 and are arranged in the spacing. The shielding portion 31 is always arranged in the spacing. The mounting bracket 223 is connected to the boss portion 22213 and is located on the side of the first detection piece 41 away from the mounting portion 2221. It can be understood that when the operator presses the movable piece 3, the movable piece 3 applies a pushing force to the mounting bracket 223 through the rotating shaft 7, which is perpendicular to the length direction of the handle 22, and the mounting bracket 223 is prone to deformation. In the present embodiment, the boss portion 22213 is arranged to avoid directly connecting the mounting bracket 223 to the mounting portion 2221, shorten the size of the mounting bracket 223 along the length direction of the handle 22, increase the structural rigidity of the mounting bracket 223, reduce the possibility of deformation of the mounting bracket 223, and improve the durability of the master hand input mechanism 10.

[0098] Further, a limiting table 22212 is protrudingly arranged on the groove bottom surface of the groove 22211, and the side of the first detection piece 41 facing the connecting section 221 can abut against the limiting table 22212 to limit the installation position of the first detection piece 41, thereby facilitating the installation of the first detection piece 41. Through the arrangement of the limiting table 22212, the installation position of the first detection piece 41 can be limited while ensuring that the groove 22211 has a larger depth to achieve a better weight reduction effect, and the area in contact with the first detection piece 41 can be reduced to avoid affecting the elements on the first detection piece 41.

[0099] The first detection member 41 comprises a circuit board located on the side of the first detection member 41 facing the connecting section 221, and a heat-conducting insulating adhesive is coated on the circuit board and arranged between the circuit board and the limiting table 22212. The heat on the circuit board can be transmitted to the mounting portion 2221 through the heat-conducting insulating adhesive, thereby reducing the possibility of damage of the first detection member 41 due to overheating and improving the durability of the first detection member 41.

[0100] As a preferred solution, the master input mechanism 10 further comprises an elastic member 9, one end of the elastic member 9 is connected to the handle 22, and the other end of the elastic member 9 is connected to the movable member 3. The elastic member 9 is used to make the movable member 3 return to the first position from the second position. When the operator finishes the operation, the operator's hand is removed from the master input mechanism 10. Through the arrangement of the elastic member 9, the movable member 3 can be automatically reset to the first position, and the first detection member 41 returns to the untriggered state. This avoids manually moving the movable member 3 from the second position to the first position, improves the automation degree of the master input mechanism 10, further reduces the operation complexity, and improves the use convenience.

[0101] Preferably, the elastic member 9 is a spring, the connecting portion 32 is provided with a first accommodating groove 322, and the mounting frame 223 is provided with a second accommodating groove 2231. One end of the elastic member 9 is arranged in the first accommodating groove 322, and the other end of the elastic member 9 is arranged in the second accommodating groove 2231. This reduces the possibility of the elastic member 9 being separated from the mounting frame 223 and the movable member 3, ensures that the elastic member 9 always has the function of automatically resetting the movable member 3 to the first position, and ensures the reliability of the master input mechanism 10 during use.

[0102] As a preferred solution, the master input mechanism 10 further comprises a second detection member 42 arranged on the opening and closing member 5. The second detection member 42 is used to detect the fingers of the operator. When the movable member 3 is pressed to the second position by mistake, the second detection member 42 can further detect whether there is a finger on the opening and closing member 5. This further reduces the possibility of the movement of the surgical instrument caused by the mistaken touch of the master input mechanism 10, and improves the safety of the operation.

[0103] In some embodiments, the second detection member 42 is a fingerprint sensor, and the fingerprint sensor is signal-connected with the controller. The controller can control the start and stop of the driving member on the surgical instrument according to the detection information of the second detection member 42.

[0104] The structure of the fingerprint sensor, the communication mode between the fingerprint sensor and the controller, and the principle of the controller controlling the start and stop of the driving member according to the signal of the second detection member 42 can all refer to the prior art, which is not the focus of the protection of the present embodiment, and is not limited herein.

[0105] Further, the two opening and closing members 5 are provided with fingerprint sensors, which can detect the fingerprints of the two fingers of the operator.​

[0106] In some other embodiments, the second detection member 42 is a skin electricity sensor for detecting skin electricity data of a human body. The skin electricity sensor is signal connected with the controller. The controller can control the start and stop of the driving member on the surgical instrument according to whether the second detection member 42 detects the skin electricity data. The structure of the skin electricity sensor, the communication mode between the skin electricity sensor and the controller, and the principle of the controller controlling the start and stop of the driving member according to the signal of the second detection member 42 can all refer to the prior art, which are not the protection points of the present embodiment, and are not limited herein.

[0107] The present embodiment also provides a control method of a surgical robot, which is applied to the surgical robot described above. Preferably, as shown in the figure, Figures 1-9 the control method comprises:

[0108] S1, obtaining the state of the first detection member 41, if the first detection member 41 is triggered, proceeding to step S2, if the first detection member 41 is not triggered, proceeding to step S3;

[0109] S2, the master input mechanism 10 can control the action of the surgical instrument;

[0110] S3, the master input mechanism 10 cannot control the action of the surgical instrument.

[0111] The control method of the surgical robot provided by the present embodiment can judge whether the master input mechanism 10 can control the action of the surgical instrument according to the state of the first detection member 41, which avoids the action of the surgical instrument caused by the mistaken touch of the master input mechanism 10, improves the safety of the surgery, and reduces the possibility of causing secondary injury to the patient.

[0112] In the present embodiment, the master input mechanism 10 can control the surgical instrument to perform actions such as translation, rotation, or opening and closing of the end effector, and the specific control principle can refer to the prior art, which is not the protection point of the present embodiment, and will not be repeated here.

[0113] The control method of the surgical robot provided by the present embodiment will be described in detail below.

[0114] Specifically, in step S1, obtaining the state of the first detection member 41 specifically means that the controller judges whether the first detection member 41 is triggered according to whether the signal of the first detection member 41 is received; if the controller receives the signal of the first detection member 41, it is judged that the first detection member 41 is triggered, otherwise, the controller judges that the first detection member 41 is not triggered.

[0115] According to the foregoing description, the first detection member 41 is provided with two. Preferably, the step S1 specifically comprises: acquiring the states of the two first detection members 41, if both of the two first detection members 41 are triggered, the step S2 is performed; if any of the first detection members 41 is not triggered, the step S3 is performed.

[0116] Specifically, when one of the first detection members 41 fails, the other first detection member 41 can still reliably switch between the triggered state and the untriggered state, and in combination with the states of the two first detection members 41, the comprehensive judgment of whether the master input mechanism 10 can control the surgical instrument to act is made, which improves the reliability of the master input mechanism 10 during surgery, and further ensures the safety of the surgery; in addition, when both of the two first detection members 41 are triggered, the step S2 is performed again, if the shielding part 31 only shields one of the first detection members 41 due to the false touch of the movable part 3, the step S2 can also be avoided, which further ensures the safety of the surgery.

[0117] It can be understood that when one of the first detection members 41 fails and is always in the triggered state, if the other first detection member 41 is triggered, the step S2 is performed; if the other first detection member 41 is not triggered, the step S3 is performed. This realizes that the normal operation of the surgical robot can still be ensured on the premise that one of the first detection members 41 fails, which improves the durability of the master input mechanism 10 and reduces the maintenance cost.

[0118] When one of the first detection members 41 fails and cannot be triggered by the shielding part 31 at all times, whether the other first detection member 41 is triggered or not, the step S3 is performed.

[0119] According to the foregoing description, the master input mechanism 10 further comprises a second detection member 42.

[0120] In some embodiments, the step S1 comprises: acquiring the states of the first detection member 41 and the second detection member 42, if the first detection member 41 is triggered and the second detection member 42 detects a finger, the step S2 is performed; if the first detection member 41 is not triggered or the second detection member 42 does not detect a finger, the step S3 is performed. That is, in combination with the states of the two first detection members 41 and the second detection member 42, according to whether the hand of the operator is held on the grip 22 and whether the finger is pressed on the opening and closing part 5, the comprehensive judgment of whether the master input mechanism 10 can control the surgical instrument to act is made, which further ensures the safety of the surgery; in addition, according to the states of the first detection member 41 and the second detection member 42, only one judgment is made, which also reduces the control difficulty.

[0121] In other embodiments, the step S1 comprises:

[0122] S11, acquire the state of the first detection member 41, if the first detection member 41 is triggered, proceed to step S12, otherwise proceed to step S3;

[0123] S12, acquire the state of the second detection member 42, if the second detection member 42 detects the finger, proceed to step S2, otherwise proceed to step S3.

[0124] That is, in combination with the states of the two first detection members 41 and the second detection member 42, whether the operator's hand is held on the handle 22 is detected first, and then whether the finger is pressed on the opening and closing member 5 is detected, so as to judge whether the master input mechanism 10 can control the operation of the surgical instrument, so as to ensure that the operator's hand can firmly hold the master input mechanism 10, and further ensure the safety of the operation; in addition, the controller avoids simultaneously performing two judgment programs, reduces the possibility of controller jamming, reduces the demand for the controller, and is conducive to reducing the cost.

[0125] In other embodiments, the second detection member 42 can also be a fingerprint sensor, and step S1 includes: acquiring the state of the first detection member 41, acquiring the actual fingerprint information of the operator through the second detection member 42, if the first detection member 41 is triggered and the actual fingerprint information acquired by the second detection member 42 is the same as the preset fingerprint information, then proceed to step S2; if the first detection member 41 is not triggered or the actual fingerprint information acquired by the second detection member 42 is different from the preset fingerprint information, then proceed to step S3.

[0126] It can be understood that before the operation, the operator should collect the fingerprint information through the second detection member 42 and store it in the controller to form the preset fingerprint information. During the operation, the second detection member 42 acquires the actual fingerprint information of the operator, and the controller compares the actual fingerprint information with the preset fingerprint information stored before the operation, if they are consistent, the operator can control the operation of the surgical instrument through the master input mechanism 10, if they are not consistent, the master input mechanism 10 cannot control the operation of the surgical instrument.

[0127] The above setting can ensure that the actual operator is consistent with the theoretical operator, and further ensure the safety of the operation and the treatment effect.

[0128] Obviously, the above embodiments of the present application are only examples for clear illustration of the present application, and are not intended to limit the embodiments of the present application. For those skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, it is not necessary and impossible to exhaust all the embodiments. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A main hand input mechanism, characterized in that, include: Wrist assembly (1); The operating component (2) includes a body (21) and a grip (22), the first end of the body (21) being rotatably connected to the wrist component (1), and the grip (22) being connected to the body (21) and located on one side of the second end of the body (21); The movable part (3) includes a shielding part (31), one end of which is placed inside the handle (22), and the other end of which extends out of the handle (22) away from the first end of the body (21). The movable part (3) is movably connected to the handle (22) to change the length of the shielding part (31) extending into the handle (22). When the length of the first detection element (41) extending into the handle (22) by the blocking part (31) is at its maximum value, the first detection element (41) is triggered and sends a signal outward; The movable part (3) further includes a pressing part (33) and a connecting part (32). One end of the connecting part (32) along the fourth direction is connected to the blocking part (31), and the other end of the connecting part (32) along the fourth direction is connected to the pressing part (33). The pressing part (33) is used to contact the palm of the operator. The main hand input mechanism also includes a rotating shaft (7), which is connected to the grip (22). The connecting part (32) is connected to one end of the blocking part (31) that extends out of the grip (22). The connecting part (32) is rotatably connected to the grip (22) through the rotating shaft (7). The main hand input mechanism also includes an opening and closing component (5), which is connected to the body (21). The opening and closing component (5) is provided on both sides of the body (21) along the first direction. The first end and the second end of the body (21) are respectively the two ends of the body (21) along the second direction. The handle (22) is located on one side of the body (21) along the third direction. One end of the handle (22) along the length direction is connected to the end face of the body (21). The first direction, the second direction and the third direction are perpendicular to each other. The length direction is perpendicular to the second direction. The length direction is inclined to the third direction; and / or, the movable part (3) is located on one side of the grip (22) along the fourth direction, the fourth direction being perpendicular to the length direction and inclined to the second direction.

2. The main hand input mechanism according to claim 1, characterized in that, The operating component (2) also includes a protective cover (23). The body (21) is columnar. The protective cover (23) is hollow inside and open at one end. A cover opening is provided through the side wall of the protective cover (23). The open end of the protective cover (23) is connected to the end face of the body (21). The handle (22) is inserted through the cover opening. The first end of the handle (22) is placed inside the protective cover (23) and connected to the end face of the body (21).

3. The main hand input mechanism according to claim 2, characterized in that, The handle (22) includes a connecting section (221) and a gripping section (222). The gripping section (222) is located outside the protective cover (23). The connecting section (221) passes through the cover opening and connects the body (21) and the gripping section (222). The dimension of the connecting segment (221) along the axial direction of the body (21) is smaller than the dimension of the gripping segment (222) along the axial direction of the body (21), and the dimension of the connecting segment (221) along the radial direction of the body (21) is smaller than the dimension of the gripping segment (222) along the radial direction of the body (21).

4. The main input mechanism according to claim 1, characterized in that, The length direction is inclined to the first direction, and the main hand input mechanism also includes a limiting part (61). The limiting part (61) is connected to the body (21). The limiting part (61) extends along the length direction, and the grip (22) fits against the limiting part (61).

5. The main hand input mechanism according to any one of claims 1-4, characterized in that, The main hand input mechanism also includes a guide (8), which is connected to the grip (22). The connecting part (32) has an arc-shaped hole (321). The axis of the arc-shaped hole (321) coincides with the axis of the rotating shaft (7). The guide (8) is placed in the arc-shaped hole (321) and can move relative to the connecting part (32) along the arc-shaped hole (321).

6. The main hand input mechanism according to any one of claims 1-4, characterized in that, The movable part (3) has a first position and a second position. When the movable part (3) is configured in the first position, the length of the blocking part (31) extending into the handle (22) is at its minimum value. When the movable part (3) is configured in the second position, the length of the blocking part (31) extending into the handle (22) is at its maximum value. The main hand input mechanism also includes an elastic element (9), one end of which is connected to the grip (22), and the other end of which is connected to the movable element (3). The elastic element (9) is used to restore the movable element (3) from the second position to the first position.

7. The main hand input mechanism according to any one of claims 1-4, characterized in that, Two first detection elements (41) are provided. When the length of the obstruction part (31) extending into the handle (22) is at its maximum, both first detection elements (41) are triggered and send signals outward; and / or, The main hand input mechanism also includes a second detection element (42). The opening and closing element (5) is rotatably connected to the body (21). The second detection element (42) is placed on the opening and closing element (5). The second detection element (42) is used to detect the operator's fingers.

8. An active arm, characterized in that, Includes the main input mechanism as described in any one of claims 1-7.

9. A surgical robot, characterized in that, It includes surgical instruments and the active arm as described in claim 8, wherein the main hand input mechanism is used to control the movement of the surgical instruments.

10. The surgical robot according to claim 9, characterized in that, The surgical robot also includes a controller, which executes a control method, the control method comprising: S1. Obtain the status of the first detection element (41). If the first detection element (41) is triggered, proceed to step S2. If the first detection element (41) is not triggered, proceed to step S3. S2. The main hand input mechanism can control the movement of the surgical instruments; S3. The main hand input mechanism cannot control the movement of the surgical instruments.

11. The surgical robot according to claim 10, characterized in that, There are two first detection elements (41). Step S1 specifically includes: obtaining the status of the two first detection elements (41); if both first detection elements (41) are triggered, then step S2 is performed; if either first detection element (41) is not triggered, then step S3 is performed.

12. The surgical robot according to claim 10, characterized in that, The main hand input mechanism also includes a second detection element (42), and the main hand input mechanism also includes an opening and closing element (5), which is rotatably connected to the body (21). The second detection element (42) is placed on the opening and closing element (5), and the second detection element (42) is used to detect the operator's fingers. Step S1 includes: obtaining the status of the first detection element (41) and the second detection element (42); if the first detection element (41) is triggered and the second detection element (42) detects the finger, then proceed to step S2; if the first detection element (41) is not triggered or the second detection element (42) does not detect the finger, then proceed to step S3. Alternatively, step S1 includes: S11. Obtain the status of the first detection element (41). If the first detection element (41) is triggered, proceed to step S12; otherwise, proceed to step S3. S12. Obtain the status of the second detection element (42). If the second detection element (42) detects the finger, proceed to step S2; otherwise, proceed to step S3.

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