Master hand assembly and surgical robot

Abstract

The application provides a master hand assembly and a surgical robot, and relates to the technical field of medical equipment. The master hand assembly comprises a shell, an operating arm, a driver and an elastic member. The elastic member is connected with the driving shaft and the shell. When the operating arm drives the driving shaft to rotate, the elastic member is correspondingly compressed or stretched. The restoring force of the elastic member can be applied to the driving shaft, and the torque output by the driver can be matched to drive the driving shaft, so that the driving shaft can keep static balance. In this way, the operating arm connected with the driving shaft can keep static balance. Since the restoring deformation of the elastic member can offset a part of the self-gravity of the operating arm, the driver can reduce the output torque, thereby reducing the load of the driver, reducing the loss of the driver, prolonging the service life of the driver, and finally improving the reliability of the master hand assembly.

Description

Technical Field

[0001] This application relates to a master hand component and a surgical robot, belonging to the field of medical device technology. Background Technology

[0002] With the development of surgical robots, users can control slave devices to perform related surgical operations through a master device, enabling precise operations and improving the safety and success rate of surgery. Users can operate the master device to perform corresponding rotational movements, which in turn cause the slave device to perform corresponding rotational movements.

[0003] Currently, when a user operates the main hand device to rotate a certain angle and needs to keep the main hand device at that angle, the main hand device needs to be balanced by the output force of the motor. However, this requires a high torque from the motor, and the motor's lifespan will also be affected by being under load for a long time. Summary of the Invention

[0004] This application provides a master hand assembly and a surgical robot, which solves the problem in the related art where the master hand assembly has a high driver load in order to maintain state balance.

[0005] In a first aspect, this application provides a master hand component, including:

[0006] case;

[0007] Operating arm;

[0008] A driver, disposed in the housing, the driver having a rotatable drive shaft connected to the operating arm;

[0009] An elastic element is disposed in the housing, the elastic element is connected to the drive shaft, and the driver is further configured to compress or stretch the elastic element after the drive shaft rotates.

[0010] In some embodiments, a connector is also included, which is connected to the elastic member and the drive shaft. The drive shaft rotates in a first direction to move the connector in a direction toward the drive shaft, and the drive shaft rotates in a second direction to move the connector in a direction away from the drive shaft. The first direction and the second direction are opposite to each other.

[0011] In some embodiments, a first positioning element is also included, which is disposed on the housing, and a portion of the connector is movably wound around the first positioning element.

[0012] In some embodiments, the first positioning member is disposed between the drive shaft and the elastic member, and the connecting member is wound around the first positioning member multiple times along the axial direction of the first positioning member.

[0013] In some embodiments, a second positioning member is also included, the second positioning member having a first side and a second side, the first side of the second positioning member being connected to the drive shaft, the second side of the second positioning member being offset from the drive shaft, and a portion of the connector being wound around the second side of the second positioning member.

[0014] In some embodiments, one end of the connector is connected to the elastic member, and the other end of the connector is connected to the first positioning member.

[0015] In some embodiments, a first movable sleeve and a second movable sleeve are also included. The first movable sleeve is movably sleeved on the first positioning member. The surface of the first movable sleeve is provided with a spirally distributed first positioning groove. The connecting member is wound around the first movable sleeve and embedded in the first positioning groove.

[0016] The second movable sleeve is movably fitted onto the second positioning member, and a second positioning groove is formed on the surface of the second movable sleeve. The connecting member is wrapped around the second movable sleeve and embedded in the second positioning groove.

[0017] In some embodiments, the elastic element includes a spring body and a guide post, the spring body being sleeved on the guide post, one end of the spring body abutting against the housing, the other end of the spring body abutting against the end face of the guide post, one end of the connector being connected to the guide post, and the connector being configured to be driven to move in a direction away from the elastic element to compress the elastic element.

[0018] In some embodiments, the end of the elastic element away from the drive shaft is connected to the housing, and the end of the elastic element near the drive shaft is connected to the connector, the connector being configured to stretch the elastic element under drive.

[0019] Secondly, this application provides a surgical robot, including a slave hand assembly and a master hand assembly as described above, wherein the master hand assembly and the slave hand assembly are electrically connected.

[0020] In the master hand assembly provided in this application, the drive shaft of the actuator is rotatable. The actuator is mounted in the housing, and the drive shaft of the actuator is connected to the operating arm. The user can apply a force to the operating arm to make it rotate relative to the housing. An elastic element is connected to the drive shaft and the housing. When the operating arm drives the drive shaft to rotate, the elastic element can undergo corresponding compression or tension deformation. The restoring deformation force of the elastic element can act on the drive shaft. Combined with the torque actively output by the actuator to the drive shaft, the drive shaft can remain stationary and balanced. Thus, the operating arm connected to the drive shaft can remain stationary and balanced. Since the restoring deformation of the elastic element can offset part of the weight of the operating arm, the actuator can reduce its output torque, thereby reducing the load on the actuator, reducing actuator wear, extending the life of the actuator, and ultimately improving the reliability of the master hand assembly of this application.

[0021] The surgical robot proposed in this application has a longer service life and better reliability due to the application of the aforementioned master hand component. Attached Figure Description

[0022] The above and other objects, features, and advantages of embodiments of this application will become more readily understood through the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of this application will be described by way of example and non-limitation, wherein:

[0023] Figure 1 This is a schematic diagram of the main hand component according to an embodiment of this application;

[0024] Figure 2 This is a schematic diagram showing the connection between the elastic element and the housing in one embodiment of the main arm assembly of this application.

[0025] Figure 3 This is a schematic diagram showing the connection between the elastic element and the housing in another embodiment of the main arm assembly of this application.

[0026] Figure 4 This is a schematic diagram of the first movable sleeve of the main hand component according to an embodiment of this application;

[0027] Figure 5 This is a schematic diagram of the second movable sleeve of the main hand component according to an embodiment of this application;

[0028] Figure 6 This is a schematic diagram showing the second positioning member of the main hand assembly in a first state according to an embodiment of this application;

[0029] Figure 7 This is a schematic diagram showing the second positioning member of the main hand assembly in a second state according to an embodiment of this application;

[0030] Figure 8This is a schematic diagram showing the second positioning member of the master arm assembly in a third state according to an embodiment of this application.

[0031] Figure label:

[0032] 100 - Housing, 110 - First positioning element, 120 - First movable sleeve, 121 - First positioning groove, 130 - Fixed base

[0033] 200-operating arm,

[0034] 300 - Driver, 310 - Drive shaft, 311 - First side, 312 - Second side, 320 - Second positioning element, 330 - Second movable sleeve, 331 - Second positioning groove.

[0035] 400 - Elastic element, 410 - Spring body, 420 - Guide post

[0036] 500-Connector. Detailed Implementation

[0037] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0038] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0039] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0040] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0041] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0042] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0043] With the development of surgical robots, users can control slave devices to perform related surgical operations through a master device, enabling precise operations and improving the safety and success rate of surgery. Users can operate the master device to perform corresponding rotational movements, which in turn cause the slave device to perform corresponding rotational movements.

[0044] Currently, when a user rotates the main hand device to a certain angle and needs to maintain that angle, the main hand device needs to be balanced by using the force output by the motor to counteract its own weight. However, this requires a high torque from the motor, and the motor's lifespan will also be affected by being under load for a long time.

[0045] In the master hand assembly proposed in this application, the drive shaft of the actuator is rotatable. The actuator is mounted in the housing, and the drive shaft of the actuator is connected to the operating arm. The user can apply a force to the operating arm to make it rotate relative to the housing. An elastic element is connected to the drive shaft and the housing. When the operating arm drives the drive shaft to rotate, the elastic element can undergo corresponding compression or tension deformation. The restoring deformation force of the elastic element can act on the drive shaft. Combined with the torque actively output by the actuator to the drive shaft, the drive shaft can remain stationary and balanced. Thus, the operating arm connected to the drive shaft can remain stationary and balanced. Since the restoring deformation of the elastic element can offset part of the weight of the operating arm, the actuator can reduce its output torque, thereby reducing the load on the actuator, reducing actuator wear, extending the life of the actuator, and ultimately improving the reliability of the master hand assembly of this application.

[0046] The surgical robot proposed in this application has a longer service life and better reliability due to the application of the aforementioned master hand component.

[0047] The master hand component and surgical robot provided in this application will be described in detail below with reference to specific embodiments.

[0048] This application provides a master hand component, referencing... Figure 1 As shown, the assembly includes a housing 100, an operating arm 200, a driver 300, and an elastic element 400. This master arm assembly can be used in surgical robots; therefore, embodiments of this application also propose a surgical robot that may further include a slave arm assembly electrically connected to the master arm assembly.

[0049] The housing 100 is the basic component of the main hand assembly of this application, and it provides a mounting base for at least some other components of the main hand assembly. The housing 100 may be made of a metallic material to give it better structural strength, thus providing more reliable protection for the components within it. The housing 100 has an internal cavity, and the actuator 300 is disposed within this cavity. This allows the housing 100 to protect the actuator 300.

[0050] The actuator 300 is disposed in the housing 100 so that the actuator 300 can be fixed in the housing 100. The actuator 300 has a drive shaft 310, and the drive shaft 310 is rotatable. Specifically, when the actuator 300 is not activated, the drive shaft 310 can be generated by an external force. When the actuator 300 is activated, the drive shaft 310 can also be actively rotated to generate torque. The drive shaft 310 is connected to the operating arm 200, so that the operating arm 200 is rotatably connected to the actuator 300. Thus, when the user actively applies a force to the operating arm 200, the operating arm 200 can rotate relative to the housing 100. Specifically, the operating arm 200 can also be connected to a grip, which is an object held by the user's hand. When the user holds the grip and applies a rotational force to the grip, the grip rotates, thereby allowing the operating arm 200 connected to the grip to rotate with the grip. When the user holds the gripper and rotates the operating arm 200, the actuator of the slave component of the surgical robot will rotate accordingly to complete the surgical operation.

[0051] It should be understood that when the user applies a force to the operating arm 200, causing it to rotate, the overall center of mass of the operating arm 200 will change accordingly. Under its own weight, the operating arm 200 tends to return its center of mass to its lowest position. Correspondingly, the weight of the operating arm 200 will act on the drive shaft 310, causing the drive shaft 310 to tend to rotate in the opposite direction.

[0052] The elastic element 400 is disposed in the housing 100 and connected to the drive shaft 310, allowing the elastic element 400 to be fixedly installed. When the operating arm 200 rotates, causing the drive shaft 310 to rotate, the drive shaft 310 can apply a force to the elastic element 400, causing the elastic element 400 to be stretched or compressed. At this time, the elastic element 400 has a restoring deformation force, which can react on the drive shaft 310 to counteract at least part of the reverse rotation force of the drive shaft 310. At this time, the driver 300 can also be activated and apply a force to the drive shaft 310 to counteract the gravity of the operating arm 200, allowing the drive shaft 310 to remain stationary. Therefore, through the combination of the restoring deformation force of the elastic element 400 and the driving force of the driver 300 itself, the drive shaft 310 can be kept in a static equilibrium state, and correspondingly, the operating arm 200 can also maintain its angle after rotation. Since the restoring deformation force of the elastic element 400 offsets at least part of the force that causes the drive shaft 310 to reverse due to the weight of the operating arm 200 itself, the torque of the driver 300 driving the drive shaft 310 can be reduced. This reduces the load on the driver 300 and prevents the driver 300 from being in a high-load state for a long time, thereby protecting the driver 300.

[0053] In some implementations, reference Figures 1 to 3As shown, the main arm assembly may also include a connector 500. The connector 500 is connected to both the elastic element 400 and the drive shaft 320. When the operating arm 200 drives the drive shaft 310 to rotate, the rotational force of the drive shaft 310 can act on the connector 500, causing the connector 500 to move towards or away from the drive shaft 310. Correspondingly, the connector 500 can apply a force to the elastic element 400, causing the elastic element 400 to deform and generate a restoring deformation force.

[0054] Specifically, when the drive shaft 310 rotates in the first direction, the connecting member 500 can be pulled towards the drive shaft 310. This causes the elastic member 400 connected to the connecting member 500 to deform, and the connecting member 500 and the elastic member 400 are in a tightly connected state. When the drive shaft 310 rotates in the second direction, at least part of the connecting member 500 can be released, reducing the tension of the connecting member 500 on the elastic member 400. This allows the restoring deformation force of the elastic member 400 to restore its deformation to a certain extent.

[0055] The connector 500 can be made of steel wire rope, which gives it a certain structural strength while allowing it to deform. This makes it easier to connect the elastic element 400 to the drive shaft 310.

[0056] In some implementations, reference Figures 1 to 3 As shown, the main arm assembly may also include a first positioning member 110. The first positioning member 110 may be disposed on the housing 100 and fixed to the housing 100. Specifically, the first positioning member 110 may be a round rod structure, with one end connected to the inner wall of the housing 100, or a structure for supporting and mounting the first positioning member 110 may be provided within the housing 100. At least a portion of the connecting member 500 is wound around the first positioning member 110. Specifically, the connecting member 500 has a first end and a second end. The first end of the connecting member 500 may be connected to the elastic member 400, and the second end of the connecting member 500 is the end of the connecting member 500 facing away from the first end. The portion of the connecting member 500 between the first end and the second end may be wound around the first positioning member 110, thereby fixing the connecting member 500 to the first positioning member 110.

[0057] When the drive shaft 310 rotates in either the first or second direction, it can pull the connector 500, allowing the portion of the connector 500 surrounding the first positioning member 110 to rotate around the fixing member. The first positioning member 110 can position the connector 500, ensuring that the connector 500 remains stable when it moves under the action of the drive shaft 320.

[0058] In some implementations, reference Figures 1 to 3As shown, the first positioning member 110 of this application can be specifically disposed between the drive shaft 310 and the elastic member 400. Specifically, the connecting member 500 is wound around the first positioning member 110 at the portion between the first end and the second end. The first positioning member 110 being disposed between the drive shaft 310 and the elastic member 400 allows the length of the connecting member 500 to be set to the shortest possible value. Since the connecting member 500 is made of steel wire rope, setting the length of the connecting member 500 to the shortest possible value allows the weight of the connecting member 500 to be the lightest possible value, thereby reducing the weight of the main arm component itself.

[0059] The portion of the connector 500 between the elastic elements 400 of the first positioning member 110 can be configured to extend along the central axis of the elastic elements 400. When the connector 500 is subjected to force that can be applied to the elastic elements 400 to cause deformation, the elastic elements 400 can deform along their axial direction, thus preventing the elastic elements 400 from skewing during deformation. This prevents the elastic elements 400 from being damaged due to skewing.

[0060] In some implementations, reference Figures 1 to 3 As shown, the main arm component of this application may further include a second positioning member 320, which is connected to the drive shaft 310. Therefore, rotation of the drive shaft 310 can drive the second positioning member 320 to rotate synchronously. The second positioning member 320 has a first side 311 and a second side 312. The first side 311 of the second positioning member 320 is connected to the drive shaft 310, specifically to the end of the drive shaft 310. The second side 312 of the second positioning member 320 is offset from the drive shaft 310. When the drive shaft 310 rotates, the second side 312 of the second positioning member 320 can rotate around the drive shaft 310, and the rotation trajectory of the second side 312 of the second positioning member 320 is a circular trajectory centered on the drive shaft 310. The connecting member 500 can be disposed around the second positioning member 320. When the drive shaft 320 drives the second positioning member 320 to rotate, the portion of the connecting member 500 surrounding the second positioning member 320 can rotate synchronously. This allows the second positioning member 320 to pull the connecting member 500, which in turn pulls the elastic member 400, ultimately causing the elastic member 400 to be stretched or compressed. In this way, the restoring deformation force of the elastic member 400 can act on the drive shaft 310 through the connecting member 500 and the second positioning member 320, allowing the drive shaft 310 to maintain its rotation angle.

[0061] Specifically, when the main arm assembly is in its initial state, i.e., when the operating arm 200 is in its unrotated initial position, the second side 312 of the second positioning member 320 can be positioned closest to the elastic member 400. When the user controls the operating arm 200 to rotate, causing the drive shaft 310 to drive the second side 312 of the second positioning member 320 to rotate, the second side 312 of the second positioning member 320 can rotate in a direction away from the elastic member 400, thus gradually increasing the distance between the second side 312 of the second positioning member 320 and the elastic member 400. The portion of the connecting member 500 surrounding the second positioning member 320 can also move with the second positioning member 320 in a direction away from the elastic member 400, so that the connecting member 500 can be pulled by the second positioning member 320, causing the portion of the connecting member 500 surrounding the first positioning member 110 to rotate around the first positioning member 110, ultimately causing the connecting member 500 to pull the elastic member 400, causing the elastic member 400 to undergo tensile or compressive deformation.

[0062] In some implementations, reference Figures 1 to 3 As shown, one end of the connector 500 can be fixedly connected to the elastic member 400, and the other end of the connector 500 can be connected to the first positioning member 110, so that both ends of the connector 500 can be fixed. Specifically, the first end of the connector 500 can be connected to the elastic member 400, and the second end of the connector 500 can be fixedly connected to the first positioning member 110 after being wound around the first positioning member 110 and the second positioning member 320. When the drive shaft 310 rotates and drives the second positioning member 320 to rotate, the second end of the connector 500 connected to the first positioning member 110 can be maintained, and when the connector 500 is subjected to force, its first end can pull the elastic member 400 to deform the elastic member 400.

[0063] Specifically, when the main arm assembly of this application is placed on a horizontal surface, the elastic member 400 is located on the bottom side, the first positioning member 110 is located on the top side of the elastic member 400, and the second positioning member 320 is located on the top side of the first positioning member 110. After the first end of the connector 500 is connected to the elastic member 400, the second end of the connector 500 extends upward. The second end of the connector 500 can be wound around the first positioning member 110 multiple times and then continue to extend upward and wound around the second positioning member 320. Finally, the second end of the connector 500 extends downward and is fixed to the first positioning member 110.

[0064] refer to Figures 6 to 8The diagram illustrates the states of the second positioning element 320 in its first, second, and third states. Specifically, when the second positioning element 320 is in its first state, the second positioning element 320, the first positioning element 110, and the elastic element 400 are connected in a straight line. The connecting element 500 is also in a straight line. The elastic element 400 is in its initial state and has no arm. The torque control of the driver 300 keeps the drive shaft 310 in a stable state. When the drive shaft 310 rotates counterclockwise by a first angle, the second elastic element 320 is placed in its second state. The elastic element 400 deforms under the action of the connecting element 500. The restoring deformation force of the elastic element 400 is applied to the drive shaft 310 through the second positioning element 320, keeping the drive shaft 310 stable. At this time, the torque output by the driver 300 can be reduced. When the drive shaft 310 rotates counterclockwise by a second angle, the second elastic element 320 can be in the third state. The elastic element 400 continues to deform under the action of the connecting element 500. The restoring deformation force of the elastic element 400 can be applied to the drive shaft 310 through the second positioning element 320 to keep the drive shaft 310 stable. At this time, the torque output by the driver 300 can be reduced.

[0065] In some implementations, reference Figures 1 to 3 As shown, the main arm assembly of this application also includes a first movable sleeve 120 and a second movable sleeve 330. The first movable sleeve 120 is movably fitted onto the first positioning member 110, allowing the first movable sleeve 120 to rotate relative to the first positioning member 110. The connecting member 500 is disposed around the first movable sleeve 120. When subjected to force, the connecting member 500 can rotate around the first movable sleeve 120. Since the first movable sleeve 120 and the first positioning member 110 are movably fitted together, the friction between them is reduced after the connecting member 500 rotates around the first movable sleeve 120, allowing the connecting member 500 to rotate more smoothly around the first positioning member 110. Correspondingly, the force exerted by the drive shaft 310 on the second positioning member 320 can be more fully transmitted to the elastic member 400, causing the elastic member 400 to deform under force, thus reducing the force loss of the connecting member 500.

[0066] Specifically, the inner diameter of the first movable sleeve 120 can be set to match the outer diameter of the first positioning member 110, so that during the rotation of the first movable sleeve 120 around the first positioning member 110, the inner wall of the first movable sleeve 120 can always be in contact with the outer wall of the first positioning member 110, thus ensuring stability during the rotation of the first movable sleeve 120 around the first positioning member 110. Furthermore, the axial length of the first movable sleeve 120 can be set to be smaller than the axial length of the first positioning member 110, so that a portion of the first positioning member 110 is not covered by the first movable sleeve 120, thus exposing a portion of the first positioning member 110 outside the first movable sleeve 120. The second end of the connecting member 500 can be connected to the portion of the first positioning member 110 not covered by the first movable sleeve 120, so that the second end of the connecting member 500 can be fixed to the first positioning member 110.

[0067] refer to Figure 4 As shown, to ensure the stability and reliability of the connector 500 when it is wound around the first movable sleeve 120, the first movable sleeve 120 can be provided with a first positioning groove 121. The portion of the connector 500 wound around the first movable sleeve 120 can be embedded in the first positioning groove 121, so that the first positioning groove 121 can limit the position of the connector 500. In this way, when the connector 500 rotates around the first movable sleeve 120, the connector 500 can always be within the first positioning groove 121, thereby preventing the connector 500 from separating from the first movable sleeve 120 during rotation. In addition, if the connector 500 is wound around the first movable sleeve 120 multiple times, the first positioning groove 121 on the first movable sleeve 120 can be set to be spirally distributed along the axial direction of the first movable sleeve 120, so that the connector 500 can be wound around the first movable sleeve 120 multiple times along the axial direction of the first movable sleeve 120.

[0068] refer to Figures 1 to 3 As shown, the second movable sleeve 330 is movably fitted onto the second positioning member 320, allowing the second movable sleeve 330 to rotate relative to the second positioning member 320. The connecting member 500 is disposed around the second movable sleeve 330. When subjected to force, the connecting member 500 can rotate around the second movable sleeve 330. Since the second movable sleeve 330 and the second positioning member 320 are movably fitted together, the friction between the two is reduced after the connecting member 500 rotates around the second movable sleeve 330, allowing the connecting member 500 to rotate more smoothly around the second positioning member 320. Correspondingly, the force exerted by the drive shaft 310 on the connecting member 500, which drives the second positioning member 320 to rotate, can be more fully transmitted to the elastic member 400, causing the elastic member 400 to deform under force, thus reducing the force loss of the connecting member 500.

[0069] Specifically, the second movable sleeve 330 can adopt a pulley structure. The inner diameter of the second movable sleeve 330 can be set to match the outer diameter of the second positioning member 320, so that during the rotation of the second movable sleeve 330 around the second positioning member 320, the inner wall of the second movable sleeve 330 can always be in contact with the outer wall of the second positioning member 320, thus ensuring stability during the rotation of the second movable sleeve 330 around the second positioning member 320. Furthermore, the axial length of the second movable sleeve 330 can be set to be less than the axial length of the second positioning member 320, so that a portion of the second positioning member 320 is not covered by the second movable sleeve 330, thus exposing a portion of the second positioning member 320 outside the second movable sleeve 330. The second end of the connecting member 500 can be connected to the portion of the second positioning member 320 not covered by the second movable sleeve 330, so that the second end of the connecting member 500 can be fixed to the second positioning member 320.

[0070] refer to Figure 5 As shown, to ensure the stability and reliability of the connector 500 when it is wound around the second movable sleeve 330, the second movable sleeve 330 can be provided with a second positioning groove 331. The portion of the connector 500 wound around the second movable sleeve 330 can be embedded in the second positioning groove 331, so that the second positioning groove 331 can limit the position of the connector 500. In this way, when the connector 500 rotates around the second movable sleeve 330, the connector 500 can always be within the second positioning groove 331, thereby preventing the connector 500 from separating from the second movable sleeve 330 during rotation. In addition, if the connector 500 is wound around the second movable sleeve 330 multiple times, the second positioning groove 331 on the second movable sleeve 330 can be set to be spirally distributed along the axial direction of the second movable sleeve 330, so that the connector 500 can be wound around the second movable sleeve 330 multiple times along the axial direction of the second movable sleeve 330.

[0071] In order to fix the elastic element 400 to the housing 100 and connect it to the connector 500, this application provides two different ways of setting the elastic element 400, and the two embodiments will be described below.

[0072] refer to Figure 1 and Figure 2 As shown, in the first embodiment of the elastic element 400, the elastic element 400 of this application may be configured to include a spring body 410 and a guide post 420. The guide post 420 is connected to the first end of the connector 500, and the spring body 410 is sleeved on the guide post 420. One end of the spring body 410 abuts against the housing 100, and the other end of the spring body 410 abuts against the guide post 420. When the connector 500 is pulled by a force, the connector 500 can pull the guide post 420 to compress the spring body 410, causing the spring body 410 to deform compressively, thereby generating a restoring deformation force.

[0073] Specifically, a fixing seat 130 protruding from the inner wall of the housing 100 can be provided inside the housing 100. One end of the spring body 410 adjacent to the drive shaft 310 can abut against the fixing seat 130, and one end of the guide post 420 can abut against the end of the spring body 410 away from the drive shaft 310. The first end of the connector 500 can pass through the fixing seat 130 and connect to the guide post 420. When the connector 500 is pulled by force, the guide post 420 can compress the end of the spring body 410 away from the drive shaft 310, thus compressing the spring body 410. The guide post 420 can guide the spring body 410, allowing the spring body 410 to deform along its axial direction during the deformation process, preventing the spring body 410 from deflecting.

[0074] The fixing base 130 has a through hole for the connector 500 to pass through. The inner diameter of the through hole in the fixing base 130 can be set to be slightly larger than the outer diameter of the connector 500, so that the through hole in the fixing base 130 can limit the position of the connector 500. The central axis of the through hole in the fixing base 130 can be set to be coaxial with the central axis of the spring body 410, so that the part of the connector 500 between the spring body 410 and the first positioning member 110 can remain coaxial with the central axis of the spring body 410. In this way, when the connector 500 pulls the spring body 410 and compresses the spring body 410, the spring body 410 can be compressed and deformed along its axial direction to avoid the spring body 410 from tilting.

[0075] refer to Figure 3 As shown, in the second embodiment of the elastic element 400 configuration, the elastic element 400 can be a spring structure. The end of the elastic element 400 away from the drive shaft 310 can be connected to the inner wall of the housing 100, and the end of the elastic element 400 near the drive shaft 310 can be connected to the connector 500. Thus, when the connector 500 is pulled by the rotational force of the drive shaft 310, the connector 500 can pull the end of the elastic element 400 near the drive shaft 310, causing the elastic element 400 to be stretched and deformed. In this embodiment, a fixing seat 130 can still be provided on the housing 100. The fixing seat 130 has a through hole for the connector 500 to pass through. The inner diameter of the through hole of the fixing seat 130 can be set to be slightly larger than the outer diameter of the connector 500, so that the through hole of the fixing seat 130 can limit the movement of the connector 500.

[0076] Based on the master hand component described above, this application also proposes a surgical robot, which includes a slave hand component and the master hand component described above, and the master hand component and the slave hand component are electrically connected. Controlling the movement of the master hand component can drive corresponding movements of the slave hand component to complete the surgical operation.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A master hand component, characterized in that, include: case; Operating arm; A driver, disposed in the housing, the driver having a rotatable drive shaft connected to the operating arm; An elastic element is disposed in the housing, the elastic element is connected to the drive shaft, and the driver is further configured to compress or stretch the elastic element after the drive shaft rotates. It also includes a connector, which is connected to the elastic member and the drive shaft. The drive shaft rotates in a first direction, causing the connector to move in a direction toward the drive shaft. The drive shaft rotates in a second direction, causing the connector to move in a direction away from the drive shaft. The first direction and the second direction are opposite to each other. It also includes a first positioning element, which is disposed on the housing, and a portion of the connecting element is movably wound around the first positioning element; The first positioning element is located between the drive shaft and the elastic element; The elastic element includes a spring body and a guide post. The spring body is sleeved on the guide post. One end of the spring body abuts against the housing, and the other end of the spring body abuts against the end face of the guide post. One end of the connector is connected to the guide post, and the connector is configured to be driven to move in a direction away from the elastic element to compress the elastic element.

2. The main hand assembly according to claim 1, characterized in that, The first positioning member is disposed between the drive shaft and the elastic member, and the connecting member is wound around the first positioning member multiple times along the axial direction of the first positioning member.

3. The main hand assembly according to claim 1, characterized in that, One end of the connector is connected to the elastic element, and the other end of the connector is connected to the first positioning element.

4. The main hand assembly according to claim 1, characterized in that, It also includes a second positioning member having a first side and a second side, the first side of the second positioning member being connected to the drive shaft, the second side of the second positioning member being offset from the drive shaft, and a portion of the connecting member being wound around the second side of the second positioning member.

5. The main hand assembly according to claim 4, characterized in that, It also includes a first movable sleeve and a second movable sleeve. The first movable sleeve is movably fitted onto the first positioning member. The surface of the first movable sleeve is provided with a spirally distributed first positioning groove. The connecting member is wound around the first movable sleeve and embedded in the first positioning groove. The second movable sleeve is movably fitted onto the second positioning member, and a second positioning groove is formed on the surface of the second movable sleeve. The connecting member is wrapped around the second movable sleeve and embedded in the second positioning groove.

6. The main armature assembly according to any one of claims 1-5, characterized in that, The end of the elastic element away from the drive shaft is connected to the housing, and the end of the elastic element near the drive shaft is connected to the connector. The connector is configured to stretch the elastic element under drive.

7. A surgical robot, characterized in that, It includes a slave component and a master component as described in any one of claims 1-6, wherein the slave component is electrically connected to the master component.

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