Medical robot master hand and medical robot

Abstract

The application provides a medical robot master hand and a medical robot, and relates to the technical field of medical robots. The medical robot master hand comprises a shell, a handle driving structure installed on the shell and having an opening and closing angle, a damping seat, a sliding seat and a damping seat driving structure used for communication connection with a torque sensor of a surgical instrument execution end. The damping seat and the sliding seat are respectively located at the front and rear ends of the shell. The handle driving structure is drivingly connected with the sliding seat and is used for driving the sliding seat to move in the front and rear directions of the shell. The damping seat driving structure is drivingly connected with the damping seat and is used for driving the damping seat to move in the front and rear directions of the shell. When the handle driving structure is pinched to drive the sliding seat to move forward to the position where the surgical instrument execution end is clamped, the torque sensor is triggered, and the damping seat driving structure drives the damping seat to exert a backward force on the sliding seat. The force feedback of the medical robot master hand is realized, so that the skill level requirement of the operator for the operation of the robot master hand is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical robots, in particular to a medical robot master hand and a medical robot. BACKGROUND

[0002] A medical robot is an intelligent robot system that combines robot technology, artificial intelligence and medical knowledge to provide comprehensive medical services for medical institutions and patients.

[0003] Currently, a medical robot system is usually directly controlled by an operator through a medical robot master hand. Whether a surgical instrument execution end effectively clamps an object or not needs to be judged by the experience and skill level of the operator, that is, an experienced operator can judge whether the surgical instrument execution end and other devices are effectively executed according to visual images and his rich experience, so that the operation of the robot master hand requires a higher skill level of the operator and the operation of the robot master hand is more difficult. SUMMARY

[0004] The problem solved by the present application is how to reduce the requirement of the operation of the robot master hand on the skill level of the operator.

[0005] To solve the above problems, on the one hand, the present application provides a medical robot master hand, which comprises a shell, a handle driving structure installed on the shell and having an opening and closing angle, a damping seat, a sliding seat and a damping seat driving structure for communication connection with a torque sensor of a surgical instrument execution end, the damping seat driving structure is installed on the shell, the damping seat and the sliding seat are respectively located at the front and rear ends of the shell, the handle driving structure is drivingly connected with the sliding seat and is used to drive the sliding seat to move along the front and rear directions of the shell, the damping seat driving structure is drivingly connected with the damping seat and is used to drive the damping seat to move along the front and rear directions of the shell, when the handle driving structure is pinched to make the sliding seat move forward to the surgical instrument execution end at a clamping position, the torque sensor is triggered, and the damping seat driving structure drives the damping seat to exert a backward force on the sliding seat.

[0006] Optionally, the damping seat driving structure comprises a damping motor, a meshed worm gear, a damping gear and a rack, the damping motor is used for communication connection with the torque sensor and is installed at the bottom of the shell, the output end of the damping motor is drivingly connected with the worm gear, the rack is installed at the bottom of the damping seat and is meshed with the damping gear, the damping gear is coaxial with the worm wheel and is installed at the bottom of the shell, and the adjacent axial end faces of the damping gear and the worm wheel are attached and synchronously rotate through the friction force between the axial end faces.

[0007] Optionally, the damping seat comprises a seat body and a damping seat shaft, the rack is mounted on the seat body, the seat body is provided with a threaded hole, the sliding seat is provided with a through hole, one end of the damping seat shaft is threadedly connected with the seat body through the threaded hole, and the other end is in sliding connection with the through hole.

[0008] Optionally, the damping seat comprises a seat body and a damping seat shaft, the rack is mounted on the seat body, the seat body is provided with a threaded hole, the sliding seat is provided with a through hole, one end of the damping seat shaft is threadedly connected with the seat body through the threaded hole, and the other end is in sliding connection with the through hole.

[0009] Optionally, the damping seat comprises a seat body and a damping seat shaft, the rack is mounted on the seat body, the seat body is provided with a threaded hole, the sliding seat is provided with a through hole, one end of the damping seat shaft is threadedly connected with the seat body through the threaded hole, and the other end is in sliding connection with the through hole.

[0010] Optionally, the damping seat comprises a seat body and a damping seat shaft, the rack is mounted on the seat body, the seat body is provided with a threaded hole, the sliding seat is provided with a through hole, one end of the damping seat shaft is threadedly connected with the seat body through the threaded hole, and the other end is in sliding connection with the through hole.

[0011] Optionally, the damping seat comprises a seat body and a damping seat shaft, the rack is mounted on the seat body, the seat body is provided with a threaded hole, the sliding seat is provided with a through hole, one end of the damping seat shaft is threadedly connected with the seat body through the threaded hole, and the other end is in sliding connection with the through hole.

[0012] Optionally, the damping seat comprises a seat body and a damping seat shaft, the rack is mounted on the seat body, the seat body is provided with a threaded hole, the sliding seat is provided with a through hole, one end of the damping seat shaft is threadedly connected with the seat body through the threaded hole, and the other end is in sliding connection with the through hole.

[0013] Optionally, the damping seat comprises a seat body and a damping seat shaft, the rack is mounted on the seat body, the seat body is provided with a threaded hole, the sliding seat is provided with a through hole, one end of the damping seat shaft is threadedly connected with the seat body through the threaded hole, and the other end is in sliding connection with the through hole.

[0014] Compared with the prior art, the medical robot master hand of the application can realize the control of the surgical instrument execution end clamping the object by changing the opening and closing angle of the handle driving structure, and the handle driving structure is drivingly connected with the sliding seat and is used to drive the sliding seat to move along the front and back directions of the shell, so as to convert the change of the opening and closing angle of the handle driving structure into the movement of the sliding seat, and the damping seat driving structure is installed on the shell and is drivingly connected with the damping seat and is used to drive the damping seat to move along the front and back directions of the shell, when the handle driving structure is pinched to make the sliding seat move forward to the clamping position of the surgical instrument execution end, the torque sensor is triggered, and in response to the triggering of the torque sensor, the damping seat driving structure which is in communication connection with the torque sensor starts to drive the damping seat to apply a backward force to the sliding seat, and the force can be transmitted to the human hand through the sliding seat and the handle driving structure, so that when the sliding seat moves forward to the clamping position through the pinching of the handle driving structure, the backward force applied by the damping seat to the sliding seat is the feedback force borne by the human hand, so as to realize the force feedback of the medical robot master hand, so that the operator can perceive, and the operator does not need to judge whether the surgical instrument execution end is effectively clamped according to the visual image and the rich experience of the operator, so as to reduce the skill level requirement of the operation of the robot master hand.

[0015] The application further provides a medical robot comprising the medical robot master hand as described above.

[0016] The advantages of the medical robot relative to the prior art are the same as those of the medical robot master hand, and will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is an exploded view of the medical robot master hand in the embodiment of the application;

[0018] Figure 2 It is a schematic view of the internal structure of the medical robot master hand in the embodiment of the application;

[0019] Figure 3 It is an assembly view of the medical robot master hand in the embodiment of the application.

[0020] BRIEF DESCRIPTION OF DRAWINGS

[0021] 1 - shell; 2 - handle driving structure; 3 - damping seat; 4 - sliding seat; 5 - damping seat driving structure; 51 - damping motor; 52 - worm gear; 53 - damping gear; 54 - rack; 6 - elastic buffer block; 7 - Hall sensor; 8 - circuit board; 9 - magnetic signal shaft; 10 - guide seat; 11 - magnet; 12 - compression spring; 13 - connecting block. DETAILED DESCRIPTION

[0022] In order to make the above objectives, characteristics and advantages of the present application more obvious and understandable, specific embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0023] In the drawings, the Z-axis represents the vertical direction, i.e. the up-down position, and the positive direction of the Z-axis, i.e. the direction in which the arrow of the Z-axis points, represents up, and the negative direction of the Z-axis, i.e. the direction opposite to the positive direction of the Z-axis, represents down; in the drawings, the Y-axis represents the horizontal position, and the positive direction of the Y-axis, i.e. the direction in which the arrow of the Y-axis points, represents the left side, and the negative direction of the Y-axis, i.e. the direction opposite to the positive direction of the Y-axis, represents the right side; in the drawings, the X-axis represents the front-rear position, and the positive direction of the X-axis, i.e. the direction in which the arrow of the X-axis points, represents the rear side, and the negative direction of the X-axis, i.e. the direction opposite to the positive direction of the X-axis, represents the front side. It should be noted that the above-mentioned meanings of the Z-axis, the X-axis and the Y-axis are only for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0024] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and in the above drawings are used only to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0025] In conjunction with FIGS. 1 and Figure 3 As shown in FIG. 1, the present application provides a medical robot master hand, comprising a housing 1, a handle driving structure 2 mounted on the housing 1 and having an opening and closing angle, a damping seat 3, a sliding seat 4, and a damping seat driving structure 5 for communication connection with a torque sensor of a surgical instrument execution end, the damping seat driving structure 5 being mounted on the housing 1, the damping seat 3 and the sliding seat 4 being located at the front and rear ends of the housing 1 respectively, the handle driving structure 2 being drivingly connected with the sliding seat 4 and being used to drive the sliding seat 4 to move in the front-rear direction of the housing 1, the damping seat driving structure 5 being drivingly connected with the damping seat 3 and being used to drive the damping seat 3 to move in the front-rear direction of the housing 1, when the pinch handle driving structure 2 is driven to move the sliding seat 4 forward to a position where the surgical instrument execution end is clamped, the torque sensor is triggered, and the damping seat driving structure 5 drives the damping seat 3 to apply a rearward force to the sliding seat 4.

[0026] It should be noted that the medical robot master hand is the operation end of the medical robot, which is provided with two handles capable of being opened and closed, i.e. handle driving structure, by changing the included angle between the two handles, the surgical instrument execution end of the medical robot is controlled to clamp the object, and the surgical instrument execution end usually includes a driving motor and an execution mechanism corresponding to the driving motor, the driving motor drives the opening and closing of the execution mechanism to realize the clamping of the object, after the execution mechanism clamps the object, the object exerts a reaction force on the driving motor through the execution mechanism, and the torque sensor can feedback the reaction force, i.e. when the torque sensor is triggered, it indicates that the execution mechanism has clamped the object.

[0027] Specifically, the front-rear direction of the shell 1 is the Y axis, and the up-down direction of the shell 1 is the Z axis. The shell 1 includes an upper part located in the positive direction of the Z axis and a lower part located in the negative direction of the Z axis, and the upper part and the lower part of the shell 1 are detachably connected. The handle driving structure 2 includes two sets of handle connecting rod structures, which are respectively located on the left and right sides of the shell 1. Take the handle connecting rod structure located on the right side of the shell 1 as an example. The handle connecting rod structure includes a handle, a first connecting rod and a second connecting rod. The handle is fixedly connected with one end of the second connecting rod, and the other end of the second connecting rod is hingedly connected with the lower part of the shell 1. The right end of the sliding seat 4 is provided with a through slot, one end of the first connecting rod is hingedly connected in the through slot, and the other end of the first connecting rod is hingedly connected with the end of the second connecting rod facing the handle. When in use, a pinching force towards the shell 1 is applied to the handle. Under the action of the pinching force, the second connecting rod moves towards the shell 1, the included angle between the second connecting rod and the first connecting rod increases, and the first connecting rod drives the sliding seat 4 to move towards the front end of the shell 1. The angle between the two sets of handle connecting rod structures is the pinching angle. By applying opposite pinching forces to the two handles of the two sets of handle connecting rod structures, the pinching angle can be reduced, and at the same time, the sliding seat 4 moves towards the front end of the shell 1. The damping seat driving structure 5 is installed at the bottom end of the lower part of the shell 1 and is drivingly connected with the damping seat 3 and is used to drive the damping seat 3 to move in the front-rear direction of the shell 1. When controlling, a pinching force is applied to the handle driving structure 2, and the handle driving structure 5 drives the sliding seat 4 to move towards the front end of the shell 1 through the pinching force. At the same time, the pinching process of the handle driving structure 5 is the clamping process of the surgical instrument execution end, and the handle driving structure 5 drives the sliding seat 4 to move to the clamping position, and the surgical instrument execution end completes the clamping of the object. At this time, the torque sensor is triggered, and then the damping seat driving structure 5 applies a driving force to the damping seat 3, and the damping seat 3 applies an action force to the sliding seat 4 towards the rear of the shell 1 through the driving force. The action force is transmitted to the human hand through the sliding seat 4 and the handle driving structure 2, and the action force is the feedback force fed back to the human hand, thereby realizing the force feedback of the medical robot master hand.

[0028] Therefore, in the embodiment, the handle driving structure 2 installed on the shell 1 and having an opening and closing angle can change the opening and closing angle of the handle driving structure 2 to control the surgical instrument execution end to clamp the object, and the handle driving structure 2 is drivingly connected with the sliding seat 4 and used to drive the sliding seat 4 to move in the front and back directions of the shell 1, so as to change the opening and closing angle of the handle driving structure 2 into the movement of the sliding seat 4, and the damping seat driving structure 5 installed on the shell 1 and drivingly connected with the damping seat 3 is used to drive the damping seat 3 to move in the front and back directions of the shell 1, when the handle driving structure 2 is pinched to move the sliding seat 4 forward to the clamping position of the surgical instrument execution end, the torque sensor is triggered, and in response to the triggering of the torque sensor, the damping seat driving structure 5 drivingly connected with the torque sensor starts to drive the damping seat 3 to apply a backward force to the sliding seat 4, and the force can be transmitted to the human hand by the sliding seat 4 and the handle driving structure 2, so that when the sliding seat 4 is moved forward to the clamping position by pinching the handle driving structure 2, the damping seat 3 applies a backward force to the sliding seat 4, which is the feedback force on the human hand, so as to realize the force feedback of the medical robot master hand, so that the operator can perceive, and the operator does not need to judge whether the surgical instrument execution end is effectively clamped according to the visual image and his rich experience, so as to reduce the skill level requirement of the operator for the operation of the robot master hand.

[0029] Optionally, in combination with 1 and Figure 2 As shown, the damping seat driving structure 5 includes a damping motor 51, a worm gear 52 and a worm, a damping gear 53 and a rack 54, the damping motor 51 is used to be drivingly connected with the torque sensor and installed on the bottom of the shell 1, the output end of the damping motor 51 is drivingly connected with the worm, the rack 54 is installed on the bottom of the damping seat 3 and engaged with the damping gear 53, the damping gear 53 is coaxial with the worm 52 and installed on the bottom of the shell 1, and the adjacent axial end faces of the damping gear 53 and the worm 52 are in contact and synchronously rotate through the friction force between the axial end faces.

[0030] In particular, the damping motor 51 can be a direct current motor. The starting or stopping of the damping motor 51 can be controlled according to the electric signal of the torque sensor. The damping motor 51 is assembled on the bottom of the shell 1 through a mounting seat, a through hole is provided on the shell 1 corresponding to the position of the damping seat 3, a rack 54 is integrally formed at the lower end of the damping seat 3 and is located below the through hole, the rack 54 is engaged with a damping gear 53, a worm gear 52 and a worm are engaged, the worm is connected with the output shaft of the damping motor 51, the damping gear 53 is coaxial with the worm gear 52 and is located below the rack 54, and is rotatably installed on the bottom of the shell 1 through a connecting plate provided on the bottom of the shell 1, the adjacent axial end faces of the damping gear 53 and the worm gear 52 are abutted and synchronously rotate through the friction force between the axial end faces. When the sliding seat 4 is moved to the clamping position by pinching the handle driving structure 5 forward, the worm gear 52 is driven by the damping motor 51 to rotate the worm clockwise, the worm gear 52 drives the damping gear 53 to rotate clockwise through the friction force between the axial end faces, the damping gear 53 drives the damping seat 3 to move to abut against the sliding seat 4 through the rack 54, and applies a backward force to the sliding seat 4, at this time, the damping gear 53 and the worm gear 52 are relatively static through the friction force, and the force, i.e. the friction force between the axial end faces, is the feedback force received by the hand through the handle driving structure 2; when the damping gear 53 and the worm gear 52 enter the sliding friction state by overcoming the friction force, the fingers can still pinch the handle even if the damping motor 51 still rotates, at this time, the feedback force received by the fingers is the maximum static friction force between the damping gear 53 and the worm gear 52, wherein the maximum static friction force is controlled by the cylindrical surface tolerance of the damping gear 53 and the worm gear 52, the tightness of the cooperation between the damping gear 53 and the worm gear 52 can determine the size of the maximum static friction force, and the cooperation between the damping gear 53 and the worm gear 52 obtains the most suitable friction force by machining and experiments.

[0031] In this way, the damping motor 51 is connected in communication with the torque sensor and is installed on the bottom of the shell 1, the output end of the damping motor 51 is drivingly connected with the worm, the rack 54 is installed on the bottom of the damping seat 3 and is engaged with the damping gear 53, the damping gear 53 is coaxial with the worm gear 52 and is installed on the bottom of the shell 1, and the adjacent axial end faces of the damping gear 53 and the worm gear 52 are abutted and synchronously rotate through the friction force between the axial end faces, so that when the damping gear 53 and the worm gear 52 relatively rotate by overcoming the friction force, the hand can still pinch the handle driving structure 2 even if the damping motor 51 still rotates, so as to avoid the damping motor 51 from being stuck, thereby improving the use effect of the force feedback.

[0032] Optionally, the combination of 1 and Figure 2As shown, the damping seat 3 comprises a seat body 31 and a damping seat shaft 32, the rack 54 is mounted on the seat body 31, the seat body 31 is provided with a threaded hole, the sliding seat 4 is provided with a through hole, one end of the damping seat shaft 32 is threadedly connected with the seat body 31 through the threaded hole, and the other end is slidingly connected with the through hole.

[0033] Specifically, the rack 54 is integrally formed at the bottom of the seat body 31, the damping seat shaft 32 is arranged along the Y axis, the seat body 31 is provided with an internal threaded hole at the end face facing the negative direction of the Y axis, the front end of the damping seat shaft 32 is provided with an external thread, the damping seat shaft 32 is threadedly connected with the seat body 31, the sliding seat 4 is provided with a through hole, and the rear end of the damping seat shaft 32 extends into the through hole and is slidingly connected with the through hole.

[0034] In this way, the seat body 31 mounted on the rack 54 is provided with a threaded hole, one end of the damping seat shaft 32 is threadedly connected with the seat body 31 through the threaded hole, so that the damping seat shaft 32 and the seat body 31 are kept stable, and the other end of the damping seat shaft 32 is slidingly connected with the through hole provided on the sliding seat 4, so that, on the one hand, the damping seat shaft 32 can guide the movement of the sliding seat 4 towards the seat body 31, and on the other hand, the damping seat shaft 32 can also guide the movement of the seat body 31 towards the sliding seat 4, thereby improving the stability of the movement of the seat body 31 and the sliding seat 4.

[0035] Optionally, in combination with 1 and Figure 2 As shown, the medical robot master hand further comprises an elastic buffer block 6, which is sleeved on the damping seat shaft 32 and located between the seat body 31 and the sliding seat 4.

[0036] Specifically, taking the case that the sliding seat 4 stops at the clamping position as an example, at this time, the handle driving structure 2 is pinched to the end of the stroke, if the elastic buffer block 6 is not provided, the damping seat 3 is directly in rigid contact with the sliding seat 4, that is, the damping seat 3 collides with the sliding seat 4, and the force generated during the collision is directly fed back to the human hand through the sliding seat 4 and the handle driving structure 2, so that the operation feeling of the human hand is poor. In addition, generally, most people will continue to pinch after pinching to the end of the stroke, and will instinctively continue to pinch in order to make the clamped object stable, therefore, the elastic buffer block 6 is provided, after the handle driving structure 2 is pinched to the end of the stroke, the elastic buffer block 6 has a spring force feedback to the handle driving structure 2, indicating that the limit position has been reached, and at the same time, the elastic buffer block 6 can be squeezed and pinched for a small stroke, so as to reduce the collision and wear of the parts and improve the use feeling.

[0037] In this way, the elastic buffer block 6 is sleeved on the damping seat shaft 32 and located between the seat body 31 and the sliding seat 4, so that the damping seat 3 is not directly in rigid contact with the sliding seat 4, thereby improving the use feeling of the medical robot master hand.

[0038] Optionally, in combination with 1 and Figure 2As shown, the medical robot master hand further comprises a Hall sensor 7, a circuit board 8, a magnetic signal shaft 9 and a guide seat 10. The circuit board 8 is located on the side of the sliding seat 4 away from the damping seat 3 and is mounted on the shell 1. The guide seat 10 is mounted on the circuit board 8. The magnetic signal shaft 9 penetrates through the guide seat 10 and is in sliding connection with the guide seat 10. One end of the magnetic signal shaft 9 is connected with the sliding seat 4, and the other end is provided with a magnet 11. The Hall sensor 7 is mounted on the circuit board 8 and is located on the side of the magnet 11 away from the sliding seat 4 along the axial direction of the magnetic signal shaft 9. The Hall sensor 7 is in communication connection with the damping seat driving structure 5. The damping seat driving structure 5 is used to adjust the force by increasing or decreasing the distance between the magnet 11 and the Hall sensor 7.

[0039] Specifically, the circuit board 8 is located on the side of the sliding seat 4 away from the damping seat 3, i.e. the circuit board 8 is located on the rear side of the sliding seat 4. The circuit board 8 is fixedly mounted on the shell 1 by screws. The guide seat 10 is located between the circuit board 8 and the sliding seat 4 and is fixedly mounted on the front end of the circuit board 8 by screws. The guide seat 10 is provided with an assembly hole. The axial direction of the assembly hole is consistent with the moving direction of the sliding seat 4. The magnetic signal shaft 9 penetrates through the guide seat 10 through the assembly hole and is in sliding connection with the guide seat 10. The front end of the magnetic signal shaft 9 is connected with the sliding seat 4. The right end of the magnetic signal shaft 9 is provided with a mounting groove. The magnet 11 is fixedly arranged in the mounting groove. The Hall sensor 7 is mounted on the circuit board 8 along the axial direction of the magnetic signal shaft 9 and is located on the side of the magnet 11 away from the sliding seat 4, i.e. on the side of the magnet 11 facing the negative direction of the Y axis. The Hall sensor 7 is in communication connection with the damping seat driving structure 5. The Hall sensor 7 can feed back the value according to the magnetic strength. The closer the magnet 11 is to the Hall sensor 7, the stronger the signal strength is. The magnet 11 moves linearly through the magnetic signal shaft 9. Therefore, the linear position of the magnet 11 can be determined through the signal strength. The linear movement of the magnet 11 is realized by the pinching driving of the handle driving structure 2 to move the sliding seat 4. Therefore, the pinching angle of the handle driving structure 2 can be fed back. In other words, the change of the pinching angle of the handle driving structure 2 realizes the simulation of the gripping of the object by the execution end of the surgical instrument. In a popular way, after the execution end of the surgical instrument grips the object, if the execution end of the surgical instrument increases the gripping force on the object, the reaction force of the object on the execution end of the surgical instrument should be greater. For the medical robot master hand, the smaller the included angle formed by the pinching of the handle driving structure 2 is, the greater the distance of the forward movement of the sliding seat 4 is, the greater the distance between the magnet 11 and the Hall sensor 7 is, and the weaker the signal of the Hall sensor 7 is. The damping motor 51 of the damping seat driving structure 5 increases the output power according to the weak signal of the Hall sensor 7, so as to increase the backward acting force of the damping seat 3 on the sliding seat 4, thereby realizing the force feedback.

[0040] Thus, the circuit board 8 is located on the side of the sliding seat 4 away from the damping seat 3 and is mounted on the shell 1, the fixing of the circuit board 8 is achieved by the guide seat 10 mounted on the circuit board 8, the magnetic signal shaft 9 penetrates through the guide seat 10 and is in sliding connection with the guide seat 10, so that the magnetic signal shaft 9 can move linearly in the axial direction through the guide seat 10, and the magnetic signal shaft 9 is connected with the sliding seat 4 at one end and is provided with a magnet 11 at the other end, the Hall sensor 7 is mounted on the circuit board 8 and is located on the side of the magnet 11 away from the sliding seat 4 along the axial direction of the magnetic signal shaft 9, so that the linear movement of the magnetic signal shaft 9 in the axial direction can change the distance between the magnet 11 and the Hall sensor 7, and the Hall sensor 7 is in communication connection with the damping seat driving structure 5, the damping seat driving structure 5 is used to adjust the force by increasing or reducing the distance between the magnet 11 and the Hall sensor 7, so that the size of the pinch angle of the handle driving structure 2 can be fed back by increasing or reducing the distance between the magnet 11 and the Hall sensor 7, and then the damping seat driving structure 5 can adjust the size of the force applied by the damping seat 3 to the sliding seat 4 according to the signal strength of the Hall sensor 7, so that when the handle driving structure 2 is at any pinch angle, the signal of the Hall sensor 7 can be fed back to the damping seat driving structure 5, so as to improve the response efficiency of the damping seat driving structure 5, and then improve the timely adjustment of the size of the force applied by the damping seat 3 to the sliding seat 4, so as to improve the use effect of force feedback.

[0041] Optionally, the front end of the magnetic signal shaft 9 can be provided with a slot extending in the axial direction of the magnetic signal shaft 9, and the damping seat shaft 32 is inserted into the slot and is in sliding connection with the slot, so as to guide the movement of the sliding seat 4 by the magnetic signal shaft 9.

[0042] Optionally, the handle driving structure 2 is connected with the damping seat driving structure 5 through the combination of 1 and Figure 2 As shown in 1 and 2, the magnetic signal shaft 9 is provided with a ring table, the ring table is located on the side of the guide seat 10 away from the sliding seat 4, a compression spring 12 is arranged between the ring table and the guide seat 10, and the compression spring 12 is compressed when the ring table moves towards the guide seat 10 through the magnetic signal shaft 9.

[0043] Specifically, the ring table is located on the side of the guide seat 10 away from the sliding seat 4, that is, the ring table is located at the end of the magnetic signal shaft 9 towards the negative direction of the Y axis, the compression spring 12 is sleeved on the magnetic signal shaft 9 and is located between the ring table and the guide seat 10, and the two ends of the compression spring 12 are connected with the ring table and the guide seat 10 respectively, when the sliding seat 4 moves forward by pinching the handle connecting rod mechanism 2, the sliding seat 4 drives the magnetic signal shaft 9 to move forward, the sliding table compresses the compression spring 12, so that the elastic force of the compression spring 12 increases, when the handle connecting rod mechanism 2 is disengaged, the elastic force of the compression spring 12 drives the ring table to move backward, the ring table drives the magnetic signal shaft 9 and the sliding seat 4 to move backward, and the handle driving structure 2 restores to the state when it is not pinched by moving the sliding seat 4 backward.

[0044] Thus, the compression spring 12 is arranged between the ring table arranged on the magnetic signal shaft 9 and the guide seat 10, and the compression spring 12 is compressed when the ring table moves towards the guide seat 10 through the magnetic signal shaft 9, so that the movement of the ring table towards the guide seat 10 through the magnetic signal shaft 9 is converted into the elastic force of the compression spring 12, and the increase of the elastic force of the compression spring 12 can improve the recovery efficiency of the magnetic signal shaft 9, and further improve the recovery efficiency of the hand handle connecting rod mechanism 2 when the surgical instrument execution end does not clamp the object, so as to facilitate the use of the medical robot master hand when clamping the object next time.

[0045] Optionally, as shown in Figure 2 The sliding seat 4 is in sliding connection with the shell 1.

[0046] Specifically, the upper and lower ends of the sliding seat 4 are respectively provided with bosses, and the upper and lower parts of the shell 1 are respectively provided with sliding grooves corresponding to the two bosses, and the lengths of the sliding grooves are opposite to the front and back directions of the shell, and the sliding seat 4 slides forward and backward in the sliding grooves on the shell 1 through the two bosses.

[0047] Thus, the sliding seat 4 is in sliding connection with the shell 1, and the shell 1 guides the forward and backward movement of the sliding seat 4, so as to improve the movement stability of the sliding seat 4 on the shell 1.

[0048] Optionally, as shown in Figure 2 The damping seat 3 is in sliding connection with the shell 1.

[0049] Specifically, the damping seat 3 is in sliding connection with the shell 1 in a similar way to the sliding connection of the sliding seat 4 with the shell 1. That is, the upper and lower ends of the damping seat 3 are respectively provided with bosses, and the upper and lower parts of the shell 1 are respectively provided with sliding grooves corresponding to the two bosses, and the lengths of the sliding grooves are opposite to the front and back directions of the shell, and the damping seat 3 slides forward and backward in the sliding grooves on the shell 1 through the two bosses.

[0050] Thus, the damping seat 3 is in sliding connection with the shell 1, and the shell 1 guides the forward and backward movement of the damping seat 3, so as to improve the movement stability of the damping seat 3 on the shell 1.

[0051] Optionally, as shown in Figure 2 The medical robot master hand further comprises a connecting block 13 for connecting with the surgical instrument execution end, and the front end of the shell 1 is provided with a recess, and the connecting block 13 is connected with the recess through a threaded connecting piece.

[0052] Specifically, the left and right ends of the connecting block 13 are respectively provided with mounting holes, and the front end of the shell 1 is provided with an internally threaded hole, and the connecting block 13 is mounted in the recess through a threaded connecting piece such as a screw.

[0053] Thus, the connecting block 13 connected with the operating instrument end is connected with the groove provided at the front end of the shell 1 through the threaded connecting piece, and the groove and the threaded connecting piece realize double fixation of the connecting block 13, so that the stability of the connecting block 13 on the shell 1 is improved in use.

[0054] Another embodiment of the present application also provides a medical robot comprising the medical robot master hand as described above.

[0055] The advantages of the medical robot relative to the prior art are the same as those of the medical robot master hand, and will not be repeated here.

[0056] Although the present application is disclosed as above, the protection scope of the present application is not limited to this. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application, and these changes and modifications shall fall within the protection scope of the present application.

Claims

1. A medical robot master hand, characterized by, The device comprises a shell (1), a handle driving structure (2) installed on the shell (1) and having an opening and closing angle, a damping seat (3), a sliding seat (4) and a damping seat driving structure (5) for communication connection with a torque sensor of a surgical instrument execution end, the damping seat driving structure (5) is installed on the shell (1), the damping seat (3) and the sliding seat (4) are respectively located at the front and rear ends of the shell (1), the handle driving structure (2) is drivingly connected with the sliding seat (4) and is used for driving the sliding seat (4) to move along the front and rear directions of the shell (1), the damping seat driving structure (5) is drivingly connected with the damping seat (3) and is used for driving the damping seat (3) to move along the front and rear directions of the shell (1), when the handle driving structure (2) is pinched to make the sliding seat (4) move forward to the surgical instrument execution end at a clamping position, the torque sensor is triggered, and the damping seat driving structure (5) drives the damping seat (3) to exert a backward force on the sliding seat (4).

2. The medical robot master hand of claim 1, wherein The damping seat driving structure (5) comprises a damping motor (51), a worm gear (52) and a worm, a damping gear (53) and a rack (54), the damping motor (51) is used for communication connection with the torque sensor and is installed at the bottom of the shell (1), the output end of the damping motor (51) is drivingly connected with the worm, the rack (54) is installed at the bottom of the damping seat (3) and is engaged with the damping gear (53), the damping gear (53) is coaxial with the worm gear (52) and is installed at the bottom of the shell (1), and the adjacent axial end faces of the damping gear (53) and the worm gear (52) are attached and synchronously rotate through the friction force between the axial end faces.

3. The medical robot master hand of claim 2, wherein The damping seat (3) comprises a seat body (31) and a damping seat shaft (32), the rack (54) is installed on the seat body (31), the seat body (31) is provided with a threaded hole, the sliding seat (4) is provided with a through hole, one end of the damping seat shaft (32) is threadedly connected with the seat body (31) through the threaded hole, and the other end is slidingly connected with the through hole.

4. The medical robot master hand of claim 3, wherein An elastic buffer block (6) is further included, the elastic buffer block (6) is sleeved on the damping seat shaft (32) and is located between the seat body (31) and the sliding seat (4).

5. The medical robot master hand of claim 1, wherein, Further comprising a Hall sensor (7), a circuit board (8), a magnetic signal shaft (9) and a guide seat (10), the circuit board (8) is located on the side of the sliding seat (4) away from the damping seat (3) and is installed on the shell (1), the guide seat (10) is installed on the circuit board (8), the magnetic signal shaft (9) penetrates through the guide seat (10) and is in sliding connection with the guide seat (10), one end of the magnetic signal shaft (9) is connected with the sliding seat (4) and the other end is provided with a magnet (11), the Hall sensor (7) is installed on the circuit board (8) and is located on the side of the magnet (11) away from the sliding seat (4) along the axial direction of the magnetic signal shaft (9), and is in communication connection with the damping seat driving structure (5), the damping seat driving structure (5) is used for adjusting the acting force by increasing or reducing the distance between the magnet (11) and the Hall sensor (7).

6. The medical robot master hand of claim 5, wherein, A ring table is arranged on the magnetic signal shaft (9), the ring table is located on the side of the guide seat (10) away from the sliding seat (4), a compression spring (12) is arranged between the ring table and the guide seat (10), and the compression spring (12) is compressed when the ring table moves towards the guide seat (10) through the magnetic signal shaft (9).

7. The medical robot master hand of claim 1, wherein The sliding seat (4) is in sliding connection with the shell (1).

8. The medical robot master hand of claim 1, wherein, The damping seat (3) is in sliding connection with the shell (1).

9. The medical robot master hand of claim 1, wherein, Further comprising a connecting block (13) for connecting with the surgical instrument execution end, the front end of the shell (1) is provided with a groove, and the connecting block (13) is connected with the groove through a threaded connecting piece.

10. A medical robot characterized by comprising: The medical robot master hand comprises the medical robot master hand according to any one of claims 1 to 9.

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