Hand devices and surgical robots

Abstract

The present application provides a slave device and a surgical robot, which relate to the field of medical equipment technology. The slave device includes a base, a guide assembly and a telescopic assembly. The guide assembly is connected to the base, and the telescopic assembly is connected to the guide assembly, so that the telescopic assembly and the guide assembly can be fixedly installed. One end of the telescopic assembly can be connected to the puncture tube, and the telescopic assembly moves relative to the guide assembly in the telescopic direction, so that the puncture tube can also move in the telescopic direction, so that the puncture tube can be easily adjusted to a specified position. The guide assembly is rotatably connected to the base, so that the angle between the guide assembly and the base can be adjusted, so that the angle of the telescopic assembly connected to the guide assembly can also be adjusted, so that the orientation of one end of the telescopic assembly connected to the puncture tube can be changed, so that the telescopic assembly can be more conveniently connected to the puncture tube, thereby improving the assembly efficiency of the slave device of the present application.

Description

Technical Field

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

[0002] The distal end of a single-port minimally invasive surgical robot typically consists of a robotic arm, a trocar, and surgical instruments. The trocar provides a channel for instruments during minimally invasive surgery and is fixed to the distal end of the robotic arm. The distal end of the robotic arm has a telescopic function, allowing it to be extended manually or automatically when needed. When not in use, it can be retracted, facilitating storage and transportation within the hospital. This telescopic function also facilitates the installation of sterile drapes during preoperative preparations.

[0003] At present, due to the influence of manufacturing precision and assembly precision, the puncture device at the end of the robotic arm of a surgical robot with telescopic function is difficult to accurately connect with the surgical instrument. This requires the various components of the surgical robot to be readjusted and assembled, resulting in low assembly efficiency of the surgical robot. Summary of the Invention

[0004] The present application provides a hand device and a surgical robot, which solve the problem of low assembly efficiency of surgical robots in related technologies.

[0005] The present application provides a slave device, comprising:

[0006] base;

[0007] a guide assembly rotatably connected to the base;

[0008] The telescopic component has one end movably connected to the guide component. The telescopic component is configured to be driven to move back and forth relative to the guide component in the telescopic direction. The guide component is configured to guide the telescopic component in the telescopic direction.

[0009] In the slave device provided by the present application, the guide assembly is connected to the base, and the telescopic assembly is connected to the guide assembly, so that both the telescopic assembly and the guide assembly can be fixedly installed. One end of the telescopic assembly can be connected to the puncture tube, and the telescopic assembly moves relative to the guide assembly in the telescopic direction, so that the puncture tube can also move in the telescopic direction, thereby conveniently adjusting the puncture tube to a specified position. The guide assembly can prevent the telescopic assembly from deviating when moving back and forth in the telescopic direction, so that the puncture tube connected to the telescopic assembly can reach the specified position more accurately. The guide assembly is rotatably connected to the base, so that the angle between the guide assembly and the base can be adjusted, thereby making the angle of the telescopic assembly connected to the guide assembly also adjustable, thus changing the orientation of one end of the telescopic assembly connected to the puncture tube, making the telescopic assembly more convenient to connect to the puncture tube, thereby improving the assembly efficiency of the slave device of the present application.

[0010] In some embodiments, the base has a fixing slot, and one end of the telescopic assembly passes through the fixing slot and is connected to the guide assembly.

[0011] By allowing the telescopic assembly to pass through the fixing groove, the base can serve the purpose of limiting the position of the telescopic assembly.

[0012] In some embodiments, the guide assembly includes a guide rail arranged along the telescopic direction, and the telescopic assembly includes a guide block, which is cooperatively connected to the guide rail and can slide along the extension direction of the guide rail.

[0013] The guide block cooperates with the guide rail so that the telescopic assembly can move relative to the guide assembly.

[0014] In some embodiments, the guide assembly further includes a damping rack arranged along the telescopic direction, and the telescopic assembly further includes a damping gear, and the damping gear is engaged with the damping rack.

[0015] By arranging the damping rack to cooperate with the damping gear, the telescopic assembly can maintain the current position after moving relative to the guide assembly.

[0016] In some embodiments, the damping rack is rotatably connected to the base, and the guide rail is connected to the damping rack.

[0017] The guide rail is arranged on the damping rack, and the damping rack is rotatably connected to the base, so that the guide assembly as a whole can be rotatably connected to the base.

[0018] In some embodiments, an adjustment hole is formed at one end of the damping rack, the adjustment hole is arranged along the rotation direction of the damping rack, and the damping rack is connected to the base through the adjustment hole.

[0019] The damping rack can be made rotatable by arranging an adjustment hole arranged along the rotation direction of the damping rack and adjusting the position of the fixing member in the adjustment hole.

[0020] In some embodiments, the number of the adjustment holes is one or more. When the adjustment holes are set to multiple, the multiple adjustment holes are spaced apart along the rotation direction of the damping rack. When the adjustment hole is set to one, the adjustment hole is an arc-shaped hole adapted to the rotation direction.

[0021] The damping rack is rotatable through the adjustment hole.

[0022] In some embodiments, the guide assembly further includes an elastic member, one end of the elastic member is connected to the telescopic assembly, and the other end of the elastic member is connected to the guide assembly, and the elastic member provides the telescopic assembly with a telescopic force to restore the initial position when extending or contracting along the guide assembly.

[0023] By providing the elastic member, the user can save more effort when controlling the contraction of the telescopic component, and the contraction of the telescopic component is more efficient.

[0024] In some embodiments, the elastic member is a coil spring, one end of the elastic member is connected to the damping rack, and the other end of the elastic member is connected to the telescopic assembly; or,

[0025] The elastic member is a compression spring, one end of the elastic member is connected to the base, and the other end of the elastic member is connected to the telescopic assembly.

[0026] In a second aspect, the present application further provides a surgical robot, comprising a master hand device and the above-mentioned slave hand device, wherein the master hand device is connected to the slave hand device. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and other objects, features and advantages of the embodiments of the present application will become more readily understood through the following detailed description with reference to the accompanying drawings, in which various embodiments of the present application are illustrated by way of example and not limitation, wherein:

[0028] Figure 1 A schematic diagram of a slave device according to an embodiment of the present application;

[0029] Figure 2 This is a schematic diagram of a guide assembly and a limit assembly of a slave device according to an embodiment of the present application;

[0030] Figure 3 A schematic diagram of a guide rail and a guide block of a slave device according to an embodiment of the present application;

[0031] Figure 4 A schematic diagram of the damping rack and the damping gear of the slave device according to an embodiment of the present application;

[0032] Figure 5 A schematic diagram of a position limiting assembly of a slave device according to an embodiment of the present application;

[0033] Figure 6 A schematic diagram of the cooperation between the limiting plate and the limiting portion of the slave device according to an embodiment of the present application;

[0034] Figure 7 A schematic top view of a slave device according to an embodiment of the present application;

[0035] Figure 8 for Figure 7 Schematic cross-section of the middle AA;

[0036] Figure 9 for Figure 8 A schematic diagram showing an enlarged view of area B in the middle;

[0037] Figure 10 This is a schematic diagram of the overall structure of the button assembly of the slave device according to an embodiment of the present application;

[0038] Figure 11 Schematic diagram of the guide portion of the slave device according to an embodiment of the present application.

[0039] Reference numerals:

[0040] 100-base, 110-fixing groove, 111-first opening, 112-second opening, 120-positioning groove,

[0041] 200-guide assembly, 210-guide rail, 220-damping rack, 221-adjustment hole, 230-elastic part,

[0042] 300- telescopic assembly, 310- housing, 320- support part, 330- guide block, 340- damping gear, 350- limit part,

[0043] 400-limiting assembly, 410-limiting plate, 411-limiting groove, 420-base plate, 421-positioning hole, 430-driving part, 431-driver, 432-traction rope,

[0044] 500-button assembly, 510-micro switch, 520-pressing part, 530-elastic recovery part, 540-switch seat, 541-guide hole, 550-guide part, 551-limiting protrusion, 560-limiting column, 570-limiting bottom plate,

[0045] 600-housing,

[0046] 700-Puncture cartridge. DETAILED DESCRIPTION

[0047] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0048] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0049] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0050] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0051] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0052] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0053] The distal end of a single-port minimally invasive surgical robot typically consists of a robotic arm, a trocar, and surgical instruments. The trocar provides a channel for instruments during minimally invasive surgery and is fixed to the distal end of the robotic arm. The distal end of the robotic arm has a telescopic function, allowing it to be extended manually or automatically when needed. When not in use, it can be retracted, facilitating storage and transportation within the hospital. This telescopic function also facilitates the installation of sterile drapes during preoperative preparations.

[0054] At present, due to the influence of manufacturing precision and assembly precision, the puncture device at the end of the robotic arm of a surgical robot with telescopic function is difficult to accurately connect with the surgical instrument. This requires the various components of the surgical robot to be readjusted and assembled, resulting in low assembly efficiency of the surgical robot.

[0055] In the slave device proposed in the present application, the guide assembly is connected to the base, and the telescopic assembly is connected to the guide assembly, so that both the telescopic assembly and the guide assembly can be fixedly installed. One end of the telescopic assembly can be connected to the puncture tube, and the telescopic assembly moves relative to the guide assembly in the telescopic direction, so that the puncture tube can also move in the telescopic direction, thereby conveniently adjusting the puncture tube to a specified position. The guide assembly can prevent the telescopic assembly from deviating when moving back and forth in the telescopic direction, so that the puncture tube connected to the telescopic assembly can reach the specified position more accurately. The guide assembly is rotatably connected to the base, so that the angle between the guide assembly and the base can be adjusted, thereby making the angle of the telescopic assembly connected to the guide assembly also adjustable, thus changing the orientation of one end of the telescopic assembly connected to the puncture tube, making the telescopic assembly more convenient to connect to the puncture tube, thereby improving the assembly efficiency of the slave device of the present application.

[0056] The slave device and surgical robot provided in this application are described in detail below with reference to specific embodiments.

[0057] The present application embodiment proposes a slave device, referring to Figure 1 and Figure 2As shown, it includes a base 100, a guide assembly 200 and a telescopic assembly 300. The slave device can be applied to a surgical robot.

[0058] Among them, the base 100 is the basic component of the hand-operated device of the present application. The base 100 can provide a mounting base for at least some of the other components of the hand-operated device and protect at least some of the other components. The base 100 can be made of a metal material, so that the base 100 has better structural strength, thereby making the base 100 more durable and reliable. Of course, the base 100 can also be made of a polymer material, so that the base 100 has a certain structural strength while being relatively light in weight.

[0059] The guide assembly 200 is rotatably connected to the base 100, allowing the base 100 to support the guide assembly 200, thereby allowing the guide assembly 200 to be fixedly mounted. One end of the telescopic assembly 300 is movably connected to the guide assembly 200, allowing the telescopic assembly 300 to be fixed to the base 100 via the guide assembly 200, thereby also allowing the telescopic assembly 300 to be fixedly mounted. The other end of the telescopic assembly 300 can be connected to the puncture tube 700. Specifically, the puncture tube 700 can be a puncture device. Of course, the puncture tube 700 can also be other types of instruments, and this application does not limit this. The telescopic assembly 300 is configured to be driven to reciprocate relative to the guide assembly 200 in the telescopic direction. As a result, the puncture tube 700 connected to the telescopic assembly 300 can also reciprocate in the telescopic direction, thereby adjusting the position of the puncture tube 700 to a desired position. Specifically, the designated location may be the affected area of ​​a patient undergoing surgery. When there are multiple affected areas, the telescopic assembly 300 may be reciprocated in the telescopic direction multiple times as needed, so that the puncture tube 700 may be moved to multiple affected areas respectively.

[0060] The guide assembly 200 is configured to guide the telescopic assembly 300 in the telescopic direction. Specifically, the guide assembly 200 can restrict the movement of the telescopic assembly 300, so that the telescopic assembly 300 can only move in the telescopic direction relative to the guide assembly 200. This prevents the telescopic assembly 300 from deviating from the telescopic direction during movement, thereby preventing the puncture cartridge 700 connected to the telescopic assembly 300 from reaching the designated position. As a result, when the telescopic assembly 300 moves relative to the guide assembly 200, the puncture cartridge 700 can accurately reach the designated position.

[0061] The guide assembly 200 is rotatably connected to the base 100, allowing for adjustment of the angle between the guide assembly 200 and the base 100. Specifically, the extension direction of the guide assembly 200 can be adjusted. The telescopic assembly 300 is connected to the guide assembly 200 so that when the guide assembly 200 rotates relative to the base 100, the telescopic assembly 300 can also rotate relative to the base 100. This allows for adjustment of the angle between the telescopic assembly 300 and the base 100, and thus also the extension direction of the telescopic assembly 300. When the telescopic assembly 300 rotates with the guide assembly 200, the orientation of the end of the telescopic assembly 300 that is connected to the puncture barrel 700 can be changed. In this way, when the slave device is affected by the assembly accuracy and preparation accuracy and cannot install the puncture tube 700 in place, the guide component 200 can be rotated to adjust the orientation of the end of the telescopic component 300 used for connection with the puncture tube 700 to an angle that can be directly installed with the puncture tube 700. This eliminates the need to reassemble the slave device, thereby making the assembly efficiency of the slave device of the present application higher and improving the efficiency of the operation.

[0062] In some embodiments, reference Figure 2 and Figure 3 As shown, the base 100 in the present application has a fixing groove 110, which is a through-groove structure that runs through the base 100. After the guide assembly 200 is connected to the base 100, one end of the telescopic assembly 300 can pass through the fixing groove 110 of the base 100 and then connect to the guide assembly 200. In this way, the inner wall of the fixing groove 110 of the base 100 can also serve to limit the telescopic assembly 300, allowing the telescopic assembly 300 to be better connected to the base 100 through the guide assembly 200.

[0063] Specifically, the fixing groove 110 has a first opening 111 and a second opening 112, which are located on either side of the base 100. The telescopic assembly 300 can pass through the fixing groove 110 through the first opening 111 and exit through the second opening 112. A gap exists between the outer wall of the portion of the telescopic assembly 300 that passes through the fixing groove 110 on the base 100 and the inner wall of the fixing groove 110. This prevents the telescopic assembly 300 from contacting and rubbing against the inner wall of the fixing groove 110 when reciprocating in the telescopic direction. This ensures smooth movement of the telescopic assembly 300 and prevents contact and wear between the telescopic assembly 300 and the base 100.

[0064] The telescopic direction in the present application may specifically include a first direction and a second direction, the first direction and the second direction being opposite to each other. When the telescopic assembly 300 moves relative to the guide assembly 200 in the first direction, the end of the telescopic assembly 300 connected to the puncture tube 700 may move away from the guide assembly 200; when the telescopic assembly 300 moves relative to the guide assembly 200 in the second direction, the end of the telescopic assembly 300 connected to the surgical instrument may move closer to the guide assembly 200, thereby allowing the telescopic assembly 300 to extend and retract relative to the guide assembly 200, thereby controlling the specific position of the puncture tube 700 disposed on the telescopic assembly 300.

[0065] In some embodiments, reference Figure 2 and Figure 3 As shown, the telescopic assembly 300 of the present application may specifically include a support portion 320 and a housing 310. The support portion 320 is disposed within the housing 310 and connected to the housing 310. This supports the inner wall of the housing 310 within the housing 310, thereby providing the telescopic assembly 300 with improved structural strength. One end of the support portion 320 may extend outside the housing 310 and may be movably connected to the guide assembly 200. This allows the support portion 320 to reciprocate relative to the guide assembly 200 in the telescopic direction, thereby enabling the telescopic assembly 300 to reciprocate relative to the guide assembly 200 in the telescopic direction. The end of the support portion 320 facing away from the guide assembly 200 may be located within the housing 310, and the puncture cartridge 700 may be connected to the outer wall of the housing 310, thereby enabling the puncture cartridge 700 to be connected to the telescopic assembly 300. Specifically, the puncture cartridge 700 may be connected to the side of the housing 310 away from the guide assembly 200.

[0066] One end of the housing 310 can be inserted into the fixing groove 110 of the base 100 , and one end of the support portion 320 extending out of the housing 310 can be extended out of the fixing groove 110 and connected to the guide assembly 200 .

[0067] The hand-operated device of the present application may also include a housing 600 , which is connected to the base 100 . The guide assembly 200 may be disposed within the housing 600 , so that the housing 600 may serve the purpose of protecting the guide assembly 200 .

[0068] In some embodiments, reference Figures 3 to 4As shown, in order for the guide assembly 200 to guide the telescopic assembly 300 in the telescopic direction, the guide assembly 200 may be provided with a guide rail 210, and the telescopic assembly 300 may be provided with a guide block 330. The guide rail 210 is movably connected to the base 100, so that the guide rail 210 can be fixed to the base 100 and can rotate relative to the base 100, and the guide rail 210 is extended along the telescopic direction. The guide block 330 can be specifically connected to the support portion 320. The guide block 330 is cooperatively connected to the guide rail 210, so that the guide block 330 can move along the extension direction of the guide rail 210, that is, move along the telescopic direction. As a result, the guide rail 210 can guide and limit the guide block 330 in the telescopic direction, so that the guide assembly 200 can guide and limit the telescopic assembly 300 in the telescopic direction.

[0069] Specifically, a slotted structure is provided on the guide rail 210, and the guide block 330 can be embedded in the slotted structure on the guide rail 210, so that the guide block 330 can be fixed on the guide rail 210, so that the telescopic component 300 can be connected to the guide component 200, so that the telescopic component 300 can be fixedly installed.

[0070] In addition, in other embodiments, a groove structure extending along the telescopic direction may be provided on the support portion 320 of the telescopic component 300 of the present application, and the guide component 200 may be provided with a protrusion structure including the groove structure embedded in the support portion 320, so that the guide component 200 can also guide the telescopic component 300 in the telescopic direction.

[0071] In some embodiments, reference Figure 4 As shown, the guide assembly 200 of the present application may further include a damping rack 220, and the telescopic assembly 300 may further include a damping gear 340. The damping rack 220 may be fixed to the base 100, and the damping gear 340 may be specifically connected to the support portion 320. The damping gear 340 cooperates with the damping rack 220 so that the damping gear 340 can rotate along the extension direction of the damping rack 220. The damping rack 220 may extend along the telescopic direction, and accordingly, the damping gear 340 moves relative to the damping rack 220 along the telescopic direction. Thus, when the telescopic assembly 300 as a whole reciprocates along the telescopic direction, the damping gear 340 may also reciprocate relative to the damping rack 220 along the telescopic direction.

[0072] A damping force is formed between the damping gear 340 and the damping rack 220, allowing the damping gear 340 to be fixed relative to the damping rack 220, thereby allowing the telescopic assembly 300 to be fixed relative to the guide assembly 200. Specifically, when a force is applied to the telescopic assembly 300 to move in a first direction, the damping gear 340 can move in the first direction relative to the damping rack 220. When the force to move the telescopic assembly 300 in the first direction is no longer applied, the damping force between the damping gear 340 and the damping rack 220 causes the damping gear 340 and the damping rack 220 to remain relatively stationary, thereby allowing the telescopic assembly 300 and the guide assembly 200 to remain relatively stationary. This prevents the telescopic assembly 300 from automatically extending or retracting in the absence of an external force, thereby maintaining stability of the telescopic assembly 300.

[0073] When a force is applied to the telescopic assembly 300 to move the telescopic assembly 300 in the second direction, the damping gear 340 can move in the second direction relative to the damping rack 220. When the force is no longer applied to the telescopic assembly 300 to move the telescopic assembly 300 in the second direction, due to the damping between the damping gear 340 and the damping rack 220, the damping gear 340 and the damping rack 220 can be relatively stationary, thereby making the telescopic assembly 300 and the guide assembly 200 relatively stationary. This can prevent the telescopic assembly 300 from extending and retracting on its own without being affected by external force, so that the telescopic assembly 300 can remain stable.

[0074] When a doctor actually uses the hand-operated device of the present application, after applying force to the telescopic assembly 300 so that the puncture cylinder 700 on the telescopic assembly 300 reaches a specified position, if the doctor releases the telescopic assembly 300 and the puncture cylinder 700, the puncture cylinder 700 can maintain its current position.

[0075] In some embodiments, reference Figure 4 As shown, in order to enable the guide assembly 200 of the present application to be rotatably connected to the base 100, a damping rack 220 can be provided that is rotatably connected to the base 100, so that the damping rack 220 can rotate relative to the base 100. The guide rail 210 can be provided on the damping rack 220, so that the guide rail 210 can rotate relative to the base 100 along with the damping rack 220. Since the telescopic assembly 300 is connected to the guide rail 210 via the guide block 330, rotating the damping rack 220 can drive the telescopic assembly 300 to rotate. This eliminates the need for the damping rack 220 and the guide rail 210 to be separately rotatably connected to the base 100, thereby simplifying the structure of the hand-operated device of the present application.

[0076] Specifically, the damping rack 220 can be rotatably connected to the outer wall of the base 100, so that the damping rack 220 does not occupy the space in the fixing groove 110 of the base 100, so that the inner wall of the fixing groove 110 can be closer to the shell 310 of the telescopic assembly 300, thereby making the structure of the base 100 more compact.

[0077] In some embodiments, reference Figure 4 As shown, to enable the damping rack 220 of the present application to be rotatably connected to the base 100, the guide assembly 200 may also include a fixing member. The damping rack 220 may have an adjustment hole 221 formed in a curved structure, extending along the rotational direction of the damping rack 220. The fixing member is inserted through the adjustment hole 221 of the damping rack 220 and fixed to the base 100, thereby securing the damping rack 220 to the base 100.

[0078] When the fixing member is pre-fixed to the damping rack 220 and the base 100, the damping rack 220 can be rotated by applying a force to the damping rack 220. Specifically, the adjustment hole 221 can be an arc-shaped hole, and the damping rack 220 can rotate around the fixing member, and can rotate up to the maximum point where the fixing member and the opposing inner walls of the adjustment hole 221 abut against each other. Once the damping rack 220 is rotated into position, the fixing member can be tightened to the damping rack 220 and the base 100, thereby fixing the damping rack 220 relative to each other and fixing the extension angle in the extension direction.

[0079] The number of adjustment holes 221 on the damping rack 220 can be multiple, and the line connecting the multiple adjustment holes 221 can form a ring. Accordingly, the number of fixing members can be multiple, and the multiple fixing members can pass through the multiple adjustment holes 221 and be fixed to the base 100, thereby making the fixed connection between the damping rack 220 and the base 100 more stable and reliable. The damping rack 220 can also be provided with other openings, and the openings are surrounded by the multiple adjustment holes 221. The openings can also be passed through fixing members connected to the base 100, thereby making the connection between the damping rack 220 and the base 100 more reliable.

[0080] In some embodiments, reference Figure 3As shown, the guide assembly 200 of the present application may also include an elastic member 230, wherein one end of the elastic member 230 may be connected to the damping rack 220, and the other end of the elastic member 230 may be connected to the telescopic assembly 300. The elastic member 230 provides a telescopic force for the telescopic assembly 300 to restore its initial position when extending or contracting along the guide assembly 200. When the end of the telescopic assembly 300 away from the guide assembly 200 moves away from the guide assembly 200, the elastic member 230 may be deformed, thereby causing the elastic member 230 to generate a restoring deformation force, so that the elastic member 230 can drive the end of the telescopic assembly 300 away from the guide assembly 200 to move toward the guide assembly 200.

[0081] Specifically, when a force is applied to the telescopic assembly 300 to move it in the first direction, the distance between the puncture tube 700 and the guide assembly 200 increases, and the elastic member 230 is stretched, thereby generating a restoring force on the elastic member 230. When a force is applied to the telescopic assembly 300 to move it in the second direction, the elastic member 230 is restored. The restoring force of the elastic member 230 assists the movement of the telescopic assembly 300 in the second direction, thereby enabling the telescopic assembly 300 to move in the second direction with a relatively small force applied to the telescopic assembly 300, thereby allowing the telescopic assembly 300 to retract more rapidly.

[0082] In some embodiments, reference Figure 3 As shown, the elastic member 230 in the present application can be specifically a coil spring. One end of the coil spring can be connected to the damping rack 220, and the other end of the coil spring can be connected to the support portion 320 of the telescopic assembly 300, thereby allowing the elastic member 230 to be connected to the guide assembly 200 and the telescopic assembly 300. Specifically, a rotating shaft can be provided on the damping rack 220, one end of the coil spring can be connected to the rotating shaft, and the coil spring can be sleeved on the rotating shaft.

[0083] The use of a coil spring for the elastic member 230 can increase the elastic force of the elastic member 230, thereby enabling more efficient contraction. The use of a coil spring for the elastic member 230 can also make the elastic member 230 more compact in its natural state, occupying less space, thereby making it easier to connect the elastic member 230 to the damping rack 220 and the guide assembly 200.

[0084] In other embodiments, the elastic member 230 may also be a compression spring structure, with one end of the elastic member 230 connected to the telescopic assembly 300 and the other end of the elastic member 230 connected to the base 100. When the telescopic assembly 300 moves in the telescopic direction and the end of the telescopic assembly 300 connected to the puncture barrel moves away from the guide assembly 200, the elastic member 230 may be stretched, and the restoring deformation force of the elastic member 230 may drive the telescopic assembly 300 to reset. Multiple elastic members 230 may also be provided, and each of the multiple elastic members 230 may be connected to the damping rack 220 and the telescopic assembly 300.

[0085] In some embodiments, reference Figure 2 、 Figure 5 and Figure 6 As shown, the hand-operated device of the present application may also be provided with a limit component 400. The limit component 400 may be provided on the base 100, and the limit component 400 is located in the housing 600. The limit component 400 is configured to limit the telescopic component 300 in the telescopic direction, thereby preventing the telescopic component 300 from moving excessively in the telescopic direction.

[0086] By arranging the limit assembly 400 on the base 100, the limit assembly 400 can be fixedly installed. Thus, when assembling the slave device of the present application, the guide assembly 200, the telescopic assembly 300, and the limit assembly 400 can be assembled separately, and then the guide assembly 200 and the limit assembly 400 can be assembled on the base 100 respectively, and finally the telescopic assembly 300 can be assembled with the guide assembly 200. This can make the slave device of the present application more modular, more simple and convenient to assemble, and easier to maintain later.

[0087] In some embodiments, reference Figure 5 As shown, the limiting component 400 of the present application can be connected to the outer wall of the base 100, so that the limiting component 400 will not occupy the space in the fixing groove 110 of the base 100, so that the inner wall of the fixing groove 110 can be closer to the shell 310 of the telescopic component 300, so that the structure of the base 100 is more compact.

[0088] In some embodiments, when the telescopic component 300 of the present application moves along the first direction until the distance between the end of the telescopic component 300 away from the guide component 200 and the guide component 200 is the largest, the limiting component 400 limits the telescopic component 300 so that the telescopic component 300 can no longer move along the telescopic direction, thereby fixing the state of the telescopic component 300.

[0089] Specifically, the end of the telescopic component 300 away from the guide component 200 can be connected to the puncture tube 700. When the telescopic component 300 moves to the point where the distance between the puncture tube 700 and the guide component 200 is the largest and the telescopic component 300 reaches its maximum extension, the limiting component 400 allows the telescopic component 300 to maintain its maximum extension, making it easier for the doctor to accurately operate the puncture tube 700 on the telescopic component 300.

[0090] In some embodiments, reference Figure 5 and Figure 6 As shown, in order for the limiting assembly 400 to limit the telescopic assembly 300 in the telescopic direction, the limiting assembly 400 may include a limiting plate 410, and the telescopic assembly 300 may further include a limiting portion 350. The limiting plate 410 is movably mounted on the base 100 and is movable relative to the base 100. The limiting portion 350 is mounted on the support portion 320 of the telescopic assembly 300, allowing the limiting portion 350 to reciprocate with the support portion 320 in the telescopic direction. The limiting plate 410 defines a limiting slot 411, the slot shape and dimensions of which match the outer dimensions of the limiting portion 350. When the telescopic assembly 300 moves in the first direction until the distance between the end thereof away from the guide assembly 200 and the guide assembly 200 is at its maximum, the driving plate is driven toward the limiting portion 350, causing the limiting portion 350 to be embedded in the limiting slot 411. The inner wall of the limiting slot 411 serves to limit the limiting portion 350, thereby securing the limiting portion 350 in the limiting slot 411. As a result, the limiting portion 350 and the limiting plate 410 are relatively fixed, and the limiting portion 350 is no longer movable, thereby preventing the telescopic assembly 300 from moving in the telescopic direction.

[0091] When the limiting portion 350 is embedded in the limiting groove 411 of the limiting plate 410, the limiting plate 410 can also be driven away from the limiting portion 350, so that the limiting portion 350 can be disengaged from the limiting groove 411 of the limiting plate 410. In this way, the limiting plate 410 and the limiting portion 350 no longer limit each other, and the limiting portion 350 can move freely in the telescopic direction, so that the telescopic assembly 300 can also move freely in the telescopic direction.

[0092] In some embodiments, reference Figure 5 and Figure 6As shown, in order to make the limiting assembly 400 of the present application more convenient to connect with the base 100, the limiting assembly 400 may also be provided with a base plate 420, which is detachably fixed to the base 100, and a limiting plate 410 is movably connected to the base plate 420, so that the limiting plate 410 can move relative to the base 100 through the base plate 420. Specifically, one end of the base plate 420 is connected to the base 100, and the other end of the base 100 extends in a direction away from the first opening 111 of the fixing groove 110 of the base 100. The limiting plate 410 is provided on the base plate 420 and is located on the side of the base 100 away from the first opening 111, thereby making the structural arrangement of the limiting assembly 400 more reasonable.

[0093] In some embodiments, the limiting plate 410 and the base plate 420 of the present application can be specifically connected in a rotatable manner, so that the limiting plate 410 can rotate relative to the base plate 420. Specifically, the limiting plate 410 can rotate toward the limiting portion 350, so that the limiting groove 411 of the limiting portion 350 approaches the limiting portion 350, and finally the limiting portion 350 is embedded in the limiting groove 411. The limiting plate 410 can also rotate away from the limiting portion 350, so that the limiting portion 350 is disengaged from the limiting groove 411. By making the limiting plate 410 and the base plate 420 rotatably connected, the range of movement of the limiting plate 410 relative to the base plate 420 is relatively small, so that the structure of the slave device of the present application is relatively compact in all states.

[0094] In some embodiments, the substrate 420 of the present application is movably connected to the base 100. The substrate 420 is configured to move relative to the base 100 in the telescopic direction, thereby adjusting the relative position of the substrate 420 and the base 100. In this way, the limiting plate 410 provided on the substrate 420 can also move in the telescopic direction. When the limiting plate 410 moves relative to the substrate 420 in the telescopic direction, the limiting groove 411 on the limiting plate 410 can also move in the telescopic direction, making the position of the limiting groove 411 in the telescopic direction adjustable. In this way, the limiting portion 350 can be engaged with the limiting groove 411 of the limiting plate 410 when the support portion 320 moves to different positions in the telescopic direction, thereby fixing the support portion 320. This allows the position of the end of the telescopic assembly 300 facing away from the guide assembly 200 relative to the guide assembly 200 to be adjusted.

[0095] Specifically, when the adjustment substrate 420 moves along the first direction, the limit plate 410 can also move along the first direction, which can increase the distance between the limit plate 410 and the base 100. Accordingly, the limit portion 350 moves with the support portion 320 to be close to the limit plate 410, so that the limit plate 410 can be rotated so that the limit portion 350 is embedded in the limit groove 411. The distance between the limit portion 350 and the base 100 is also relatively larger, which can reduce the maximum extension length of the telescopic assembly 300 away from the guide assembly 200.

[0096] When the adjustment substrate 420 moves along the second direction, the limit plate 410 can also move along the second direction, so that the distance between the limit plate 410 and the base 100 can be reduced. Accordingly, the limit portion 350 moves with the support portion 320 to be close to the limit plate 410, so that the limit plate 410 can be rotated until the limit portion 350 is embedded in the limit groove 411. The distance between the limit portion 350 and the base 100 is also relatively smaller, which can increase the maximum extension length of the telescopic component 300 away from the guide component 200.

[0097] In some embodiments, reference Figure 5 As shown, to enable the substrate 420 of the present application to move relative to the base 100 in the extension direction, the limiting assembly 400 may also include a positioning member. The substrate 420 may have a positioning hole 421 formed in a strip-shaped structure, extending along the extension direction. The positioning member is inserted through the positioning hole 421 of the substrate 420 and secured to the base 100, thereby securing the substrate 420 to the base 100.

[0098] When the positioning member is pre-fixed to the substrate 420 and the base 100, a force applied to the substrate 420 can cause the substrate 420 to move in the direction of extension and retraction. Specifically, the positioning hole 421 can be a waist-shaped hole, and the substrate 420 can move relative to the positioning member, up to the point where the positioning member and the opposing inner walls of the positioning hole 421 abut against each other. Once the substrate 420 is in place, the positioning member can be fastened to the substrate 420 and the base 100, thereby securing the substrate 420 relative to the base 100 and fixing the position of the substrate 420 in the direction of extension and retraction.

[0099] The number of positioning holes 421 on the base plate 420 can be multiple, and accordingly, the number of positioning members can be multiple. The multiple positioning members can be respectively passed through the multiple positioning holes 421 and fixed to the base 100, thereby making the fixed connection between the base plate 420 and the base 100 more stable and reliable. The base plate 420 can also be provided with other openings, and the openings are surrounded by the multiple positioning holes 421. The positioning members connected to the base 100 can also be passed through the openings, thereby making the connection between the base plate 420 and the base 100 more reliable.

[0100] In some embodiments, reference Figure 6As shown, in order to conveniently adjust the relative position of the substrate 420 and the base 100, a positioning groove 120 can be provided on the outer wall of the base 100, and one end of the substrate 420 can be embedded in the positioning groove 120. The positioning groove 120 has a notch, and the direction of the notch of the positioning groove 120 is the same as the telescopic direction. In this way, the substrate 420 can move from the notch of the positioning groove 120 into the positioning groove 120, or move away from the positioning groove 120, so that the substrate 420 can move in the telescopic direction.

[0101] Specifically, the orientation of the notch of the positioning groove 120 is the second direction, and the notch of the positioning groove 120 is flush with the second opening 112 of the base 100. The inner wall of the positioning groove 120 can serve to limit the substrate 420, so that the substrate 420 can only move along the telescopic direction, thereby conveniently adjusting the position of the substrate 420.

[0102] In some embodiments, reference Figure 5 and Figure 6 As shown, the limiting assembly 400 of the present application may further include a driving portion 430 and an elastic portion, wherein the driving portion 430 is disposed on the base plate 420 and connected to the limiting plate 410. The driving portion 430 can drive the limiting plate 410 to rotate away from the limiting portion 350, so that the limiting portion 350 can be disengaged from the limiting groove 411 of the limiting plate 410. The elastic portion is connected to the limiting plate 410 and the base plate 420. When the driving portion 430 drives the limiting plate 410 to rotate away from the limiting portion 350, the elastic portion can be compressed by the limiting plate 410 and deformed, so that the elastic portion has elastic restoring force. When the driving part 430 no longer applies a force to the limiting plate 410 to rotate away from the limiting part 350, the limiting plate 410 can rotate toward the limiting part 350 under the action of the elastic restoring force of the elastic part, so that the limiting part 350 can be embedded in the limiting groove 411 of the limiting plate 410, thereby making the limiting part 350 relatively fixed to the limiting plate 410.

[0103] In some embodiments, reference Figure 5 and Figure 6As shown, the drive unit 430 of the present application may specifically include a driver 431 and a traction rope 432, wherein the driver 431 is disposed on the base plate 420 and may be a motor. One end of the traction rope 432 is connected to the output end of the driver 431, and the other end of the traction rope 432 may be connected to the limit plate 410. The driver 431 is located on the side of the limit plate 410 facing away from the limit portion 350. The output end of the driver 431 can rotate to pull the limit plate 410 away from the limit portion 350 via the traction rope 432, thereby compressing the elastic portion. At this time, a portion of the traction rope 432 may be tightened and wrapped around the output end of the driver 431. When the driver 431 is powered off and turned off, the restoring deformation force of the elastic portion can push the limit plate 410 toward the limit portion 350, thereby releasing the traction rope 432 wrapped around the output end of the driver 431.

[0104] In some embodiments, reference Figure 2 、 Figure 7 and Figure 8 As shown, the slave device of the present application may also be provided with a button assembly 500. The button assembly 500 may be provided on the support portion 320 of the telescopic assembly 300. The button assembly 500 may be electrically connected to other components of the surgical robot to electrically control the other components of the surgical robot.

[0105] The support portion 320 is the main structure of the telescopic component 300. The support portion 320 provides the telescopic component 300 with better structural strength as a whole. By arranging the button component 500 on the support portion 320, the button component 500 can be more stably and reliably arranged on the telescopic component 300.

[0106] In some embodiments, reference Figure 8 and Figure 9 As shown, the button assembly 500 of the present application may include a micro switch 510, a pressing portion 520, and an elastic recovery portion 530. The micro switch 510 may be disposed on the support portion 320, and the pressing portion 520 is movably connected to the support portion 320, and the pressing portion 520 is opposite to the micro switch 510. The pressing portion 520 is configured to move toward or away from the micro switch 510. When the pressing portion 520 moves toward the micro switch 510, the distance between the pressing portion 520 and the micro switch 510 is reduced until the pressing portion 520 contacts and presses against the micro switch 510, thereby turning the micro switch 510 on. When the pressing portion 520 moves away from the micro switch 510, the distance between the pressing portion 520 and the micro switch 510 increases until the pressing portion 520 is separated from the micro switch 510, so that the pressing portion 520 no longer exerts pressure on the micro switch 510, allowing the micro switch 510 to be closed.

[0107] Specifically, the pressing portion 520 has a pressing surface opposite to the micro switch 510. When the pressing portion 520 moves toward the micro switch 510, the pressing surface moves to contact the micro switch 510 and is pressed against the micro switch 510. When the pressing portion 520 moves away from the micro switch 510, the pressing surface and the micro switch 510 are separated and the distance between them increases.

[0108] The elastic restoring portion 530 is disposed between the support portion 320 and the pressing portion 520, connecting the support portion 320 and the pressing portion 520. When a user presses the pressing portion 520, causing it to move toward the microswitch 510, the elastic restoring portion 530 is compressed, generating an elastic restoring force. When the user releases the pressing portion 520, the elastic restoring force of the elastic restoring portion 530 allows the pressing portion 520 to move away from the microswitch 510.

[0109] In some embodiments, reference Figure 8 and Figure 9 As shown, the button assembly 500 of the present application may further include a switch base 540, which is disposed on the support portion 320 and is detachably connected to the support portion 320. The micro switch 510 is disposed on the switch base 540, the pressing portion 520 is movably connected to the switch base 540, and the end of the elastic recovery portion 530 facing away from the pressing portion 520 can abut against the switch base 540.

[0110] When assembling the button assembly 500 of the present application, the micro switch 510, the elastic member 230 and the pressing portion 520 can be first assembled on the switch seat 540, and then the switch seat 540 can be assembled on the support portion 320, so that the slave device of the present application can be modularly installed, reducing the difficulty of preparing and assembling the slave device.

[0111] In some embodiments, reference Figure 8 and Figure 9 As shown, in order to fix the micro switch 510 on the switch base 540, the micro switch 510 can be snap-fitted to the switch base 540. Specifically, a switch mounting plate can be provided on the switch base 540, and the switch mounting plate and the switch base 540 can be detachably connected. The switch mounting plate has a mounting hole, and the micro switch 510 is snap-fitted into the mounting hole of the switch mounting plate.

[0112] In some embodiments, reference Figure 8 and Figure 9As shown, the switch assembly of the present application may further include a guide portion 550, which is connected to the pressing portion 520 and is also movably connected to the switch base 540, so that the pressing portion 520 can be movably connected to the switch base 540 through the guide portion 550. The guide portion 550 and the switch base 540 guide and cooperate with the switch base 540 in a direction toward or away from the micro switch 510. As a result, the guide portion 550 can only move in a direction toward or away from the micro switch 510, so that the pressing portion 520 connected to the guide portion 550 can also only move in a direction toward or away from the micro switch 510. This prevents the pressing portion 520 from being deflected when the user presses it, ensuring that the pressing portion 520 can be accurately pressed against the micro switch 510, causing the micro switch 510 to generate an electrical signal.

[0113] In some embodiments, reference Figure 8 and Figure 9 As shown, to allow the guide portion 550 to be guided and engaged with the switch base 540, the switch base 540 may define a guide hole 541. The axial direction of the guide hole 541 is the same as the direction in which the pressing portion 520 is directed toward or away from the micro switch 510. The switch base 540 sleeves at least a portion of the guide portion 550 within the guide hole 541, with the outer wall of the guide portion 550 contacting the inner wall of the guide hole 541. The guide portion 550 is movable within the guide hole 541 along the axial direction of the guide hole 541, allowing the pressing portion 520 connected to the guide portion 550 to be directed toward or away from the micro switch 510.

[0114] By having the switch base 540 housing the guide portion 550, the guide portion 550 can also be fixed in the switch base 540. This eliminates the need for the pressing portion 520 to be additionally provided with a structure for movable connection with the switch base 540, thereby simplifying the structure of the button assembly 500.

[0115] In some embodiments, reference Figure 10 and Figure 11 As shown, the guide portion 550 of the present application has a limiting protrusion 551 that can be inserted into the switch fixing plate. The limiting protrusion 551 can limit the guide portion 550 in the circumferential direction of the guide hole 541, so that the guide portion 550 cannot rotate along the circumferential direction of the guide hole 541, thereby preventing the pressing portion 520 from rotating along the circumferential direction of the guide hole 541, thereby maintaining the stability of the pressing portion 520. Specifically, the switch base 540 can have an opening that cooperates with the limiting protrusion 551. The axial direction of the opening is in the same direction as the axial direction of the guide hole 541, and the opening is offset from the center of the guide hole 541. The inner wall of the opening limits the limiting protrusion 551, so that the limiting protrusion 551 cannot rotate, thereby preventing the guide portion 550 and the pressing portion 520 connected to the guide portion 550 from rotating.

[0116] In some embodiments, reference Figure 9 and Figure 11 As shown, the button assembly 500 of the present application may also include a limiting post 560. The limiting post 560 is provided on the side of the switch base 540 facing away from the guide portion 550 and is connected to the guide portion 550. The limiting post 560 is engaged with the side of the switch base 540 facing away from the guide portion 550, preventing the limiting post 560 from fully moving to the side of the switch base 540 facing the guide portion 550. This prevents the limiting post 560 from disengaging from the switch base 540. As a result, the guide portion 550 connected to the limiting post 560 cannot disengage from the switch base 540, thereby preventing the pressing portion 520 and the elastic recovery portion 530 from disengaging from the switch base 540, making the pressing assembly structure of the present application complete and stable.

[0117] Specifically, the switch base 540 may have an opening through which the limiting post 560 passes. The outer diameter of the end of the limiting post 560 away from the guide portion 550 may be set to the inner diameter of the opening, thereby preventing the limiting post 560 from passing through the switch base 540 as a whole. This ensures that the limiting post 560 and the switch base 540 are in a positionally limited engagement. The limiting post 560 and the guide portion 550 may be fixed by a threaded connection.

[0118] The button assembly 500 of the present application may also include a limiting bottom plate 570 , which is disposed on a side of the switch base 540 facing away from the guide portion 550 . The limiting post 560 passes through the limiting bottom plate 570 and then through the switch base 540 .

[0119] Based on the above slave hand device, the present application also provides a surgical robot, comprising a master hand device and the above slave hand device, wherein the master hand device is connected to the slave hand device, wherein the button assembly 500 can be electrically connected to the master hand device.

[0120] Finally, it should be noted that the above implementation modes are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned implementation modes, ordinary technicians in this field should understand that they can still modify the technical solutions described in the aforementioned implementation modes, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the implementation modes of the present application.

Claims

1. A slave device, characterized in that: include: base(100); A guide assembly (200) rotatably connected to the base (100); a telescopic component (300), one end of which is movably connected to the guide component (200); the telescopic component (300) is configured to be reciprocatingly movable relative to the guide component (200) in a telescopic direction; and the guide component (200) is configured to guide the telescopic component (300) in the telescopic direction; The guide assembly (200) comprises a damping rack (220) arranged along the telescopic direction, and the telescopic assembly (300) further comprises a damping gear (340), wherein the damping gear (340) is meshed with the damping rack (220); The damping rack (220) is rotatably connected to the base (100); An adjustment hole (221) is provided at one end of the damping rack (220), the adjustment hole (221) being arranged along the rotation direction of the damping rack (220), and the damping rack (220) is connected to the base (100) via the adjustment hole (221); The number of the adjustment holes (221) is multiple or one. When the adjustment holes (221) are multiple, the multiple adjustment holes (221) are spaced apart along the rotation direction of the damping rack (220). When the adjustment hole (221) is one, the adjustment hole (221) is an arc-shaped hole adapted to the rotation direction. When the telescopic assembly (300) rotates along with the guide assembly (200), the orientation of the other end of the telescopic assembly (300) can be changed.

2. The slave device according to claim 1, characterized in that: The base (100) has a fixing slot (110), and one end of the telescopic assembly (300) passes through the fixing slot (110) and is connected to the guide assembly (200).

3. The slave device according to claim 1 or 2, characterized in that: The guide assembly (200) further comprises a guide rail (210) arranged along the telescopic direction, and the telescopic assembly (300) comprises a guide block (330), wherein the guide block (330) is cooperatively connected to the guide rail (210) and can slide along the extension direction of the guide rail (210).

4. The slave device according to claim 3, characterized in that: The guide rail (210) is connected to the damping rack (220).

5. The slave device according to claim 3, characterized in that: The invention also includes an elastic member (230), one end of the elastic member (230) is connected to the telescopic assembly (300), and the other end of the elastic member (230) is connected to the guide assembly (200), and the elastic member (230) provides the telescopic assembly (300) with a telescopic force to restore the initial position when the telescopic assembly (300) is extended or contracted along the guide assembly (200).

6. The slave device according to claim 5, characterized in that: The elastic member (230) is a coil spring, one end of the elastic member (230) is connected to the damping rack (220), and the other end of the elastic member (230) is connected to the telescopic assembly (300); or, The elastic member (230) is a compression spring, one end of the elastic member (230) is connected to the base (100), and the other end of the elastic member (230) is connected to the telescopic assembly (300).

7. A surgical robot, characterized in that: The invention comprises a master hand device and a slave hand device according to any one of claims 1 to 6, wherein the master hand device is connected to the slave hand device.

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