A posture control device for an actuator

Abstract

A posture control device for an actuator, used for remotely controlling the movement of the actuator, characterized in that it includes: an operating part, which is constructed in a longitudinal shape for an operator to hold; a switch part, which has a plurality of switch components corresponding to a plurality of degrees of freedom; a connecting part, which is fixed to at least a part of the operating part and the switch part, so as to connect the operating part and the switch part; a supporting part, which supports the switch part; and a signal output part, which outputs an electrical signal generated by the switch part to a drive device for adjusting the actuator, when the operator operates the operating part, along with the movement of the operating part, the switch component in the switch part corresponding to the operator's operation is triggered via the connecting part, thereby generating an electrical signal for controlling the movement of the degree of freedom corresponding to the switch component, and then instructing the drive device of the actuator to make the actuator perform an action synchronized with the operating part.

Description

Technical Field

[0001] The present invention relates to a posture control device for an execution instrument, and in particular to a posture control device for a surgical instrument in the medical field. Background Art

[0002] In recent years, with the advancement of medical technology, doctors are increasingly using surgical instruments to assist surgery or even to perform surgery using only surgical instruments. During surgery, the surgical instruments, which are the executing instruments, are placed inside the patient's body. Therefore, it is necessary to avoid shaking of the surgical instruments as much as possible to reduce the burden on the patient and the interference to the operator. For this reason, brackets are sometimes used to fix the surgical instruments to ensure that the position of the surgical instruments remains unchanged during the operation.

[0003] In addition, during preoperative preparation, due to the different body shapes and postures of patients, it is necessary to plan the position and posture of the surgical instrument in advance, move the surgical instrument to a specified position in the patient's body, and adjust the posture. In this case, since the surgical instrument is fixed to the bracket, it is difficult for the operator to adjust the position and posture of the surgical instrument as freely as holding the surgical instrument. Therefore, a separately set adjustment mechanism is required to adjust the bracket used to fix the surgical instrument, so as to adjust the position and posture of the surgical instrument through the bracket. The adjustment mechanism is, for example, a drive unit provided on the bracket corresponding to each of the multiple degrees of freedom.

[0004] However, the adjustment mechanism for the bracket has multiple degrees of freedom, and the traditional single-degree-of-freedom adjustment method requires a lot of adjustment time. This is because one action of the surgical instrument (bracket) usually involves the linkage of multiple degrees of freedom. For example, when adjusting the pitch angle of the surgical instrument, in addition to the change in the angle of the surgical instrument, the height of the surgical instrument also changes. In this way, it is necessary to adjust multiple degrees of freedom at the same time to complete a certain action, which places high demands on the operator. In addition, the operator may need to try multiple times to achieve the predetermined position and posture of the surgical instrument. The process is very cumbersome and seriously increases the burden on the patient.

[0005] On the other hand, in order to achieve the adjustment of multiple degrees of freedom, it is necessary to set multiple buttons or knobs on the adjustment mechanism. The operator spends more time to identify the buttons or knobs corresponding to each degree of freedom, which not only increases the operation time, but also has the risk of misoperation. Moreover, surgery usually requires a sterile environment. As a non-sterile instrument, the bracket needs to be adjusted while covered with a sterile drape, which further increases the difficulty of adjustment. Summary of the invention

[0006] In order to solve the above-mentioned problems, an object of the present invention is to provide a posture control device for an operating instrument, which can avoid complicated operations and easily adjust the position and posture of a surgical instrument.

[0007] One aspect of the present invention is a posture control device for an actuator, which is used to remotely control the movement of the actuator, and is characterized by comprising:

[0008] An operating portion, configured in a longitudinal shape for an operator to hold;

[0009] A switch unit including a plurality of switch components corresponding to the plurality of degrees of freedom;

[0010] a connecting portion fixedly connected to at least a portion of the operating portion and the switch portion, thereby connecting the operating portion and the switch portion; and

[0011] a signal output unit, which outputs the electrical signal generated by the switch unit to a drive device for adjusting the actuator,

[0012] When the operator operates the operating part, along with the movement of the operating part, the switch component in the switch part corresponding to the operator's operation is triggered via the connecting part, thereby generating an electrical signal for controlling the movement of the degree of freedom corresponding to the switch component, and then instructing the driving device of the actuator to make the actuator perform an action synchronized with the operating part.

[0013] According to the present invention, the position and posture of the actuator can be adjusted remotely through the remote control posture control device, which greatly reduces the burden on the operator and improves the efficiency of preoperative preparation.

[0014] Preferably, the operating portion is configured in a vertically elongated shape that follows the shape of the actuator.

[0015] According to the present invention, the contoured posture control device can enable the operator to more intuitively adjust the position and posture of the actuator.

[0016] Preferably, any one of the plurality of switch assemblies is configured to include a contact member, a contact point member, and a retaining member.

[0017] A positive contact and a negative contact are arranged on the contact member.

[0018] The retaining member holds the contact member at a position where the contact member is not in contact with the positive contact and the negative contact when no external force is applied to the contact member.

[0019] The contact piece is movable and is provided with a contact, and can resist the retaining piece under external force so that the contact contacts the positive contact or the negative contact on the contact piece, thereby triggering the switch assembly.

[0020] According to the present invention, multi-degree-of-freedom adjustment that meets the operator's intention can be achieved through a simple and reliable mechanical structure.

[0021] Preferably, the plurality of switch modules of the switch portion are configured in a cascade structure such that a contact piece of a switch module at a previous stage also serves as a contact piece of a switch module at a subsequent stage.

[0022] According to the present invention, the switch portion can be configured to be more compact, and connection and force transmission between a plurality of switch components can be achieved.

[0023] Preferably, when the operator operates the operating portion, the signal output portion outputs the electrical signal of the switch component that is triggered first among the plurality of switch components to the drive device that adjusts the actuator.

[0024] According to the present invention, erroneous operation caused by the operator's irregular operation can be effectively avoided.

[0025] Preferably, when the operator operates the operating unit, the signal output unit outputs electrical signals of all the triggered switch components among the plurality of switch components to the actuator.

[0026] According to the present invention, it is possible to realize adjustment that better meets the operator's intention, thereby improving the efficiency of adjustment.

[0027] Preferably, when the operator operates the operating unit, the signal output unit outputs the electrical signal of the triggered switch component among the plurality of switch components to the actuator for a predetermined time.

[0028] According to the present invention, it is possible to avoid unlimited movement of the implementing instrument, thereby avoiding harm to the patient.

[0029] Preferably, the positive contact and the negative contact of any one of the plurality of switch assemblies correspond to opposite directions of movement on the degree of freedom controlled by the switch assembly.

[0030] According to the present invention, the operator can conveniently and intuitively control the movement in each degree of freedom.

[0031] Preferably, the switch unit includes six switch components corresponding to six degrees of freedom.

[0032] Preferably, the operating portion is further provided with at least one switch component corresponding to a certain degree of freedom.

[0033] According to the present invention, the space of the posture adjustment device can be fully utilized. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a perspective view showing a state where the implement is mounted on the bracket.

[0035] Figure 2It is a perspective view showing only a plurality of drive units in the bracket.

[0036] Figure 3 is a perspective view showing a posture control device.

[0037] Figure 4 1 is a diagram showing each switch assembly of a switch section of the posture control device.

[0038] Figure 5 It is a diagram showing the details of the first switch assembly.

[0039] Figure 6 2 is a diagram showing details of the second switch assembly.

[0040] Figure 7 It is a diagram showing the details of the third switch assembly.

[0041] Figure 8 2 is a diagram showing details of the fourth switch assembly.

[0042] Fig. 9 It is a diagram showing the details of the fifth switch assembly.

[0043] Fig.10 2 is a diagram showing details of the sixth switch assembly.

[0044] Description of the attached figure

[0045] 1. Execution equipment

[0046] 2 Bracket

[0047] 21 X-axis drive unit

[0048] 22 Y-axis drive unit

[0049] 23 Z-axis drive unit

[0050] 24 Rz-axis drive unit 25 Ry-axis drive unit

[0051] 26 Casters

[0052] 27 Signal input unit

[0053] 3. Attitude control device

[0054] 31 Operation Department

[0055] 311 Grip handle

[0056] 32 Switch

[0057] 321 First switch assembly

[0058] 322 Second switch assembly

[0059] 323 Third switch assembly

[0060] 324 Fourth switch assembly

[0061] 325 Fifth switch assembly

[0062] 326 Sixth switch assembly

[0063] 321a, 322a, 323a, 324a, 325a Contacts

[0064] 321b, 322b, 323b, 324b, 325b contact pieces

[0065] 321c, 322c, 323c, 324c, 325c retaining parts

[0066] 321d, 322d, 323d, 324d, 325d guide

[0067] 33 Connection

[0068] 34 Supporting part DETAILED DESCRIPTION

[0069] Various exemplary embodiments of the present invention are described in detail below with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the present invention and its application or use. The present invention can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present invention thorough and complete and to fully convey the scope of the present invention to those skilled in the art. It should be noted that unless otherwise stated, the relative arrangement of the components and steps, numerical expressions, and numerical values, etc., described in these embodiments should be interpreted as being merely exemplary and not as limiting.

[0070] The words “include” or “comprising” and the like used in the present invention mean that the elements before the words include the elements listed after the words, and do not exclude the possibility of also including other elements.

[0071] All terms (including technical terms or scientific terms) used in the present invention have the same meanings as those understood by ordinary technicians in the field to which the present invention belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be understood to have meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined in this document.

[0072] Components not described in detail in this section, parameters such as specific models of components, relationships between components, and control circuits may be considered as technologies, methods, and equipment known to ordinary technicians in the relevant fields, but in appropriate circumstances, such technologies, methods, and equipment should be considered as part of the specification.

[0073] Specific embodiments of the present invention will be described below with reference to the accompanying drawings.

[0074] Reference for actuators and brackets Figure 1 and Figure 2 The implement 1 and the bracket 2 of the present invention will be described. Figure 1 It is a perspective view showing a state where the implement 1 is mounted on the bracket 2 . Figure 2 It is a perspective view showing only the drive units 21 to 25 in the bracket 2 .

[0075] like Figure 1 As shown in FIG. 1 , as an example, in the present invention, the implement 1 is an ultrasonic probe inserted into the rectum of a patient during anorectal surgery. However, the implement 1 in the present invention is not limited thereto, and may also be other surgical instruments. The implement 1 is configured in a longitudinal shape and is a surgical instrument that can be used independently of the bracket 2. The operator can hold the implement 1 and insert it into the patient's body and adjust its position and posture, or can also hold the implement 1 in the same position as the implement 1. Figure 1 The actuator 1 is fixed to the bracket 2 in this way, and the position and posture of the actuator 1 are adjusted by the movement of the bracket 2.

[0076] The carriage 2 includes a plurality of drive units 21 to 25 corresponding to a plurality of degrees of freedom, casters 26 for supporting the plurality of drive units, and a signal input unit 27 for receiving an electrical signal from a posture control device 3 described in detail later.

[0077] As an example, the bracket 2 has 6 degrees of freedom, and 6 drive units can be set accordingly. However, it should be understood that the number of drive units is not limited in the present invention, and 1 to 6 drive units can be set as needed. As an example, Figure 1 and Figure 2 As shown, a total of five drive units 21 to 25 corresponding to three translational degrees of freedom and two rotational degrees of freedom are provided.

[0078] In the present invention, if Figure 1 and Figure 2 As shown, the vertical direction is defined as the Z-axis direction, the insertion direction of the implement 1 into the patient is defined as the X-axis direction, and the direction perpendicular to the X-axis direction and the Z-axis direction is defined as the Y-axis direction.

[0079] Next, the drive units 21 to 25 are described in detail. The X-axis drive unit 21 is used to drive the actuator 1 to move in the X-axis direction. Specifically, the X-axis drive unit 21 can drive the actuator 1 to perform translational movements in two directions, namely, the direction toward the patient (positive direction) and the direction away from the patient (negative direction). The Y-axis drive unit 22 is used to drive the actuator 1 to perform translational movements in the Y-axis direction. Specifically, the Y-axis drive unit 22 can drive the actuator 1 to perform translational movements in two directions, namely, toward the right side of the operator (positive direction) and toward the left side of the operator (negative direction). The Z-axis drive unit 23 is used to drive the actuator 1 to move in the Z-axis direction. Specifically, the Z-axis drive unit 23 can drive the actuator 1 to perform translational movements in two directions, namely, toward the vertically upward (positive direction) and toward the vertically downward (negative direction).

[0080] The Rz-axis drive unit 24 is used to drive the actuator 1 to perform rotational motion around the Z-axis. Similarly, the Rz-axis drive unit 24 can perform rotational motion in both positive and negative directions. The Ry-axis drive unit 25 is used to drive the actuator 1 to perform rotational motion around the Y-axis. Similarly, the Ry-axis drive unit 25 can perform rotational motion in both positive and negative directions.

[0081] In the present invention, a total of five drive units 21 to 25 corresponding to three translational degrees of freedom and two rotational degrees of freedom are illustrated, but the present invention is not limited thereto. An Rx-axis drive unit may be added as needed, or one of the drive units 21 to 25 may be omitted.

[0082] The drive units 21 to 25 are stacked to form a whole. That is, the X-axis drive unit 21, the Rz-axis drive unit 24, the Ry-axis drive unit 25, the Y-axis drive unit 22, and the Z-axis drive unit 23 are stacked in sequence from top to bottom, and adjacent drive units are connected to each other. Of course, the arrangement order and connection relationship of the multiple drive units 21 to 25 are not limited to this, and can be flexibly arranged as needed.

[0083] The signal input unit 27 receives an electrical signal from the posture control device 3 described in detail later. The connection between the signal input unit 27 and the posture control device 3 can be a wired connection or a wireless connection. Figure 1 A wired connection method with an interface is illustrated in FIG.

[0084] The casters 26 support the plurality of drive units 21 to 25, the signal input unit 27, and the actuator 1 fixed to the bracket 2. A fixed support member may be used instead of the casters 26. However, when the casters 26 are used, the bracket 2 can be easily moved and stored in the surgical environment.

[0085] In the conventional technology, in order to achieve the adjustment of multiple degrees of freedom, it is necessary to set buttons or knobs (in Figure 1 and Figure 2 Figure omitted).

[0086] Next, refer to the attitude control device Figures 3 to 10 The posture control device 3 of the present invention will be described. Figure 3 and Figure 4 2 is a perspective view showing the posture control device 3 . Figures 5 to 10 Detailed diagram of each switch component.

[0087] like Figure 3 As shown, the posture control device 3 of the present invention is remotely arranged with the bracket 2, and establishes communication through wired or wireless means. For example, in a surgical environment, the bracket 2 and the actuator 1 are arranged around the patient, and the posture control device 3 does not need to be arranged around the patient. It is better to set it near the operator (doctor) and keep a certain distance from the patient, which not only helps to achieve a sterile surgical environment, but also allows the actuator 1 to adjust the action in a more spacious environment, no longer limited to a narrow operating environment.

[0088] By remotely setting the posture control device 3, the operator can operate in a comfortable position. As mentioned above, in the conventional technology, in order to achieve the adjustment of multiple degrees of freedom, it is necessary to set buttons or knobs on the bracket 2 for operating the drive units 21 to 25, and the bracket 2 is usually set under the operating bed. The operator needs to operate at a very low position while visually performing the instrument 1 in a bent posture, which increases the difficulty of operation and easily causes fatigue to the operator. In contrast, the posture control device 3 of the present invention can be remotely set next to the operator relative to the bracket 2 and set at an appropriate height, which improves the convenience of operation.

[0089] The posture control device 3 is preferably configured to imitate the structure of the actuator 1. For example, in the case where the actuator 1 is an ultrasound probe inserted into the patient's rectum, the posture control device 3 is also configured to be a longitudinal structure similar to the longitudinal structure of the actuator 1. In addition, although the specific situation will be described later, the operator's operation of the posture control device 3 is linked to the movement of the bracket 2. That is, the posture control device 3 of the present invention is not to control the movement of multiple degrees of freedom of the bracket 2 through buttons or knobs corresponding to multiple degrees of freedom as in the prior art, but to control the movement of multiple degrees of freedom of the bracket 2 by performing a more intuitive posture operation on the posture control device 3.

[0090] In this way, when the actions of the posture control device 3 and the bracket 2 are linked, and the posture control device 3 is a copy of the execution device 1, the operator can operate the bracket 2 more intuitively. That is, by making the actions of the posture control device 3 consistent or similar to the actions of the execution device 1, the operator saves the process of identifying buttons or knobs, and the control feeling of the posture control device 3 is similar to the control feeling of directly controlling the execution device 1, which can not only reduce the burden of the operator, but also avoid the operator's feeling deviation in different operation modes, so that in necessary environments, the two modes of indirect control and direct control realized by the posture control device 3 can be switched without obstacles.

[0091] The posture control device 3 is described in detail below. Figure 3 As shown, the posture control device 3 includes an operation unit 31, a switch unit 32, a connection unit 33, a receiving unit 34, and a signal output unit (not shown).

[0092] As mentioned above, the operating unit 31 is a longitudinal structure that emulates the actuator 1. By holding the grip 311 of the operating unit 31, the operator can perform a maximum of 6 degrees of freedom, such as forward and backward translation along the X-axis direction, left and right translation along the Y-axis direction, up and down translation along the Z-axis direction, pitching movement around the Y-axis direction, twisting movement around the X-axis direction, and swinging movement around the Z-axis direction. At the same time, in conjunction with the movement of the operating unit 31, the actuator 1 also performs a maximum of 6 degrees of freedom, such as forward and backward translation along the X-axis direction, left and right translation along the Y-axis direction, up and down translation along the Z-axis direction, pitching movement around the Y-axis direction, twisting movement around the X-axis direction, and swinging movement around the Z-axis direction, synchronously or approximately synchronously.

[0093] In addition, the specific shape, holding position, etc. of the operating part 31 can be flexibly set according to actual conditions, as long as multiple degrees of freedom of movement can be performed by holding the operating part 31.

[0094] The switch part 32 is a component that provides triggering of multiple degrees of freedom. In the present invention, by providing a corresponding switch assembly for each degree of freedom, when the operator operates the operating part 31 on a certain degree of freedom, the switch part 32 can be triggered accordingly, and an electrical signal is sent to the bracket 2 through the signal output part, indicating that the bracket 2 performs the action of the degree of freedom synchronously or approximately synchronously.

[0095] The connection portion 33 connects the operation portion 31 and the switch portion 32, and transmits the operation of the operation portion 31 by the operator to the switch portion 32 via the connection portion 33. The connection portion 33 is fixedly connected to the operation portion 31 and is fixedly connected to at least a portion of the switch portion 32. The specific form of the connection portion 33 is not limited. Figure 3exemplifies one form. That is, the connection part 33 is configured in a U-shape, and is fixedly connected to the operating part 31 in a manner of supporting both ends of the operating part 31. In this way, the force between the connection part 33 and the operating part 31 is more balanced, and together with the operating part 31, it forms a handle-like shape, which is convenient for the operator to hold and operate. Of course, according to needs, the connection part 33 can also be set to be fixedly connected to the central part of the operating part 31, or fixedly connected to one end of the operating part 31 in a cantilever manner.

[0096] The connection portion 33 is fixedly connected to at least a portion of the switch portion 32. Although the details will be described later, the switch portion 32 is a cascade structure composed of a plurality of switch components connected to each other, and the connection portion 33 is fixedly connected to the topmost switch component among the plurality of switch components of the switch portion 32, that is, the action of the operating portion 31 can be transmitted to the switch portion 32.

[0097] The supporting part 34 is formed as a base of the posture control device 3, supporting the switch part 32, the connecting part 33, the operating part 31, and the signal output part not shown above. When in use, the supporting part 34 is fixed to a desktop, etc., and its position remains unchanged during operation.

[0098] Next, refer to Figures 4 to 9 , the structure of the switch unit 32 is described in detail. The switch unit 32 includes: a first switch component 321 for triggering movement along the Z-axis translation direction, a second switch component 322 for triggering movement in the Y-axis rotation direction, a third switch component 323 for triggering movement along the X-axis translation direction, a fourth switch component 324 for triggering movement along the Y-axis translation direction, and a fifth switch component 325 for triggering movement in the Z-axis rotation direction.

[0099] In addition, in this embodiment, the sixth switch assembly 326 for triggering the movement along the X-axis rotation direction is not arranged in the switch part 32, but is composed of a contact member arranged in the operating part and a contact member arranged in the connecting part 33. This is to make the switch part 32 more compact and make full use of the space of each component. Of course, the sixth switch assembly 326 can also be arranged in the switch part 32.

[0100] In addition, each of the plurality of switch assemblies 321 to 326 includes a contact member, a contact member, and a retaining member. The contact member is provided with a positive contact and a negative contact, and the retaining member holds the contact member in a position where it does not contact the positive contact and the negative contact when the contact member is not subjected to external force. The contact member is provided with a movable contact, and can resist the retaining member when subjected to external force so that the contact contacts the positive contact or the negative contact on the contact member, thereby triggering the switch assembly.

[0101] The following reference Figures 5 to 10 The switch components 321 to 326 are described in detail.

[0102] Figure 5 is a side view of the first switch assembly 321 viewed from the Y-axis direction. Figure 5 As shown, in this embodiment, the first switch assembly 321 is used to trigger the movement along the Z-axis translation direction, which is equivalent to the switch assembly controlling the up and down movement of the actuator 1. The first switch assembly 321 includes: a contact member 321a, a contact member 321b, a retaining member 321c, and a guide member 321d.

[0103] The contact member 321a is provided with a conductive contact, for example, made of metal. The contact member 321b is provided with a pair of contacts, for example, made of metal, namely, a positive contact and a negative contact. When the operator pulls the gripping handle 311 toward the upper side of the Z axis to make the contact member 321a translate upward, and then the contact on the contact member 321a contacts the positive contact of the contact member 321b, the first switch assembly 321 is triggered, and the unillustrated signal output unit of the posture control device 3 outputs a positive signal to the bracket 2, indicating that the bracket 2 performs a translational movement toward the upper side of the Z axis. When the operator presses the gripping handle 311 toward the lower side of the Z axis to make the contact member 321a translate downward, and then the contact on the contact member 321a contacts the negative contact of the contact member 321b, the first switch assembly 321 is triggered, and the unillustrated signal output unit of the posture control device 3 outputs a negative signal to the bracket 2, indicating that the bracket 2 performs a translational movement toward the lower side of the Z axis.

[0104] The retaining member 321c is composed of potential energy components such as a spring. When the switch portion 32 is not subjected to external force, the retaining member 321c keeps the contact member 321a at a position where it does not contact the positive contact and the negative contact of the contact member 321b. Since the contact of the contact member 321a and the positive and negative contacts of the contact member 321b are both made of metal, when contact occurs, the circuit is connected, that is, the first switch component 321 is triggered, and thus a trigger signal of the corresponding degree of freedom is generated. When no contact occurs, the circuit is disconnected, that is, the first switch component 321 is not triggered, and thus no signal is generated.

[0105] The guide member 321d provides support for the contact member 321a and functions as a guide rail for the contact member 321a. When the contact member 321a translates up and down along the Z-axis direction, it translates up and down along the guide member 321d penetrating therethrough.

[0106] then, Figure 6 3 is a side view of the second switch assembly 322 viewed from the Y-axis direction. Figure 6 As shown, in this embodiment, the second switch assembly 322 is used to trigger the movement in the rotation direction around the Y axis, which is equivalent to the switch assembly for controlling the pitch movement of the actuator 1. The second switch assembly 322 includes: a contact member 322a, a contact member 322b, a retaining member 322c, and a guide member 322d.

[0107] The contact member 322a is provided with a conductive contact, for example, made of metal. The contact member 322b is provided with a pair of contacts, for example, made of metal, namely, a positive contact and a negative contact. When the operator causes the gripping handle 311 to tilt up its front end, and then the contact on the contact member 322a contacts the positive contact of the contact member 322b, the second switch assembly 322 is triggered, and the unillustrated signal output unit of the posture control device 3 outputs a positive signal to the bracket 2, instructing the bracket 2 to perform a pitching motion to tilt its front end. When the operator causes the gripping handle 311 to sink its front end, and then the contact on the contact member 322a contacts the negative contact of the contact member 322b, the second switch assembly 322 is triggered, and the unillustrated signal output unit of the posture control device 3 outputs a negative signal to the bracket 2, instructing the bracket 2 to perform a pitching motion to sink its front end.

[0108] The retaining member 322c is composed of a potential energy component such as a spring. When the switch portion 32 is not subjected to an external force, the retaining member 322c maintains the contact member 322a in a position where it does not contact the positive contact and the negative contact of the contact member 322b. Since the contact of the contact member 322a and the positive and negative contacts of the contact member 322b are both made of metal, when contact occurs, the circuit is connected, that is, the second switch component 322 is triggered, and thus a trigger signal of the corresponding degree of freedom is generated. When no contact occurs, the circuit is disconnected, that is, the second switch component 322 is not triggered, and thus no signal is generated.

[0109] In the second switch assembly 322, the guide member 322d is the rotation axis of the contact member 322a.

[0110] It is worth noting that the contact piece 321b of the first switch assembly 321 and the contact piece 322a of the second switch assembly 322 are the same component. That is, the contact piece 321b of the first switch assembly 321 also serves as the contact piece 322a of the second switch assembly 322, on which both the positive and negative contacts of the contact piece 321b of the first switch assembly 321 and the contacts of the contact piece 322a of the second switch assembly 322 are arranged. In this way, the structure of the switch part 32 can be made more compact, and the contact piece 321b (contact piece 322a) is used as a connecting piece of the first switch assembly 321 and the second switch assembly 322. Through this connecting piece, while realizing the connection between the first switch assembly 321 and the second switch assembly 322, the force generated when the operator operates the operating part 31 can also be transmitted from the first switch assembly 321 to the second switch assembly 322.

[0111] Further, the first switch assembly 321 is a first-stage switch assembly in the switch section 32, and the second switch assembly 322 is a second-stage switch assembly in the switch section 32. The first switch assembly 321 is a switch assembly of the previous stage of the second switch assembly 322, and the second switch assembly 322 is a switch assembly of the subsequent stage of the first switch assembly 321.

[0112] then, Figure 7 A top view of the third switch assembly 323 is observed along the Z-axis direction. Figure 7 As shown, in this embodiment, the third switch assembly 323 is used to trigger the movement along the X-axis translation direction, which is equivalent to the switch assembly controlling the forward and backward translation of the actuator 1. The third switch assembly 323 includes: a contact member 323a, a contact member 323b, a retaining member 323c, and a guide member 323d.

[0113] The contact member 323a is provided with a conductive contact, for example, made of metal. The contact member 323b is provided with a pair of contacts, for example, made of metal, namely, a positive contact and a negative contact. When the operator pushes the gripping handle 311 forward toward the patient, and then the contact on the contact member 323a contacts the positive contact of the contact member 323b, the third switch assembly 323 is triggered, and the unillustrated signal output unit of the posture control device 3 outputs a positive signal to the bracket 2, indicating that the bracket 2 performs a translational movement forward toward the patient. When the operator pulls the gripping handle 311 backward toward the direction away from the patient, and then the contact on the contact member 323a contacts the negative contact of the contact member 323b, the third switch assembly 323 is triggered, and the unillustrated signal output unit of the posture control device 3 outputs a negative signal to the bracket 2, indicating that the bracket 2 performs a translational movement backward toward the direction away from the patient.

[0114] The retaining member 323c is composed of potential energy components such as a spring. When the switch portion 32 is not subjected to external force, the retaining member 323c keeps the contact member 323a at a position where it does not contact the positive contact and the negative contact of the contact member 323b. Since the contact of the contact member 323a and the positive and negative contacts of the contact member 323b are both made of metal, when contact occurs, the circuit is connected, that is, the third switch component 323 is triggered, and thus a trigger signal of the corresponding degree of freedom is generated. When no contact occurs, the circuit is disconnected, that is, the third switch component 323 is not triggered, and thus no signal is generated.

[0115] Similarly, the contact piece 322b of the second switch assembly 322 and the contact piece 323a of the third switch assembly 323 are the same component. That is, the contact piece 322b of the second switch assembly 322 also serves as the contact piece 323a of the third switch assembly 323, on which both the positive and negative contacts of the contact piece 322b of the second switch assembly 322 and the contacts of the contact piece 323a of the third switch assembly 323 are arranged. Thus, the contact piece 322b (contact piece 323a) can be used as a connecting piece between the second switch assembly 322 and the third switch assembly 323. Through this connecting piece, while the connection between the second switch assembly 322 and the third switch assembly 323 is realized, the force generated when the operator operates the operating part 31 can also be transmitted from the second switch assembly 322 to the third switch assembly 323.

[0116] Likewise, the second switch component 322 is a switch component of a previous stage of the third switch component 323 , and the third switch component 323 is a switch component of a subsequent stage of the second switch component 322 .

[0117] then, Figure 8 3 is a top view of the fourth switch assembly 324 along the Z-axis direction. Figure 8 As shown, in this embodiment, the fourth switch assembly 324 is used to trigger the movement along the Y-axis translation direction, which is equivalent to the switch assembly controlling the left and right translation of the actuator 1. The fourth switch assembly 324 includes: a contact member 324a, a contact member 324b, a retaining member 324c, and a guide member 324d.

[0118] The contact member 324a is provided with a conductive contact, for example, made of metal. The contact member 324b is provided with a pair of contacts, for example, made of metal, namely, a positive contact and a negative contact. Figure 8 When the grip handle 311 is pushed to the left of the patient, and then the contact on the contact member 324a contacts the positive contact of the contact member 324b, the fourth switch assembly 324 is triggered, and the signal output unit (not shown) of the posture control device 3 outputs a positive signal to the bracket 2, instructing the bracket 2 to perform a translational movement toward the left side of the patient. Figure 8 When the holding handle 311 is pushed on the right side of the patient, and then the contact on the contact piece 324a contacts the negative contact of the contact piece 324b, the fourth switch assembly 324 is triggered, and the signal output part (not shown) of the posture control device 3 outputs a negative signal to the bracket 2, instructing the bracket 2 to perform a translational movement toward the right side of the patient.

[0119] The retaining member 324c is composed of a potential energy component such as a spring. When the switch portion 32 is not subjected to an external force, the retaining member 324c maintains the contact member 324a at a position where it does not contact the positive contact and the negative contact of the contact member 324b. Since the contact of the contact member 324a and the positive and negative contacts of the contact member 324b are both made of metal, when contact occurs, the circuit is connected, that is, the fourth switch component 324 is triggered, and thus a trigger signal of the corresponding degree of freedom is generated. When no contact occurs, the circuit is disconnected, that is, the fourth switch component 324 is not triggered, and thus no signal is generated.

[0120] Similarly, the contact member 323b of the third switch assembly 323 and the contact member 324a of the fourth switch assembly 324 are the same component. That is, the contact member 323b of the third switch assembly 323 also serves as the contact member 324a of the fourth switch assembly 324, and both the positive and negative contacts of the contact member 323b of the third switch assembly 323 and the contacts of the contact member 324a of the fourth switch assembly 324 are arranged on it.

[0121] Likewise, the third switch component 323 is a switch component of a previous stage of the fourth switch component 324 , and the fourth switch component 324 is a switch component of a subsequent stage of the third switch component 323 .

[0122] then, Fig. 9 3 is a top view of the fifth switch assembly 325 observed along the Z-axis direction. Fig. 9 As shown, in this embodiment, the fifth switch assembly 325 is used to trigger the movement in the rotation direction around the Z axis, which is equivalent to the switch assembly for controlling the swing of the actuator 1. The fifth switch assembly 325 includes: a contact member 325a, a contact member 325b, a retaining member 325c, and a guiding member 325d.

[0123] The contact member 325a is provided with a conductive contact, for example, made of metal. The contact member 325b is provided with a pair of contacts, for example, made of metal, namely, a positive contact and a negative contact. When the operator twists the grip handle 311 around the Z axis, and then the contact on the contact member 325a contacts the positive contact or the negative contact of the contact member 325b, the fifth switch assembly 325 is triggered, and the signal output unit (not shown) of the posture control device 3 outputs a positive signal or a negative signal to the bracket 2, indicating that the bracket 2 performs a rotational movement around the Z axis.

[0124] The retaining member 325c is composed of a potential energy component such as a spring. When the switch portion 32 is not subjected to an external force, the retaining member 325c maintains the contact member 325a at a position where it does not contact the positive contact and the negative contact of the contact member 325b. Since the contact of the contact member 325a and the positive and negative contacts of the contact member 325b are both made of metal, when contact occurs, the circuit is connected, that is, the fifth switch component 325 is triggered, and thus a trigger signal of the corresponding degree of freedom is generated. When no contact occurs, the circuit is disconnected, that is, the fifth switch component 325 is not triggered, and thus no signal is generated.

[0125] Similarly, the contact member 324b of the fourth switch assembly 324 and the contact member 325a of the fifth switch assembly 325 are the same component. That is, the contact member 324b of the fourth switch assembly 324 also serves as the contact member 325a of the fifth switch assembly 325, and both the positive and negative contacts of the contact member 324b of the fourth switch assembly 324 and the contacts of the contact member 325a of the fifth switch assembly 325 are arranged on it.

[0126] Likewise, the fourth switch component 324 is a switch component of a previous stage of the fifth switch component 325 , and the fifth switch component 325 is a switch component of a subsequent stage of the fourth switch component 324 .

[0127] then, Fig.10 3 is a diagram of the sixth switch assembly 326 viewed along the X-axis direction. The structure of the sixth switch assembly 326 is basically the same as that of the first to fifth switch assemblies 321 to 325. The difference is that, in order to save space, the sixth switch assembly 326 for triggering the movement in the rotation direction along the X-axis is set on the operating part 31. In addition, through such a setting, the rotation movement in the X-axis direction, that is, the twisting, is also easier to operate.

[0128] In summary, the multiple switch components 321-325 of the switch part 32 are stacked in order from top to bottom along the Z axis, and the contact member of the switch component of the previous stage is also used as the contact member of the switch component of the next stage. Thus, the structure can be made more compact, and the connection and force transmission between the multi-stage switch components are realized.

[0129] In addition, preferably, when any one of the multiple switch components 321 to 326 is triggered, the signal output unit outputs a trigger signal to the bracket 2 for a specified time. That is, when any one of the multiple switch components 321 to 326 is triggered, the trigger signal is not always issued, but only lasts for a specified time. This is because continuous action may cause the movement of the actuator 1 to exceed expectations, thereby causing harm to the patient. The operator can gradually adjust the position and posture of the actuator 1 through multiple operations.

[0130] In addition, preferably, when the operator operates the operating part 31, since the posture may not be standard, switch components of multiple dimensions may be triggered at the same time. In this case, it is preferred to output only the electrical signal of the switch component that is triggered first to the bracket 2, because the electrical signal of the switch component that is triggered first usually represents the operator's main operating intention. In addition, the electrical signals of all the triggered switch components can also be output to the bracket 2, so that the action of the actuator 1 is more consistent with the action of the operating part 31. When the triggered and transmitted electrical signal contains a composite signal of multiple degrees of freedom, the composite signal is analyzed in the control unit of the actuator 1 and decomposed into control signals of each degree of freedom that can be executed by the actuator unit. In this way, the signal analysis and transmission that synchronously realizes the complex operating intentions of the operator can be achieved.

[0131] In addition, as mentioned above, at least two contacts indicating movement in different directions are provided in each switch assembly, and contacts indicating more directions may also be provided as required.

[0132] According to the present invention, the operator can adjust the position and posture of the execution instrument 1 more intuitively through the contour-based remote control device, which greatly improves the efficiency of preoperative preparation and reduces the burden on the operator.

[0133] The above describes the embodiments of the present invention, but is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A posture control device for an actuator, used for remotely controlling the movement of the actuator, characterized in that: include: An operating portion, configured in a longitudinal shape for an operator to hold; A switch unit including a plurality of switch components corresponding to the plurality of degrees of freedom; a connecting portion fixedly connected to at least a portion of the operating portion and the switch portion, thereby connecting the operating portion and the switch portion; as well as a signal output unit, which outputs the electrical signal generated by the switch unit to a drive device for adjusting the actuator, When the operator operates the operating unit, the switch component corresponding to the operator's operation in the switch unit is triggered via the connecting unit along with the movement of the operating unit, thereby generating an electrical signal for controlling the movement of the degree of freedom corresponding to the switch component, thereby instructing the driving device of the actuator to make the actuator perform an action synchronized with the operating unit. Any one of the plurality of switch assemblies is configured to include a contact member, a contact point member, and a retaining member. A positive contact and a negative contact are arranged on the contact member. The retaining member holds the contact member at a position where the contact member is not in contact with the positive contact and the negative contact when the contact member is not subjected to external force. The contact piece is movable and is provided with a contact, and can resist the retaining piece under external force so that the contact contacts the positive contact or the negative contact on the contact piece, thereby triggering the switch assembly. The plurality of switch assemblies of the switch portion are stacked in sequence, and are configured into a cascade structure in such a manner that a contact piece of a switch assembly at a previous stage also serves as a contact piece of a switch assembly at a subsequent stage.

2. The posture control device of the actuator according to claim 1, characterized in that: The operating portion is configured in a vertically long shape that follows the shape of the actuator.

3. The posture control device of the actuator according to claim 1 or 2, characterized in that: When the operator operates the operating unit, the signal output unit outputs the electrical signal of the switch component that is triggered first among the plurality of switch components to the driving device that adjusts the actuator.

4. The posture control device of the actuator according to claim 1 or 2, characterized in that: When the operator operates the operating unit, the signal output unit outputs electrical signals of all the triggered switch components among the plurality of switch components to the actuator.

5. The posture control device of the actuator according to claim 1 or 2, characterized in that: When the operator operates the operation unit, the signal output unit outputs the electrical signal of the triggered switch component among the plurality of switch components to the actuator for a predetermined time.

6. The posture control device of the actuator according to claim 1, characterized in that: The positive contact and the negative contact of any one of the plurality of switch assemblies correspond to opposite directions of movement on the degree of freedom controlled by the switch assembly.

7. The posture control device of the actuator according to claim 1 or 2, characterized in that: The switch unit includes six switch components corresponding to six degrees of freedom.

8. The posture control device of the actuator according to claim 1 or 2, characterized in that: The operating portion is also provided with at least one switch component corresponding to a certain degree of freedom.

Images