Main hand clamping mechanism, main operator and medical console

Abstract

This application relates to a master hand gripping mechanism, a master operating hand, and a medical control console. The master hand gripping mechanism includes a first base; two gripping members, each hinged to the first base; the hinge centers of the two gripping members are spaced apart, and the gripping surfaces of the two gripping members face each other; two finger sleeve assemblies, each disposed on a side opposite to the two gripping members; wherein at least one finger sleeve assembly can slide relative to the corresponding gripping member along the extension direction of the gripping member. Thus, when the doctor performs gripping and opening / closing actions, the finger rotates with the gripping member. Because the at least one finger sleeve assembly can move along the extension direction of the gripping member, it can absorb at least part of the inertial force between the finger and the master hand gripping mechanism, reducing the negative impact of the inertial force on the master hand gripping mechanism, thereby improving the master-slave control accuracy and making the surgery more precise.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a master hand gripping mechanism, a master operating hand, and a medical control console. Background Technology

[0002] Surgical robots are highly intelligent products. Medical surgical robots, especially those requiring high accuracy and precision, often employ a master-slave operating structure. This means a surgeon operates the master manipulator, while the slave mechanisms are controlled remotely via communication. For medical robots, this master-slave structure improves surgical precision and convenience, preventing adverse consequences caused by surgeon errors. However, most current master manipulator structures rotate around a fixed axis, allowing for surgeon errors and resulting in inaccurate master-slave control. Summary of the Invention

[0003] Based on this, this application proposes a master hand gripping mechanism, a master operating hand, and a medical control console to address at least one of the above-mentioned problems.

[0004] In a first aspect, embodiments of this application provide a master hand gripping mechanism, including:

[0005] First base;

[0006] Two clamping members are respectively hinged to the first base; the hinge centers of the two clamping members are spaced apart from each other, and the clamping surfaces of the two clamping members are opposite to each other;

[0007] Two finger sleeve assemblies are respectively disposed on the opposite sides of the two clamping members;

[0008] At least one of the finger sleeve components is slidable relative to the corresponding clamping member along the extension direction of the clamping member.

[0009] The master hand gripping mechanism provided in this application embodiment allows at least one finger sleeve assembly to slide relative to the corresponding gripper along the extension direction of the gripper. In this way, when the doctor performs gripping and opening / closing actions, the finger rotates with the gripper. Since the at least one finger sleeve assembly can move along the extension direction of the gripper, it can absorb at least part of the inertial force between the finger and the master hand gripping mechanism, reducing the negative impact of the inertial force on the master hand gripping mechanism, thereby improving the master-slave control accuracy and making the surgery more precise.

[0010] In one embodiment, each of the finger sleeve components can slide relative to the corresponding clamping member along the extension direction of the clamping member.

[0011] In one embodiment, a sliding connector is provided between the finger sleeve assembly and the corresponding clamping member, the sliding connector being used to drive the finger sleeve assembly to slide along the extension direction of the corresponding clamping member.

[0012] In one embodiment, the clamping member is provided with a slide rail, the direction of which is parallel to the extension direction of the clamping member; the sliding connector is a slider, and the finger sleeve assembly is disposed on the slider.

[0013] In one embodiment, the finger sleeve assembly includes:

[0014] The fixed plate is connected to the sliding connector;

[0015] A finger sleeve, a portion of which is sandwiched between the fixed plate and the sliding connector.

[0016] In one embodiment, the clamping member has a connecting end that is hinged to the first base; each clamping member has an engaging portion at its connecting end, and the engaging portions of two clamping members engage with each other.

[0017] In one embodiment, the main gripping mechanism further includes an angle detection element for detecting the rotation angle of the gripping element.

[0018] In one embodiment, at least one of the clamping members has a connecting portion at one end away from the hinge center; the angle detection member is an encoder, and the connecting portion is drive-connected to the encoder.

[0019] Secondly, embodiments of this application provide a master operator, which includes the master gripping mechanism in any embodiment of the first aspect.

[0020] The master hand provided in this application embodiment allows at least one finger sleeve assembly to slide relative to the corresponding clamping member along the extension direction of the clamping member. In this way, when the doctor performs clamping and opening / closing actions, the fingers rotate with the clamping member. Since the at least one finger sleeve assembly can move along the extension direction of the clamping member, it can absorb at least part of the inertial force between the fingers and the master hand clamping mechanism, reduce the negative impact of the inertial force on the master hand clamping mechanism, thereby improving the master-slave control accuracy and making the surgery more precise.

[0021] Thirdly, embodiments of this application provide a medical control console, which includes the main operator described in the second aspect.

[0022] The medical control console provided in this application embodiment allows at least one finger sleeve assembly to slide relative to the corresponding clamping member along the extension direction of the clamping member. In this way, when the doctor performs clamping and opening / closing actions, the finger rotates with the clamping member. Since the at least one finger sleeve assembly can move along the extension direction of the clamping member, it can absorb at least part of the inertial force between the finger and the master hand clamping mechanism, reduce the negative impact of the inertial force on the master hand clamping mechanism, thereby improving the master-slave control accuracy and making the surgery more precise. Attached Figure Description

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the conventional technology, the following briefly introduces the drawings required for use in the embodiments or the conventional technology descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 This is a schematic diagram of the structure of a master operator provided in one embodiment of this application.

[0025] Figure 2 for Figure 1 A partial structural diagram of the main operator is shown.

[0026] Figure 3 for Figure 1 The top view of the master hand gripping mechanism of the master operator shown.

[0027] Figure 4 for Figure 1 A side view of a partial structure of the main operator shown.

[0028] Figure 5 for Figure 1 Axonometric view of a partial structure of the main operator shown.

[0029] Figure 6 for Figure 1 The diagram shows the main hand gripping mechanism of the main operator in the first state.

[0030] Figure 7 for Figure 1 The diagram shows the main hand gripping mechanism of the main operator in the second state.

[0031] Figure 8 for Figure 2 A schematic diagram of another clamping component of the master gripping mechanism shown.

[0032] Explanation of reference numerals in the attached figures:

[0033] 10. Main operator; 11. Main operator gripping mechanism; 111. First base; 1111. Assembly part; 1112. Grip part; 112. Clamping component; 1121. Slide rail; 1122. Connecting end; 1123. Engaging part; 1124. Connecting part; 113. Finger sleeve assembly; 1131. Fixing plate; 1132. Finger sleeve; 114. Sliding connector; 12. Arm assembly; 121. First fixing plate; 122. Second base; 123. Third base; 124. First link; 125. Second link; 126. Third link; 127. Fourth base; 128. Fifth base; 129. Sixth base; 20. Operator. Detailed Implementation

[0034] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0035] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0037] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0038] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0039] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0040] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having,” etc., specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. Meanwhile, in this specification, the term “and / or” includes any and all combinations of the associated listed items.

[0041] As described in the background section, the gripper of the current master manipulator rotates around a fixed axis. During the doctor's gripping and opening / closing process, the relative position between the doctor's hand and the master manipulator changes because the movement path of the fingers is different from the movement trajectory of the gripper. This generates inertial force, which can easily cause the position of the master manipulator to change. Furthermore, since the position information of the master manipulator is transmitted to the end effector at the same time as the gripping action, the positional change of the master manipulator caused by the inertial force can easily lead to inaccurate master-slave control.

[0042] In view of this, embodiments of this application provide a master hand gripping mechanism, a master operating hand, and a medical control console. By allowing at least one finger sleeve assembly to slide relative to the corresponding gripper along the extension direction of the gripper, when the doctor performs gripping and opening / closing actions, the finger rotates with the gripper. Since the at least one finger sleeve assembly can move along the extension direction of the gripper, it can absorb at least part of the inertial force between the finger and the master hand gripping mechanism, reducing the negative impact of the inertial force on the master hand gripping mechanism, thereby improving the master-slave control accuracy and making the surgery more precise.

[0043] Firstly, referring to Figures 1-5 As shown, this application embodiment provides a master hand gripping mechanism 11, which includes a first base 111, two gripping members 112 and two finger sleeve assemblies 113.

[0044] Specifically, two clamping members 112 are respectively hinged to the first base 111. The hinge centers of the two clamping members 112 are spaced apart from each other, and the clamping surfaces of the two clamping members 112 face each other. Two finger sleeve assemblies 113 are respectively disposed on the opposite sides of the two clamping members 112. At least one finger sleeve assembly 113 is slidable relative to the corresponding clamping member 112 along the extending direction of the corresponding clamping member 112.

[0045] Here, it should be noted that the hinge center refers to the rotation center of the clamping member 112. For example, the clamping member 112 is hinged to the first base 111 via a hinge axis. The axis of the hinge axis is the rotation center of the clamping member 112. "Two finger sleeve assemblies 113 are respectively disposed on the opposite side of the two clamping members 112" means that each clamping member 112 has a finger sleeve assembly 113 disposed on the side opposite to the other clamping member 112. By providing the finger sleeve assembly 113, it is convenient for the doctor to insert their finger into the finger sleeve assembly 113, causing the clamping member 112 to rotate.

[0046] The master hand gripping mechanism 11 provided in this application embodiment allows at least one finger sleeve assembly 113 to slide relative to the corresponding gripper 112 along the extension direction of the gripper 112. In this way, when the doctor performs gripping and opening / closing actions, the finger rotates with the gripper 112. Since the at least one finger sleeve assembly 113 can move along the extension direction of the gripper 112, the finger can be displaced along the extension direction of the gripper 112 during rotation. This can absorb at least part of the inertial force generated between the finger and the master hand gripping mechanism 11 due to positional changes, reduce the negative impact of the inertial force on the master hand gripping mechanism 11, improve master-slave control accuracy, and make the surgery more precise.

[0047] In one embodiment, each finger sleeve assembly 113 can slide relative to the corresponding clamp 112 along the extension direction of the clamp 112.

[0048] In this way, both finger sleeve components 113 are slidable. When the doctor performs clamping and opening / closing actions, the two fingers rotate with the clamping member 112. Since both finger sleeve components 113 can move along the extension direction of the clamping member 112, the two fingers can be displaced along the extension direction of the clamping member 112 during rotation. This can absorb all the inertial force generated by the change in position between the hand and the master hand clamping mechanism 11, thereby eliminating the negative impact of the inertial force on the master hand clamping mechanism 11, improving the master-slave control accuracy, and making the surgery more precise.

[0049] Specifically, in combination Figure 6 and Figure 7 As shown, Figure 6 A schematic diagram showing the positions of the finger sleeve assembly 113 and the clamping member 112 before the operator 20 performs the clamping action, wherein each finger sleeve assembly 113 is located in the middle of the corresponding clamping member 112. Figure 7 This is a schematic diagram showing the positions of the finger sleeve assembly 113 and the clamping member 112 after the operator 20 performs a clamping action, wherein each finger sleeve assembly 113 slides to the end of the corresponding clamping member 112.

[0050] In one embodiment, a sliding connector 114 is provided between the finger sleeve assembly 113 and the corresponding clamping member 112. The sliding connector 114 is used to drive the finger sleeve assembly 113 to slide along the extension direction of the corresponding clamping member 112.

[0051] Here, the sliding connector 114 has at least the following functions: on the one hand, it is used to connect the finger sleeve assembly 113 to the clamping member 112; on the other hand, it is used to drive the finger sleeve assembly 113 to move on the clamping member 112.

[0052] In one example, the sliding connector 114 may be a sliding sleeve that is movably fitted onto the clamping member 112. The clamping member 112 is fitted onto the sliding sleeve.

[0053] In one embodiment, the clamping member 112 is provided with a slide rail 1121, the direction of which is parallel to the extension direction of the clamping member 112. The sliding connector 114 is a slider, and the finger sleeve assembly 113 is disposed on the slider.

[0054] In this way, on the one hand, the structure of the main hand clamping mechanism 11 can be simplified, making it easier to manufacture and assemble; on the other hand, the finger sleeve assembly 113 can slide more smoothly on the clamping member 112, reducing the adverse effects of external factors on the sliding of the finger sleeve assembly 113.

[0055] In one embodiment, the finger sleeve assembly 113 includes a fixing plate 1131 and a finger sleeve 1132. The fixing plate 1131 is connected to the sliding connector 114. A portion of the structure of the finger sleeve 1132 is sandwiched between the fixing plate 1131 and the sliding connector 114.

[0056] Specifically, the fixed plate 1131 and the sliding connector 114 can be connected by fasteners, such as pins, screws, or bolts. The fasteners can pass through the finger sleeve 1132 and connect to the fixed plate 1131. The finger sleeve 1132 can be a circular flexible part, such as a plastic finger sleeve 1132 or a cloth finger sleeve 1132.

[0057] In one embodiment, reference Figure 8 As shown, the clamping member 112 has a connecting end 1122, which is hinged to the first base 111. Each clamping member 112 has a meshing part 1123 at its connecting end 1122, and the meshing parts 1123 of two clamping members 112 mesh with each other.

[0058] It is understandable that one end of the clamping member 112 is the connecting end 1122. By providing mutually engaging meshing parts 1123 at the connecting ends 1122 of the two clamping members 112, it is beneficial to keep the two clamping members 112 synchronized, that is, the two clamping members 112 rotate at the same angle. In this way, the master-slave control precision can be improved, thereby improving the surgical accuracy.

[0059] In one embodiment, the master gripping mechanism 11 further includes an angle detection element for detecting the rotation angle of the gripper 112. For example, the angle detection element may be a Hall angle sensor, a photoelectric angle sensor, etc.

[0060] In one embodiment, at least one clamping member 112 has a connecting portion 1124 at its end away from the hinge center. The angle detection member is an encoder, and the connecting portion 1124 is connected to the encoder drive.

[0061] In this way, when the clamping member 112 rotates, the connecting part 1124 of the clamping member 112 drives the encoder to rotate, and the rotation angle of the clamping member 112 can be obtained by the rotation angle of the encoder.

[0062] In one embodiment, reference Figure 2 As shown, the first base includes an assembly portion 1111 and a gripping portion 1112 connected to each other. One end of the assembly portion 1111 is connected to one end of the gripping portion 1112, and the extending direction of the assembly portion 1111 is perpendicular to the extending direction of the gripping portion 1112. Furthermore, both clamping members 112 are assembled on the assembly portion 1111.

[0063] In one embodiment, the gripping part 1112 is provided with an in-place detection element, which is used to detect whether the doctor's hand is on the main hand gripping mechanism 11.

[0064] Based on the descriptions of the above embodiments, more specific embodiments and accompanying drawings are provided below for detailed explanation.

[0065] Reference Figures 1-5 As shown, the master hand gripping mechanism 11 includes a first base 111, two gripping members 112 and two finger sleeve assemblies 113.

[0066] Specifically, two clamping members 112 are respectively hinged to the first base 111. The hinge centers of the two clamping members 112 are spaced apart from each other, and the clamping surfaces of the two clamping members 112 face each other. Two finger sleeve assemblies 113 are respectively disposed on the opposite side of the two clamping members 112. Each finger sleeve assembly 113 can slide relative to the corresponding clamping member 112 along the extending direction of the corresponding clamping member 112.

[0067] Furthermore, a sliding connector 114 is provided between the finger sleeve assembly 113 and the corresponding clamping member 112. The sliding connector 114 is used to drive the finger sleeve assembly 113 to slide along the extension direction of the corresponding clamping member 112.

[0068] Furthermore, the clamping member 112 is provided with a slide rail 1121, the direction of which is parallel to the extension direction of the clamping member 112. The sliding connector 114 is a slider, and the finger sleeve assembly 113 is disposed on the slider.

[0069] Furthermore, the finger sleeve assembly 113 includes a fixing plate 1131 and a finger sleeve 1132. The fixing plate 1131 is connected to the sliding connector 114. A portion of the structure of the finger sleeve 1132 is sandwiched between the fixing plate 1131 and the sliding connector 114.

[0070] Furthermore, the clamping member 112 has a connecting end 1122, which is hinged to the first base 111. Each clamping member 112 has a meshing part 1123 at its connecting end 1122, and the meshing parts 1123 of the two clamping members 112 mesh with each other.

[0071] Furthermore, the master gripping mechanism 11 also includes an angle detection element, which is used to detect the rotation angle of the gripper 112. At least one end of the gripper 112 away from the hinge center is provided with a connecting portion 1124. The angle detection element is an encoder, and the connecting portion 1124 is connected to the encoder drive.

[0072] The master hand gripping mechanism 11 provided in this application embodiment can, on the one hand, absorb all the inertial force generated by the position change between the hand and the master hand gripping mechanism 11, thereby eliminating the negative impact of the inertial force on the master hand gripping mechanism 11, improving the master-slave control accuracy, and making the surgery more precise; on the other hand, it can make the structure of the master hand gripping mechanism 11 simple, easy to manufacture and assemble; and on yet another aspect, it can make the finger sleeve assembly 113 slide more smoothly on the gripper 112, reducing the adverse effects of external factors on the sliding of the finger sleeve assembly 113.

[0073] Secondly, referring to Figure 1 As shown, this application provides a master operator 10, which includes a master hand gripping mechanism 11 in any embodiment of the first aspect.

[0074] Specifically, the main hand gripping mechanism 11 further includes an arm assembly 12, which is mounted on the arm assembly 12. Further, the arm assembly 12 includes a first fixing plate 121, a second base 122, a third base 123, a first connecting rod 124, a second connecting rod 125, a third connecting rod 126, a fourth base 127, a fifth base 128, and a sixth base 129. The second base 122 is rotatably connected to the first fixing plate 121 and is rotatable relative to the first fixing plate 121. The third base 123 is fixedly connected to the second base 122. The first connecting rod 124 is rotatably connected to the third base 123. The second connecting rod 125 is rotatably connected to the third base 123. The third connecting rod 126 is rotatably connected to the second connecting rod 125. The fourth base 127 is rotatably connected to the third connecting rod 126. The fourth base 127 is rotatably connected to the fifth base 128. The fifth base 128 is rotatably connected to the sixth base 129. The first base 111 of the main hand clamping mechanism 11 is rotatably connected to the sixth base 129.

[0075] The master hand 10 provided in this application embodiment allows at least one finger sleeve assembly 113 to slide relative to the corresponding clamping member 112 along the extension direction of the clamping member 112. In this way, when the doctor performs clamping and opening / closing actions, the finger rotates with the clamping member 112. Since the at least one finger sleeve assembly 113 can move along the extension direction of the clamping member 112, the finger can be displaced along the extension direction of the clamping member 112 during rotation. This can absorb at least a portion of the inertial force generated between the finger and the master hand clamping mechanism 11 due to position changes, reduce the negative impact of the inertial force on the master hand clamping mechanism 11, improve the master-slave control accuracy, and make the surgery more precise.

[0076] Thirdly, embodiments of this application provide a medical console, which includes the main operator 10 described in the second aspect.

[0077] The medical control console provided in this application embodiment allows at least one finger sleeve assembly 113 to slide relative to the corresponding clamping member 112 along the extension direction of the clamping member 112. In this way, when the doctor performs clamping and opening / closing actions, the finger rotates with the clamping member 112. Since the at least one finger sleeve assembly 113 can move along the extension direction of the clamping member 112, it can absorb at least part of the inertial force between the finger and the master hand clamping mechanism 11, reducing the negative impact of the inertial force on the master hand clamping mechanism 11, thereby improving the master-slave control accuracy and making the surgery more precise.

[0078] In the description of this specification, the references to terms such as "some embodiments," "other embodiments," "ideal embodiments," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example that are included in at least one embodiment or example of this application. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.

[0079] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features of the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0080] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A master hand gripping mechanism, characterized in that, include: First base (111); Two clamping members (112) are respectively hinged to the first base (111); the hinge centers of the two clamping members (112) are spaced apart from each other, and the clamping surfaces of the two clamping members (112) are opposite to each other; Two finger sleeve assemblies (113) are respectively disposed on opposite sides of the two clamping members (112); At least one of the finger sleeve components (113) is slidable relative to the corresponding clamping member (112) along the extension direction of the clamping member (112).

2. The master hand gripping mechanism according to claim 1, characterized in that, Each of the finger sleeve assemblies (113) can slide relative to the corresponding clamp (112) along the extension direction of the clamp (112).

3. The master hand gripping mechanism according to claim 2, characterized in that, A sliding connector (114) is provided between the finger sleeve assembly (113) and the corresponding clamping member (112), and the sliding connector (114) is used to drive the finger sleeve assembly (113) to slide along the extension direction of the corresponding clamping member (112).

4. The master hand gripping mechanism according to claim 3, characterized in that, The clamping member (112) is provided with a slide rail (1121), and the direction of the slide rail (1121) is parallel to the extension direction of the clamping member (112); the sliding connector (114) is a slider, and the finger sleeve assembly (113) is disposed on the slider.

5. The master hand gripping mechanism according to claim 3, characterized in that, The finger sleeve assembly (113) includes: The fixed plate (1131) is connected to the sliding connector (114); Finger sleeve (1132), a portion of which is sandwiched between the fixed plate (1131) and the sliding connector (114).

6. The master hand gripping mechanism according to claim 1, characterized in that, The clamping member (112) has a connecting end (1122) which is hinged to the first base (111); the connecting end (1122) of each clamping member (112) is provided with an engaging part (1123), and the engaging parts (1123) of the two clamping members (112) engage with each other.

7. The master hand gripping mechanism according to claim 1, characterized in that, The main gripping mechanism (11) also includes an angle detection component, which is used to detect the rotation angle of the gripping component (112).

8. The master hand gripping mechanism according to claim 7, characterized in that, At least one of the clamping members (112) has a connecting portion (1124) at one end away from the hinge center; the angle detection member is an encoder, and the connecting portion (1124) is connected to the encoder in a driving connection.

9. A master operator, characterized in that, Includes the master gripping mechanism (11) as described in any one of claims 1-8.

10. A medical control console, characterized in that, Includes the master operator (10) as described in claim 9.

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