Main hand device and surgical robot

Abstract

The invention relates to the field of medical instruments, in particular to a master manipulator device and a surgical robotic.The master manipulator device is characterized in that a control mechanism is arranged on a handheld part of the master manipulator device and comprises a rotating component and a movable component, and the rotating component can rotate under the action of external force so as to output a first signal outwards; the movable component is arranged on the rotating component and used for driving the rotating component to rotate, and the movable component can be triggered to output a second signal outwards; when the handheld piece is held, the movable component can be controlled by fingers, the fingers can press and rotate the movable component, and then opening, closing and autorotation operation of the main hand device is achieved. The main hand device can be matched with the palm part of an operator, then fingers are released, the operator can achieve opening, closing and automatic control of the control mechanism through the fingers, multiple operations can be achieved with one hand, and compared with a pen-holder-type main hand device, the main hand device is more comfortable and reliable and is not prone to falling off in the using process.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and more particularly to a master hand device and a surgical robot. Background Art

[0002] The robot master hand device is one of the core components of the robot remote control system, and is mainly used for the operator to control the actions of the slave hand robot. The master hand device captures the operator's hand or arm movements and transmits these movements to the slave hand robot in real time to achieve precise remote operation. The master hand device is widely used in medical surgical robots, industrial robots, nuclear power plant maintenance, deep-sea exploration and other fields.

[0003] In the prior art, the master hand devices used in medical surgical robots are mostly pen-type structures. These master hand devices must at least realize the opening and closing and self-rotation operations of the slave hand device. For the existing master hand devices with pen-type structures, they mainly rely on two fingers to drag to realize the opening and closing operations. This operation method will inevitably cause finger fatigue when the operation time is too long. In addition, the pen-type master hand device mainly relies on fingers to grasp. When it is necessary to realize the self-rotation operation, it may be necessary to realize it through the rotation of the wrist. Since the wrist rotation angle is very limited and laborious, it is more difficult to realize the self-rotation of the master hand device. In addition, the movement amplitude of the master hand device is large, which is obviously not conducive to the posture control of the master hand device and will affect the positioning of the slave hand device. In addition, the pen-type master hand device also has the risk of falling off during operation. Based on this, there is a need for a master hand device that is easy to grasp and can conveniently realize the opening and closing and self-rotation operations. Summary of the invention

[0004] In order to solve or at least partially solve the above technical problems, the present application provides a master hand device for controlling the motion of a slave hand device of a surgical robot, comprising:

[0005] A handpiece and a control mechanism disposed on the handpiece;

[0006] The control mechanism comprises:

[0007] A rotating member capable of rotating under an external force to output a first signal externally;

[0008] A movable component, disposed on the rotating component, used to drive the rotating component to rotate, and the movable component can be triggered to output a second signal externally;

[0009] The shape of the handpiece is configured to enable the movable member to be manipulated by fingers when the handpiece is held.

[0010] Optionally, the movable component includes:

[0011] At least one paddle is connected to the rotating member, and the paddle can be pressed to be displaced relative to the rotating member, and outputs the second signal according to the displacement.

[0012] Optionally, the movable component further includes:

[0013] A rotating shaft, the number of the rotating shafts is the same as that of the paddles and they correspond one to one, and the paddles are connected to the rotating member through the rotating shafts to rotate relative to the rotating member;

[0014] A reset component is connected to the paddle and is used to restore the rotation position of the paddle.

[0015] Optionally, the reset assembly is coupled to a plurality of the paddles, so that when one of the paddles is pressed to rotate or reset, the remaining paddles rotate or reset synchronously.

[0016] Optionally, the plurality of paddles are evenly arranged along the circumferential direction of the axis of the rotating member, and during the pressing and resetting process, the plurality of paddles open and close relative to the rotating member.

[0017] Optionally, the paddle includes:

[0018] A first segment connected to the rotating member;

[0019] A second segment is arranged at an angle with the first segment and extends from the first segment to the side where the hand piece is located so as to be pressed;

[0020] The rotating member is at least partially located inside the second segment.

[0021] Optionally, the second segment has a contact surface located at a side away from the rotating member, the contact surface is inclined toward the side where the handpiece is located, and an anti-slip protrusion is arranged on the contact surface.

[0022] Optionally, the width of the second segment of each of the paddles gradually decreases from the side where the first segment is located to the other side, so that the second segments of adjacent paddles can be rotated to meet.

[0023] Optionally, the activity component also includes:

[0024] a distance detection unit disposed between the rotating member and the second segment;

[0025] The second signal includes distance information between the second segment and the rotating member when the second segment rotates, which is acquired by the distance detection unit.

[0026] Optionally, the rotating component further includes:

[0027] An angle detection unit disposed between the rotating member and the handpiece;

[0028] The first signal includes rotation angle information of the rotating member relative to the handpiece acquired by the angle detection unit.

[0029] Optionally, the movable part includes:

[0030] two paddles connected to opposite sides of the rotating member; or,

[0031] Three paddles are distributed on the surface of the rotating member at 120 degrees from each other; or,

[0032] Four paddles are distributed on the surface of the rotating component at 90 degrees to each other.

[0033] Optionally, the reset component includes:

[0034] A guide slider is slidably disposed in the rotating member, and a limiting groove is formed on the surface of the guide slider;

[0035] A spring abutting between the rotating member and the guide slider;

[0036] One end of the paddle extends into the limiting groove, and when the paddle is pressed and rotated, it can push the guide slider to slide, so that the spring deforms and stores energy, and the spring is used to reset the paddle when releasing energy.

[0037] Optionally, the guide slider is arranged at the center of the area surrounded by the plurality of paddles, one end of the guide slider is detachably connected to a limiting block, and a gap between the limiting block and the guide slider forms the limiting groove;

[0038] The limiting groove is arranged around the circumferential surface of the guide slider and is matched with the end portions of the plurality of paddles.

[0039] Optionally, the rotating member further includes:

[0040] a base, rotatably connected to the handpiece;

[0041] A rotating shaft mounting seat, detachably connected to the base, and the paddle is rotatably connected to the rotating shaft mounting seat via the rotating shaft;

[0042] A pressure cover, detachably connected to the shaft mounting seat, wherein the reset assembly is disposed through the pressure cover;

[0043] The end cover is detachably connected to the pressure cover or the rotating shaft mounting seat, and the end cover is provided with a connecting structure for connecting the control connecting rod of the slave device.

[0044] Optionally, the handpiece comprises:

[0045] The gripping portion is configured in a shape such that the movable member can be clamped between a thumb and an index finger when being gripped.

[0046] Optionally, the handpiece further comprises:

[0047] A gear lever connected to the grip portion at an angle;

[0048] An arc-shaped transition surface extending toward opposite sides of the handpiece is formed at the included angle between the grip portion and the gear lever;

[0049] The control mechanism is arranged on a side of the grip portion or the gear lever that is relatively far away from the arc-shaped transition surface.

[0050] Optionally, the thickness of the arc-shaped transition surface at the location is smaller than the thickness of the grip portion and the gear lever.

[0051] Optionally, the handpiece is spherical.

[0052] Optionally, an inertial measurement unit is provided inside the handpiece, and the inertial measurement unit is used to obtain a posture signal of the master hand device and send the posture signal of the master hand device to the slave hand device;

[0053] The surface of the handheld device is provided with one or more of a clutch button, a power button and a touch sensing area; wherein,

[0054] The clutch button or the power button is used to control the connection between the master hand device and the slave hand device;

[0055] The touch sensing area is used for judging whether the handheld device is released from the hand.

[0056] The present application provides a surgical robot, comprising:

[0057] From hand device;

[0058] The master hand device as described above is connected to the slave hand device by wire or wirelessly via a controller;

[0059] The master hand device is used to obtain and send operation information to the slave hand device, and the slave hand device obtains the operation information and performs corresponding surgical actions according to the operation information.

[0060] The master hand device provided by the present application has a control mechanism on the handpiece, and the control mechanism includes a rotating component and a movable component. The rotating component can rotate under the action of an external force to output a first signal to the outside; the movable component is arranged on the rotating component, and is used to drive the rotating component to rotate, and the movable component can be triggered to output a second signal to the outside; when the handpiece is held, the movable component can be controlled by fingers, and the fingers can press and rotate the movable component, thereby realizing the opening and closing and self-rotation operation of the master hand device. Compared with the traditional pen-type master hand device, the master hand device of the present application can cooperate with the palm part of the operator, and does not need to be clamped by fingers alone, thereby releasing the fingers; the control mechanism has the degree of freedom of opening and closing and self-rotation, so that the operator can realize the opening and closing and automatic control of the control mechanism through fingers, and multiple operations can be realized with one hand, especially the self-rotation operation, which can be realized by rotating only two fingers, so that the surgeon can conveniently perform precise rotation actions, the operation is simple, and there is no need for wrist movement, so the self-rotation operation will not interfere with other control actions of the master hand device, which is conducive to the multi-functional integration of the master hand device. The master hand device of the present application is more comfortable and reliable than a pen-type master hand device, and is not easy to fall off during use.

[0061] The surgical robot provided in the present application can realize the opening, closing and rotation of the slave hand device through the above-mentioned master hand device, which is convenient for operation and is conducive to improving the accuracy of surgical action execution of the slave hand device, thereby improving surgical efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the implementation of the present application, the following is a brief introduction to the relevant drawings. It is understood that the drawings described below are only used to illustrate some implementations of the present application, and those skilled in the art can also obtain many other technical features and connection relationships not mentioned in this document based on these drawings.

[0063] Figure 1 This is a schematic diagram of the structure of the main hand device of this application in an open state;

[0064] Figure 2 This is a schematic diagram of the structure of the master hand device in the closed state of the present application;

[0065] Figure 3 This is a schematic diagram of the axial structure of the main hand device of the present application from one viewing angle;

[0066] Figure 4 This is a schematic diagram of the axial structure of the main hand device of the present application from one viewing angle;

[0067] Figure 5 This is a schematic diagram of the axial structure of the main hand device of the present application from one viewing angle;

[0068] Figure 6An exploded schematic diagram of the control mechanism of the main hand device of the present application;

[0069] Figure 7 This is a schematic diagram of the internal structure of the control mechanism of the master hand device of the present application in an open state;

[0070] Figure 8 This is a schematic diagram of the internal structure of the control mechanism of the master hand device of the present application in a closed state.

[0071] Description of reference numerals:

[0072] 10. Hand piece; 11. Grip; 111. Wiring port; 112. Touch sensing area; 113. Clutch button; 12. Gear lever; 121. Power button; 13. Arc transition surface;

[0073] 20. Control mechanism; 21. Base; 211. Distance detection unit; 22. Paddle; 221. First segment; 222. Second segment; 23. Rotating shaft; 24. Guide slider; 25. Spring; 26. Limit block; 27. Limit groove;

[0074] 30. End cap;

[0075] 40. Gland;

[0076] 50. Rotating shaft mounting seat. DETAILED DESCRIPTION

[0077] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0078] In a traditional one-hand-operated pen-type master-hand device, there are buttons on its surface for controlling a slave-hand device. The operator generally touches the pen-type slave-hand device with fingers, for example, pinching the slave-hand device with the cooperation of the thumb, index finger and middle finger. When opening and closing operations are to be performed, it can only be achieved by operating the buttons with fingers. In this way, the operator's fingers have to grasp the master-hand device and perform control operations. The operation is relatively difficult and there is a risk that the master-hand device is easy to fall off.

[0079] If only opening and closing operations are performed, the pen-type master hand device of the prior art can still meet the needs. However, to achieve diversified control of the slave hand device, the master hand device is also required to have a self-rotation operation function. For the pen-type master hand device of the prior art, when grasping, in addition to the main body of the pen being pinched by the fingers, only the upper area of ​​the pen is against the side of the palm (such as the pen holding posture). Obviously, this method is not easy to rotate the pen. Therefore, the traditional pen-type master hand device generally drives the master hand device to rotate by rotating the wrist to realize the self-rotation operation. As we all know, the rotation angle of the wrist is limited, and the rotation operation of the wrist is not easy to control, which can easily cause the master hand device to deviate too much and is also prone to fatigue.

[0080] Even if a rotatable operating structure is provided on the pen-type main hand device, the fingers are restricted by the need to grasp the pen, and the operating space of the fingers is limited, and the operating difficulty is bound to increase, which is not conducive to convenient use by the operator.

[0081] Based on this, the present application will provide the following implementation methods, and combine the drawings in the embodiments of the present application to explain the technical solutions in the embodiments of the present application in detail.

[0082] First embodiment

[0083] This embodiment provides a master hand device, which serves as a control terminal of a surgical robot and is used to control a slave hand device at the end of the surgical robot to implement various surgical actions of the slave hand device.

[0084] like Figures 1 to 5 As shown, the master hand device of this embodiment has a hand piece 10 and a control mechanism 20. The control mechanism 20 is installed on the hand piece 10. The hand piece 10 is used to be grasped by the operator for single-handed control. The control mechanism 20 has at least the functions of opening and closing operation and self-rotation operation to realize the opening and closing and self-rotation operation of the slave hand device.

[0085] In this embodiment, the hand piece 10 can allow at least several fingers of the operator to move freely when the operator holds it. That is to say, the hand piece 10 of this embodiment does not rely entirely on fingers to grasp, but can be grasped by the palm or the cooperation of part of the fingers and the palm. When the hand piece 10 is held by the operator, at least part of the fingers of the operator are free to move, so that the operator can operate the control mechanism 20 with the free fingers, and the opening and closing operation and the self-rotation operation can be realized only by the fingers.

[0086] In this embodiment, the control mechanism 20 is connected to the hand piece 10 by rotation along its own axis, and can be pressed and rotated by the fingers of the operator. The control mechanism 20 is arranged on the side of the hand piece 10 away from the wrist of the operator. When the hand piece 10 is held by the operator, the operator's freely movable fingers are near the control mechanism 20. The operator can easily press and rotate the control mechanism 20 with his fingers, thereby realizing the opening and closing operation and the self-rotation operation.

[0087] The control mechanism 20 includes a rotating component and a movable component; the rotating component is connected to the handpiece 10 by rotation along its own axis, and the rotating component can rotate under the action of an external force to output a first signal to the outside. The movable component is arranged on the rotating component, and is used to drive the rotating component to rotate, and the movable component can be triggered to output a second signal to the outside. The first signal is a signal for the rotation operation, and the second signal is a signal for the opening and closing operation.

[0088] In this embodiment, the shape of the handpiece 10 is configured so that when it is held, the movable member can be manipulated by fingers. The movable member is movably connected to the surface of the rotating member, and the rotating member can be pressed by fingers to move relative to the base 21 and generate a second signal, and can also be rotated to drive the rotating member to rotate and generate a first signal.

[0089] When the handpiece 10 is held by the operator, the operator's fingers can contact the movable components, and the opening and closing operations can be achieved by pressing the movable components with the fingers, and the self-rotation operation can be achieved by rotating the movable components with the fingers to drive the rotating components to rotate. During the operation, the operator's palm contacts and holds the handpiece 10, and the handpiece 10 is not easy to slip and will not interfere with other functions of the main hand device.

[0090] See also Figure 1 and Figure 2 In this embodiment, the hand piece 10 has a gripping portion 11 for cooperating with at least the palm of the operator. When the gripping portion 11 contacts the palm of the operator, the thumb and index finger of the operator can move freely to operate the control mechanism 20.

[0091] The gripping portion 11 can be understood as a portion that can cooperate with the palm of the operator. The gripping portion 11 can be a handle or a portion of a handle; it can be a portion that is grasped by the palm and other fingers except the thumb and index finger, or it can be a portion that can control the handpiece 10 on the hand only by the palm. In the grasping state, the gripping portion 11 at least does not contact the thumb and index finger of the operator, so that the thumb and index finger of the operator can move freely to operate the control mechanism 20.

[0092] In one embodiment, the gripping portion 11 is a portion of the handpiece 10 that is smaller than the palm, and the gripping portion 11 can be clamped at the base of the thumb and the index finger. In this way, the handpiece 10 can be grasped with one hand by clamping the gripping portion 11 at the base of the hand, and the thumb and the index finger can move freely to operate the control mechanism 20 without being affected.

[0093] like Figures 1 to 5 As shown, in one embodiment, the handpiece 10 can be a combination structure of a grip portion 11 and a gear lever 12, the grip portion 11 and the gear lever 12 are connected at an angle, and an arcuate transition surface 13 extending to opposite sides of the handpiece 10 is formed at the angle between the grip portion 11 and the gear lever 12, and the base of the thumb and the index finger can clamp the arcuate transition surface 13 to realize the hand-held main hand device.

[0094] In the figure, the control mechanism 20 is arranged on the side of the grip 11 or the gear lever 12 relatively far from the arc-shaped transition surface 13. When the hand holds the grip 11, the base of the hand clamps the arc-shaped transition surface 13. At this time, only the little finger and the ring finger need to cooperate with the palm to hold the grip 11, and the thumb, index finger and even the middle finger can move freely. The grip 11 and the gear lever 12 are designed at an angle to effectively prevent the handpiece 10 from falling off. In this way, the thumb and index finger can be extended outward to contact the movable component, so as to operate the movable component.

[0095] Furthermore, as an optimized design, the thickness of the arcuate transition surface 13 of the handpiece 10 is smaller than the thickness of the grip portion 11 and the gear lever 12. The thickness of the grip portion 11 needs to ensure that the hand can hold it comfortably, and the thickness of the gear lever 12 needs to ensure that the handpiece 10 is not easy to slip from the hand. At this time, the thickness of the arcuate transition surface 13 is reduced, and the activity space of the thumb and index finger is larger, which is convenient for the operation of the thumb and index finger.

[0096] Of course, in some embodiments, the structure of the handpiece 10 may not adopt the form of the grip portion 11 and the gear lever 12. The handpiece 10 may be an adapter block for contacting the palm of the operator, and the adapter block abuts against the palm of the operator when the operator's fingers contact the control mechanism 20.

[0097] That is to say, an adapter block with a relatively smaller volume than the palm is used, the adapter block is located in the palm and abuts against the palm, and when the thumb and index finger hold the control mechanism 20, the adapter block abuts against the palm, thereby achieving the grip of the handpiece 10.

[0098] Specifically, the adapter block can be a palm ball, and the control mechanism 20 is installed on one side of the palm ball. The palm ball can be surrounded by the palm, and the handpiece 10 can be grasped by holding the palm ball with the palm, and the fingers can not touch the palm ball. In this way, the operation of the control mechanism 20 by the fingers does not interfere with the holding of the palm ball by the palm. Such a design not only realizes the holding and control of the main hand device, but also further simplifies the structure of the main hand device, reduces the volume, and is conducive to the miniaturization of the device.

[0099] The specific structure of the adapter block is not limited to the palm ball, and can also be other shaped components that match the palm, as long as it can meet the needs of the palm holding the main hand device and does not affect the fingers' control of the main hand device. This embodiment does not make the sole limitation.

[0100] Based on the above introduction, compared with the traditional pen-type main hand device, the main hand device of this embodiment can cooperate with the palm part of the operator, without the need to rely solely on fingers to clamp, thereby releasing the fingers; the control mechanism 20 has the freedom of opening and closing and self-rotation, so that the operator can realize the opening and closing and automatic control of the control mechanism 20 through fingers, and multiple operations can be achieved with one hand, especially the self-rotation operation, which can be achieved by rotating only two fingers, so that surgeons can easily perform precise rotation movements, the operation is simple, and no wrist movement is required.

[0101] The rotation operation of the master hand device of this embodiment will not interfere with other control actions of the master hand device, which is conducive to the multi-functional integration of the master hand device. The master hand device of this embodiment is more comfortable and reliable than the pen-type master hand device, and is not easy to fall off during use.

[0102] In this embodiment, a first signal generating module is provided on the rotating component to generate a first signal according to the rotation of the rotating component, and a second signal generating module is provided on the movable component to generate a second signal according to the movement of the movable component relative to the rotating component.

[0103] Of course, the first signal generating module and the second signal generating module can also be elements arranged inside the main hand device, as long as the first signal generating module generates the first signal in response to the deformation caused by pressing the control mechanism 20, and the second signal generating module generates the second signal in response to the rotation angle caused by rotating the control mechanism 20.

[0104] Specifically, the first signal generating module is used to detect the rotation of the rotating component. When the movable component is rotated by the finger, the rotating component is driven to rotate, and the angle of the rotating component relative to the handpiece 10 changes. The first signal generating module generates a first signal in response to the rotation angle of the rotating component. The first signal is the control signal of the rotation operation.

[0105] The second signal generating module is used to detect the movement of the movable member. When the movable member is pressed by a finger, it moves relative to the rotating member. The second signal generating module generates a second signal in response to the moving position of the movable member relative to the rotating member. The second signal is the control signal of the opening and closing operation.

[0106] In one embodiment, the second signal generating module may adopt a Hall element or other distance sensor, and the first signal generating module may be an angle detection unit arranged between the rotating member and the handpiece 10, and the angle detection unit is used to obtain the rotation angle information of the rotating member relative to the handpiece 10.

[0107] In this embodiment, a signal processing module is further provided inside the master hand device, and the signal processing module is used to receive the first signal and the second signal, and process the first signal and the second signal and then send them to the slave hand device.

[0108] The signal processing module includes an encoder, a wireless communication module and a power module. The encoder processes the first signal and the second signal; the wireless communication module includes a wireless signal transmitting unit inside the master hand device and a wireless signal receiving unit inside the slave hand device, which are used to send the processed first signal and the second signal to the slave hand device; the power module supplies power to the first signal generating module, the second signal generating module, the encoder and the wireless communication module.

[0109] The signal processing module of this embodiment may include a signal processing device such as a processor. Its specific working principle and structure belong to conventional technical means in this field and will not be elaborated in this embodiment.

[0110] In one embodiment, an inertial measurement unit is provided inside the handpiece 10, and the inertial measurement unit is used to obtain the position and posture signal of the master hand device. Specifically, the inertial measurement unit can cooperate with the encoder to obtain the position, direction and other information of the master hand device in real time. The signal processing module is electrically connected to the inertial measurement unit, and is used to send the position and posture signal of the master hand device to the slave hand device, thereby controlling the action of the slave hand device, realizing multi-dimensional control, and ensuring the control accuracy of the surgical action.

[0111] The inertial measurement unit may be a device such as a gyroscope. Since the structure and application of the inertial measurement unit belong to the prior art in this field, it is not elaborated in this embodiment.

[0112] like Figure 4As shown, the surface of the hand piece 10 of the present embodiment is provided with a clutch button 113, and the clutch button 113 is used to control the connection between the master hand device and the slave hand device. Since the function key for controlling the clutch of the traditional master hand device is independently installed on the foot pedal, which makes the structure of the master hand device complicated, the clutch button 113 of the present embodiment is arranged on the gripping part 11 of the hand piece 10, and is located at the front end of the gripping part 11 to facilitate finger pressing control.

[0113] like Figure 4 As shown, a touch sensing area 112 is provided on the surface of the hand piece 10 of this embodiment. Specifically, the touch sensing area 112 is located at the front end of the grip portion 11 near the clutch button 113. The touch sensing area 112 is used to determine whether the hand piece 10 is released from the hand.

[0114] The touch sensing area 112 may be a certain part on the gripping portion 11 , which has an electrofusion sensing function. When the gripping portion 11 is gripped by a hand, the touch sensing area 112 is touched to determine whether the gripping portion 11 is released from the hand.

[0115] In one embodiment, the touch sensing area 112 can be replaced by a button, which can realize the hand-off judgment function by pressing the button with a finger, or the button has an electrofusion sensing function, which is embedded in the surface of the grip portion 11. When the hand touches the button, the hand-off judgment function can be realized.

[0116] The so-called hand-off judgment means that when the operator holds the handpiece 10, the touch sensing area 112 is contacted by the finger or palm, and the control system of the surgical robot recognizes that the master hand device is in a grasped state. If the touch sensing area 112 is not contacted by the finger or palm, the control system of the surgical robot recognizes that the master hand device is in an ungrasped state. The design of the touch sensing area 112 improves the intelligence of the master hand device.

[0117] like Figure 5 As shown, a power button 121 is provided on the surface of the handpiece 10 of this embodiment, and the power button 121 is used to control the switch of the wireless communication module, so that the main hand device of this embodiment can freely switch between wired and wireless connection modes.

[0118] Since the power button 121 is not frequently used, the power button 121 is designed on the lower surface of the gear lever 12 .

[0119] The gear lever 12 of the present embodiment has a certain volume. Like the grip portion 11 , its interior can also accommodate devices such as an encoder, a wireless communication module, and a power module to improve the utilization rate of the internal space of the handpiece 10 .

[0120] At the same time, due to the cross-design of the gear handle 12 and the grip portion 11, the hand is held at the intersection of the gear handle 12 and the grip portion 11, and the counterweight of the gear handle 12, the grip portion 11 and the control mechanism 20 evenly distribute the gravity of the main hand device, thereby avoiding the phenomenon of local overweight of the main hand device, which is beneficial for the operator to grasp and control the main hand device and reduce hand fatigue.

[0121] Based on the wired connection mode mentioned above, in this embodiment, Figure 5 As shown, a wiring port 111 is provided at the bottom of the grip portion 11 of the handpiece 10 , and the wiring port 111 is used to be electrically connected to a slave device through a wire for wired transmission of various data.

[0122] Second embodiment

[0123] This embodiment provides a master hand device, which is based on the above embodiment and further describes the structure of the control mechanism 20.

[0124] Based on the fact that the movable component mentioned in the above embodiment can be pressed to move relative to the rotating component, and can also be rotated to drive the rotating component to rotate, this embodiment will provide a specific structure of the movable component.

[0125] In one embodiment, the movable member has at least one paddle 22 , which is connected to the rotating member. The paddle 22 can be pressed to move relative to the rotating member, and output a second signal according to the displacement.

[0126] The paddle 22 can be made of elastic material, one end of which is fixedly connected to the rotating member, and the other end can rebound after being pressed. Therefore, pressing the paddle 22 causes the paddle 22 to move relative to the rotating member, thereby generating a second signal through the detection element between the paddle 22 and the rotating member.

[0127] The paddle 22 may also be configured as an elastic button, which is displaced relative to the rotating member by being pressed, thereby generating a second signal.

[0128] like Figures 1 to 5 As shown, in one embodiment, the movable member includes at least two paddles 22, the rotating member includes a base 21, and the paddles 22 are connected to the base 21 through a rotating shaft 23, and can be pressed to rotate relative to the base 21. The design of at least two paddles 22 allows each finger of the operator in a free state to correspond to a paddle 22, for example, two fingers pinch the two paddles 22 respectively, so that pressing operations and rotating operations can be conveniently performed.

[0129] See also Figure 7 and Figure 8The paddle 22 extends toward the axial direction of the base 21, and the rotating shaft 23 is perpendicular to the axial direction of the base 21. In this way, the paddle 22 is pressed and rotated around the rotating shaft 23 to achieve an opening and closing movement relative to the base 21. In the axial direction of the rotating shaft 23, the paddle 22 and the base 21 are relatively fixed, and rotating the paddle 22 can simultaneously drive the base 21 to rotate.

[0130] In this embodiment, the paddle 22 is connected to a reset assembly, which is used to reset the paddle 22 after rotation. When the operator presses the paddle 22 with his finger, the paddle 22 rotates toward the base 21. When the pressure is reduced or the finger is released, the paddle 22 performs a reset movement under the action of the reset assembly.

[0131] It is worth mentioning that in this embodiment, the reset assembly is coupled to multiple paddles 22 so that when one of the paddles 22 is pressed to rotate or reset, the remaining paddles 22 rotate or reset synchronously, ensuring that the second signals obtained when the multiple paddles 22 rotate relative to the base 21 are consistent.

[0132] Regarding the position design of the plurality of paddles 22 , in this embodiment, the plurality of paddles 22 are evenly arranged along the circumferential direction of the axis of the base 21 , and when the paddles 22 are pressed and reset, the plurality of paddles 22 are simultaneously opened or closed relative to the base 21 .

[0133] like Figure 6 As shown, in one embodiment, the control mechanism 20 of the master hand device has an end cover 30 , a pressure cover 40 and a rotating shaft mounting seat 50 in addition to the base 21 and the plurality of paddles 22 .

[0134] The shaft mounting seat 50 is an annular member, detachably connected to one end of the base 21, and has a plurality of mounting locations for mounting the shafts 23, and is rotatably connected to a plurality of paddles 22 via a plurality of shafts 23. The shafts 23 have different axial directions and are arranged around the base 21, so that the plurality of paddles 22 surround the outside of the base 21.

[0135] The pressure cover 40 is also an annular member, corresponding to the shaft mounting seat 50, and the pressure cover 40 is detachably connected to the shaft mounting seat 50, and is used to close the area where the shaft 23 is installed inside the shaft 23. The pressure cover 40 can also be used to install the reset assembly mentioned above. Specifically, the pressure cover 40 has a through channel for the reset movement of the reset assembly.

[0136] The end cap 30 is arranged on the outside of the pressure cap 40, and is detachably connected to the pressure cap 40 or the shaft mounting seat 50. A connecting structure for connecting the control connecting rod of the slave hand device is arranged on the end cap 30. In other words, the end cap 30 can be connected to the control connecting rod of the slave hand device. When the operator drags the master hand device to move, the master hand device drives the connecting rod of the control connecting rod of the slave hand device to move, and the action of the master hand device is mapped to the slave hand device, thereby realizing the surgical action of the slave hand device.

[0137] In one embodiment, the reset assembly includes a guide slider 24 and a spring 25. The guide slider 24 is slidably disposed in the base 21. A limiting groove 27 is formed on the surface of the guide slider 24. The spring 25 abuts between the base 21 and the guide slider 24. One end of the paddle 22 extends into the limiting groove 27. At this time, the paddle 22 is equivalent to a lever, and the shaft 23 is the fulcrum of the lever. When one end of the paddle 22 is pressed and rotated, the other end tilts up and pushes the guide slider 24 to slide, so that the spring 25 deforms and stores energy. When the pressure on the paddle 22 is reduced or cancelled, the spring 25 releases energy to drive the paddle 22 to reset.

[0138] See also Figures 6 to 8 In one embodiment, the reset assembly includes a guide slider 24 , a spring 25 and a limit block 26 .

[0139] The guide slider 24 is arranged at the center position of the area surrounded by multiple paddles 22. The guide slider 24 can be slidably arranged in the channel through which the pressure cover 40 passes. One end of the guide slider 24 is detachably connected to the limiting block 26. The gap between the limiting block 26 and the guide slider 24 forms a limiting groove 27; the limiting groove 27 is arranged around the circumferential surface of the guide slider 24 and cooperates with the end limit of multiple paddles 22.

[0140] The other end of the guide slider 24 abuts against the spring 25 , and the spring 25 extends from the channel of the pressure cover 40 and abuts against the end cover 30 .

[0141] like Figure 7 and Figure 8 As shown, when the outer end of any one of the paddles 22 is pressed, the paddle 22 rotates around the rotating shaft 23. Based on the principle of lever, the rotating paddle 22 pushes the guide slider 24 to slide along its axis, and the spring 25 is squeezed and deformed. In this process, the sliding of the guide slider 24 drives all the paddles 22 to rotate, so that all the paddles 22 move synchronously. At this time, all the paddles 22 rotate toward the surface of the base 21 to achieve the closing movement. When the pressing of the paddle 22 is cancelled, or the pressing force is less than the elastic force of the spring 25, the spring 25 performs a reset movement, the spring 25 extends and pushes the guide slider 24 to reset, and the guide slider 24 drives all the paddles 22 to reset. At this time, all the paddles 22 rotate in the direction away from the base 21 to achieve the opening movement.

[0142] During the opening and closing movement of the paddle 22, the distance between the paddle 22 and the surface of the base 21 changes, and the second signal generating module is installed on the paddle 22 and the base 21 to detect the distance information between the paddle 22 and the base 21, thereby obtaining the second signal. In some embodiments, the slave device adopts the structure of a clamp or scissors, and the first signal is used to control the opening and closing movement of the clamp or scissors.

[0143] Therefore, the master hand device of this embodiment only needs the operator to pinch and release the paddle 22 to realize the opening and closing action of the slave hand device, which is easy to operate.

[0144] like Figure 7 and Figure 8 As shown, each paddle 22 of this embodiment has a first segment 221 and a second segment 222. The first segment 221 is rotatably connected to the base 21 or the shaft mounting seat 50 via the shaft 23; the second segment 222 is arranged at an angle to the first segment 221 and extends from the first segment 221 to the side where the handpiece 10 is located, so as to be touched by the fingers of the operator.

[0145] In this embodiment, the second segment 222 is closer to the handpiece 10 and is the part that the operator's finger contacts, and is used to be pressed and rotated. The base 21 is at least partially located inside the second segment 222. The second signal generating module can be two associated distance detection units 211, one of which is arranged on the inside of the second segment 222 and the other is arranged on the surface of the base 21. The distance detection unit 211 is used to obtain the distance information between the second segment 222 and the base 21 when rotating.

[0146] In this embodiment, the second segment 222 is tilted toward the handpiece 10 as a whole, or the second segment 222 has a contact surface located away from the base 21, and the contact surface is tilted toward the handpiece 10. The tilted setting of the second segment 222 is convenient for finger contact and easy manipulation.

[0147] See also Figure 7 and Figure 8 When the second segment 222 is opened, the axes of the second segment 222 and the base 21 are parallel to each other, and at least the second segment 222 is not inclined toward one side of the end cover 30, so that the finger can easily touch the contact surface at the beginning; after the second segment 222 is pressed, its inclination toward the handpiece 10 gradually increases.

[0148] Preferably, anti-slip protrusions are provided on the contact surface to facilitate stable contact between the fingers and the second segment 222, and facilitate pressing and rotating operations.

[0149] Furthermore, in this embodiment, the width of the second segment 222 of each paddle 22 gradually decreases from the side where the first segment 221 is located to the other side. Figure 2 On the basis of the inclined setting of the second segment 222, the width of the end of the second segment 222 close to the handpiece 10 is smaller than the width of the end close to the first segment 221. In this way, when the paddle 22 rotates, the second segments 222 of adjacent paddles 22 can rotate to abut against each other and form a joint state, thereby playing a role of locking and reminding the operator that the pressing operation of the paddle 22 is in place.

[0150] In one embodiment, two paddles 22 are provided, and the two paddles 22 are arranged in pairs along the axis of the base 21 . The two paddles 22 are used to be pressed and rotated by two fingers of the operator, and the operator can perform the operation by pinching the paddle 22 with the thumb and index finger.

[0151] In one embodiment, three paddles 22 are provided, and the three paddles 22 are distributed on the surface of the base 21 at 120 degrees to each other. The three paddles 22 are evenly arranged around the outer side of the base 21. The operator can pinch the paddles 22 with any two of the thumb, index finger and middle finger to perform the operation, or pinch the three paddles 22 with the thumb, index finger and middle finger respectively to perform the operation. The three-finger operation may be more stable.

[0152] In one embodiment, four paddles 22 are provided, and the four paddles 22 are distributed on the surface of the base 21 at 90 degrees to each other, and the four paddles 22 are arranged in pairs along the axis of the base 21, and the four paddles 22 are used to be pressed and rotated by at least two fingers of the operator. The operator can pinch two opposite paddles 22 by the thumb and index finger to operate.

[0153] In one embodiment of the present application, the operator holds a master hand device in his left hand and a master hand device in his right hand respectively, and controls the two master hand devices separately by his left and right hands, thereby realizing independent surgical actions of the two slave hand devices.

[0154] According to the above description, the control mechanism 20 formed by the multiple paddles 22 provided in this embodiment can be easily controlled by finger contact while realizing rotation operation and self-rotation operation. The operation is simple, the palm and fingers are not prone to fatigue, the stability is good, and it conforms to ergonomics, bringing convenience and ease to the operator.

[0155] Third embodiment

[0156] This embodiment provides a surgical robot, which includes a slave hand device and a master hand device as mentioned in the above embodiment, wherein the slave hand device and the master hand device can be connected by wire or wirelessly.

[0157] The surgical robot also includes a controller, the master hand device is connected to the controller via a cable, and the controller is connected to the slave hand device via a cable.

[0158] Of course, the master hand device can also be connected to the controller by wireless connection, and the controller is wirelessly connected to the slave hand device, and the controller includes a wireless communication module.

[0159] The controller of this embodiment is the signal processing module mentioned in the above embodiment. The controller can be arranged inside the slave device or outside the master device and the slave device.

[0160] In this embodiment, the master hand device is used to obtain and send operation information to the slave hand device, and the slave hand device obtains the operation information and performs corresponding surgical actions according to the operation information.

[0161] The operation information includes a second signal generated by pressing the paddle 22 on the master hand device, and a first signal generated by rotating the paddle 22 to rotate the base 21. The slave hand device may be a surgical clamp, and when the slave hand device receives the first signal, the surgical clamp performs an opening and closing action, and when the slave hand device receives the second signal, the surgical clamp performs a self-rotation action.

[0162] At the same time, the master hand device as a whole can also be rotated or dragged, and the posture information is transmitted to the surgical clamp through the inertial measurement unit or the operating link of the slave hand device, so that the surgical clamp performs corresponding movement adjustment.

[0163] The surgical robot provided in this embodiment can at least realize the opening and closing and self-rotation actions of the slave hand device through the above-mentioned master hand device, which is convenient for operation and is beneficial to improving the accuracy of surgical action execution of the slave hand device, thereby improving surgical efficiency and safety.

[0164] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0165] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0166] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. 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 embodiment of the present invention. 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 may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0167] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A master hand device, used for motion control of a slave hand device of a surgical robot, characterized in that: include: A hand piece (10) and a control mechanism (20) arranged on the hand piece (10); The control mechanism (20) comprises: A rotating member capable of rotating under an external force to output a first signal externally; A movable component, disposed on the rotating component, used to drive the rotating component to rotate, and the movable component can be triggered to output a second signal externally; The shape of the handpiece (10) is configured to enable the movable member to be manipulated by fingers when it is held.

2. The master hand device according to claim 1, characterized in that: The active component comprises: At least one paddle (22) is connected to the rotating member, and the paddle (22) can be pressed to cause displacement relative to the rotating member, and output the second signal according to the displacement amount.

3. The master hand device according to claim 2, characterized in that: The active component also includes: Rotating shafts (23), the rotating shafts (23) being the same in number and corresponding to the paddles (22), and the paddles (22) being connected to the rotating member via the rotating shafts (23) so as to rotate relative to the rotating member; A reset component is connected to the paddle (22) and is used to restore the rotational position of the paddle (22).

4. The master hand device according to claim 3, characterized in that: The reset component is coupled to a plurality of the paddles (22) so that when one of the paddles (22) is pressed to rotate or reset, the remaining paddles (22) are rotated or reset synchronously.

5. The master hand device according to claim 4, characterized in that: The plurality of paddles (22) are evenly arranged along the circumferential direction of the axis of the rotating component, and during the pressing and resetting process, the plurality of paddles (22) open and close relative to the rotating component.

6. The master hand device according to claim 2, characterized in that: The plectrum (22) comprises: A first segment (221) connected to the rotating member; A second segment (222) is arranged at an angle with the first segment (221) and extends from the first segment (221) to the side where the handpiece (10) is located so as to be pressed; The rotating member is at least partially located inside the second segment (222).

7. The master hand device according to claim 6, characterized in that: The second segment (222) has a contact surface located at a side away from the rotating member, the contact surface is inclined toward the side where the handpiece (10) is located, and an anti-slip protrusion is arranged on the contact surface.

8. The master hand device according to claim 6, characterized in that: The width of the second segment (222) of each of the paddles (22) gradually decreases from the side where the first segment (221) is located to the other side, so that the second segments (222) of adjacent paddles (22) can be rotated to meet.

9. The master hand device according to claim 6, characterized in that: The active components also include: a distance detection unit (211) disposed between the rotating member and the second segment (222); The second signal includes distance information between the second segment (222) and the rotating member when the second segment (222) rotates, which is acquired by the distance detection unit (211).

10. The master hand device according to claim 2, characterized in that: The rotating member also includes: An angle detection unit disposed between the rotating member and the handpiece (10); The first signal includes the rotation angle information of the rotating component relative to the handpiece (10) acquired by the angle detection unit.

11. The master hand device according to claim 5, characterized in that: The active component comprises: two paddles (22) connected to opposite sides of the rotating member; or, Three paddles (22) are distributed on the surface of the rotating member at 120 degrees from each other; or, Four paddles (22) are distributed on the surface of the rotating component at 90 degrees to each other.

12. The master hand device according to claim 4, characterized in that: The reset component comprises: A guide slider (24) is slidably disposed in the rotating member, and a limiting groove (27) is formed on the surface of the guide slider (24); A spring (25) abuts between the rotating member and the guide slider (24); One end of the paddle (22) extends into the limiting groove (27), and when the paddle (22) is pressed and rotated, it can push the guide slider (24) to slide, so that the spring (25) is deformed to store energy, and the spring (25) is used to reset the paddle (22) when releasing energy.

13. The master hand device according to claim 12, characterized in that: The guide slider (24) is arranged at the center position of the area surrounded by the plurality of paddles (22); one end of the guide slider (24) is detachably connected to a limiting block (26); and a gap between the limiting block (26) and the guide slider (24) forms the limiting groove (27); The limiting groove (27) is arranged around the circumferential surface of the guide slider (24) and is matched with the end portions of the plurality of paddles (22) for limiting purposes.

14. The master hand device according to claim 3, characterized in that: The rotating member further comprises: A base (21) rotatably connected to the handpiece (10); A rotating shaft mounting seat (50) is detachably connected to the base (21), and the paddle (22) is rotatably connected to the rotating shaft mounting seat (50) via the rotating shaft (23); A pressure cover (40) is detachably connected to the rotating shaft mounting seat (50), and the reset assembly is disposed through the pressure cover (40); The end cover (30) is detachably connected to the pressure cover (40) or the rotating shaft mounting seat (50), and the end cover (30) is provided with a connecting structure for connecting the control connecting rod of the slave device.

15. The master hand device according to any one of claims 1 to 14, characterized in that: The handpiece (10) comprises: A gripping portion (11) is configured such that when the gripping portion (11) is gripped, the movable member can be gripped by a thumb and an index finger.

16. The master hand device according to claim 15, characterized in that: The handpiece (10) further comprises: A gear lever (12) connected to the grip portion (11) at an angle; An included angle between the grip portion (11) and the gear lever (12) forms an arc-shaped transition surface (13) extending toward opposite sides of the handpiece (10); The control mechanism (20) is arranged on a side of the grip portion (11) or the gear lever (12) that is relatively far away from the arc-shaped transition surface (13).

17. The master hand device according to claim 16, characterized in that: The thickness of the arc-shaped transition surface (13) at the location thereof is smaller than the thickness of the grip portion (11) and the gear lever (12).

18. The master hand device according to any one of claims 1 to 14, characterized in that: The hand piece (10) is spherical.

19. The master hand device according to any one of claims 1 to 14, characterized in that: An inertial measurement unit is disposed inside the handpiece, and the inertial measurement unit is used to obtain a posture signal of the master hand device and send the posture signal of the master hand device to the slave hand device; The surface of the handheld device (10) is provided with one or more of a clutch button (113), a power button (121) and a touch sensing area (112); wherein: The clutch button (113) or the power button (121) is used to control the connection between the master hand device and the slave hand device; The touch sensing area (112) is used for judging whether the handheld device has been released from the hand.

20. A surgical robot, characterized in that: include: From hand device; The master hand device according to any one of claims 1 to 19, connected to the slave hand device by wire or wirelessly via a controller; The master hand device is used to obtain and send operation information to the slave hand device, and the slave hand device obtains the operation information and performs corresponding surgical actions according to the operation information.

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