Input device and surgical robot

Abstract

The invention provides input equipment and a surgical robot. The input equipment comprises a fixed base, a rotating support, an opening and closing device, a first connecting piece, a first light reflecting piece and a first light sensor. The rotating support can rotate around the central axis relative to the fixed base. The opening and closing device is arranged on the rotating support and can be opened and closed relative to the rotating support. The first connecting piece is connected with the opening and closing device and can move in the direction parallel to the central axis relative to the fixed base along with the opening and closing action of the opening and closing device. The first light reflecting piece is connected to the first connecting piece. The first light sensor is fixed to the fixed base. The first light sensor and the first light reflecting part are oppositely arranged. The first light sensor is configured to detect a light intensity signal of light reflected by the first light reflecting part. The first light sensor is used for being electrically connected to a signal processing device. The opening and closing angle of the opening and closing device is determined through the optical signal, and the opening and closing device is not easily influenced by temperature; the structure is simple and the operation is convenient.

Description

Technical Field

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

[0002] Surgical robots are mainly used in minimally invasive abdominal surgeries, orthopedics and other surgeries. They belong to the third category, the highest level of medical equipment, and must strictly comply with relevant medical safety standards.

[0003] Most medical surgical robots use a master-slave control architecture. A surgeon controls a master hand, such as an operating device, and controls the movements of a slave hand, such as an end effector, through remote communication and a computer. For example, a surgeon controls an end effector, such as a forceps, scissors, or clamp, by opening and closing the gripper's jaws on an input device.

[0004] The opening and closing angle of the input device's gripper is a crucial control input parameter, so its measurement accuracy and stability are extremely important. Specifically, the doctor directly controls the instrument's movements by manipulating the main operator, placing high demands on the accuracy, environmental stability, and reliability of the motion detection of the main operator, especially the gripper. Furthermore, the gripper's range of motion must conform to human operating habits, and the amplitude of movement must be limited. This effectively requires detection within a small range of motion and displacement, placing high demands on detection accuracy. Summary of the Invention

[0005] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention of this application is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0006] To at least partially solve the above problems, the present application provides an input device in a first aspect, the input device comprising:

[0007] Fixed base;

[0008] A rotating bracket, the rotating bracket being rotatable around a central axis relative to the fixed base;

[0009] an opening and closing device, the opening and closing device being provided on the rotating bracket and being openable and closable relative to the rotating bracket;

[0010] a first connecting member connected to the opening and closing device and capable of moving relative to the fixed base in a direction parallel to the central axis as the opening and closing device opens and closes;

[0011] a first reflective member connected to the first connecting member; and

[0012] A first light sensor, the first light sensor is fixed to the fixed base, the first light sensor is arranged opposite to the first reflective element, the first light sensor is configured to detect a light intensity signal of light reflected by the first reflective element, the first light sensor is used to be electrically connected to a signal processing device to send the detected light intensity signal to the signal processing device, so that the signal processing device determines the opening angle of the opening and closing device according to the light intensity signal.

[0013] According to the input device of the first aspect of the present application, a first reflector is connected to a first connecting member, and a first light sensor is connected to a fixed base. Since the first reflector and the first light sensor are arranged relative to each other, the light intensity signal of the light reflected by the first reflector can be detected by the first light sensor. In the application state where the first light sensor is connected to the signal processing device, the signal processing device determines the opening angle of the opening and closing device based on the light intensity signal, that is, the light intensity signal detected by the first light sensor can be used as the data basis for the signal processing device to determine the opening angle of the opening and closing device. Since the present application determines the opening and closing angle of the opening and closing device through a light signal, it is not easily affected by temperature compared to the related art that uses magnetic field detection. The present application has a simple structure and helps to simplify the operating requirements, thereby improving operating efficiency and operating experience.

[0014] Optionally, the first reflective member is rotatably arranged relative to the fixed base in a circumferential direction around the central axis;

[0015] The first connecting member is fixed relative to the rotating bracket in a circumferential direction around the central axis.

[0016] Optionally, the first reflective member is fixed relative to the fixed base in a circumferential direction around the central axis;

[0017] The first connecting member is fixed relative to the rotating bracket in a circumferential direction around the central axis, and the first connecting member is rotatably connected to the first reflecting member around the central axis.

[0018] Optionally, the first light sensor is spaced apart from the first reflective element along a direction parallel to the central axis.

[0019] Optionally, the first light sensor and the first reflective element are arranged on the same straight line parallel to the central axis.

[0020] Optionally, the input device further includes an angle detection device, and the angle detection device includes:

[0021] A measured element, wherein the measured element is fixed relative to the rotating bracket and can rotate around the central axis along with the rotating bracket;

[0022] A detection device, wherein the detection device is arranged corresponding to the measured element in a direction parallel to the central axis, the detection device is configured to detect an angle signal of the measured element rotating around the central axis relative to the detection device, and the detection device is used to be electrically connected to the signal processing device to send the angle signal to the signal processing device, so that the signal processing device determines the angle of rotation of the rotating bracket relative to the fixed base according to the angle signal.

[0023] Optionally, the detection device is spaced apart from the measured element along a direction parallel to the central axis.

[0024] Optionally, the detection device and the measured element are arranged on the same straight line parallel to the central axis.

[0025] Optionally, the angle detection device is a rotary encoder, which includes a code disk and an optical chip. The code disk is configured as the measured element, and the optical chip is configured as the detection device.

[0026] Optionally, the input device further includes:

[0027] a second connecting member, the second connecting member being movably arranged relative to the fixed base and the rotating bracket in a direction parallel to the central axis;

[0028] an operating member, the operating member being fixedly connected to the second connecting member and movable relative to the rotating bracket to a disconnecting position and a conducting position in a direction parallel to the central axis;

[0029] a second reflective member connected to the second connecting member so as to move with the second connecting member; and

[0030] A second light sensor, the second light sensor is fixedly arranged relative to the fixed base, the second light sensor is arranged opposite to the second reflective element, the second light sensor is configured to detect a first light intensity signal of the light reflected by the second reflective element when the operating element is in the disconnected position and a second light intensity signal of the light reflected by the second reflective element when the operating element is in the on position, the second light sensor is used to be electrically connected to the signal processing device to send the first light intensity signal and the second light intensity signal to the signal processing device, so that the signal processing device outputs a disconnection signal according to the first light intensity signal and outputs a conduction signal according to the second light intensity signal, the disconnection signal is used to disconnect the communication between the input device and the end actuator, and the on signal is used to conduct the communication between the input device and the end actuator.

[0031] Optionally, the input device further comprises an elastic member connected to the second connecting member, and the elastic member is used to apply an elastic force to the second connecting member so that the operating member moves toward the disconnected position.

[0032] Optionally, the second reflector and the second light sensor are spaced apart in a direction parallel to the central axis.

[0033] Optionally, the second reflective element and the second light sensor are on the same straight line parallel to the central axis.

[0034] Optionally, the first reflector and the second reflector are located between the first light sensor and the second light sensor, and the first reflector and the second reflector are spaced apart from each other in a direction parallel to the central axis.

[0035] Optionally, the first connecting member is configured as a first connecting shaft, the second connecting member is configured as a second connecting shaft, the second connecting shaft is a hollow shaft, and the second connecting shaft is sleeved on the outside of the first connecting shaft.

[0036] Optionally, the axis of at least one of the first connecting shaft and the second connecting shaft coincides with the central axis.

[0037] Optionally, the fixed base and / or the rotating bracket is provided with a guide hole, and the guide hole extends in a direction parallel to the central axis;

[0038] The first connecting member, the second connecting member, the first reflecting member and the second reflecting member can be movably inserted into the guide hole.

[0039] Optionally, the guide hole includes a first guide hole provided on the fixed base and a second guide hole provided on the rotating bracket, and central axes of the first guide hole and the second guide hole coincide with each other;

[0040] The first reflective element and the second reflective element are located in the first guide hole.

[0041] Optionally, the rotating bracket is provided with a third guide hole, the third guide hole extending in a direction parallel to the central axis, and the third guide hole communicating with the outside of the rotating bracket in a direction intersecting the central axis;

[0042] The operating member is movably disposed in the third guide hole along a direction parallel to the central axis, and at least a portion of the operating member protrudes from the outer surface of the rotating bracket.

[0043] Optionally, the input device further includes:

[0044] A first light emitting element is configured to emit light toward the first light reflecting member.

[0045] Optionally, the input device further includes:

[0046] A second light emitting element is configured to emit light toward the second light reflecting member.

[0047] Optionally, the input device further includes:

[0048] a second connecting member, the second connecting member being movably arranged relative to the fixed base and the rotating bracket in a direction parallel to the central axis;

[0049] an operating member connected to the second connecting member, and movable relative to the rotating bracket to a disconnecting position and a conducting position in a direction parallel to the central axis;

[0050] A capacitor, the capacitor comprising:

[0051] a first metal portion connected to the second connector to move with the second connector; and

[0052] a second metal portion, the second metal portion being spaced apart from the first metal portion in a direction parallel to the central axis, and the second metal portion being fixed relative to the fixed base;

[0053] The capacitor is configured to detect a first voltage signal when the operating member is in the disconnected position and to detect a second voltage signal when the operating member is in the connected position. The capacitor is used to be electrically connected to the signal processing device to send the first voltage signal and the second voltage signal to the signal processing device, so that the signal processing device outputs a disconnect signal according to the first voltage signal and outputs a connected signal according to the second voltage signal. The disconnect signal is used to disconnect the communication between the input device and the end actuator, and the connected signal is used to connect the communication between the input device and the end actuator.

[0054] Optionally, the input device also includes a temperature sensor, which is arranged at a position close to the first light sensor, and the temperature sensor is configured to detect a temperature signal at the first light sensor. The temperature sensor is used to be electrically connected to the signal processing device to send the temperature signal to the signal processing device, so that the signal processing device corrects the opening angle of the opening and closing device determined according to the light intensity signal according to the temperature signal.

[0055] A second aspect of the present application provides an input device, the input device comprising:

[0056] Fixed base;

[0057] A rotating bracket, the rotating bracket being rotatable around a central axis relative to the fixed base;

[0058] an opening and closing device, the opening and closing device being provided on the rotating bracket and being elastically openable and closable relative to the rotating bracket;

[0059] An angle detection device, the angle detection device comprising:

[0060] A measured element, wherein the measured element is fixed relative to the rotating bracket and can rotate around the central axis along with the rotating bracket;

[0061] A detection device is arranged in a direction parallel to the central axis corresponding to the measured element, and the detection device is configured to detect an angle signal of the measured element rotating around the central axis relative to the detection device. The detection device is used to be electrically connected to a signal processing device to send the angle signal to the signal processing device, so that the signal processing device determines the angle of rotation of the rotating bracket relative to the fixed base according to the angle signal.

[0062] According to the second aspect of the present application, an angle detection device is provided, specifically by fixing the element under test relative to the rotating bracket, and the detection device is provided corresponding to the element under test, so that the detection device detects an angle signal of the element under test rotating about its central axis relative to the detection device. When the detection device is connected to a signal processing device, the signal processing device can determine the angle of rotation of the rotating bracket relative to the fixed base based on the angle signal detected by the detection device.

[0063] A third aspect of the present application provides an input device, the input device comprising:

[0064] Fixed base;

[0065] A rotating bracket, the rotating bracket being rotatable around a central axis relative to the fixed base;

[0066] an opening and closing device, the opening and closing device being provided on the rotating bracket and being elastically openable and closable relative to the rotating bracket;

[0067] a second connecting member, the second connecting member being movably arranged relative to the fixed base and the rotating bracket in a direction parallel to the central axis;

[0068] an operating member, the operating member being fixedly connected to the second connecting member and movable relative to the rotating bracket to a disconnecting position and a conducting position in a direction parallel to the central axis;

[0069] a second reflective member connected to the second connecting member so as to move with the second connecting member; and

[0070] A second light sensor, the second light sensor is fixed relative to the fixed base, the second light sensor is arranged opposite to the second reflective element, the second light sensor is configured to detect a first light intensity signal of the light reflected by the second reflective element when the operating element is in the disconnected position and a second light intensity signal of the light reflected by the second reflective element when the operating element is in the on position, the second light sensor is used to be electrically connected to a signal processing device to send the first light intensity signal and the second light intensity signal to the signal processing device, so that the signal processing device outputs a disconnection signal according to the first light intensity signal and outputs a conduction signal according to the second light intensity signal, the disconnection signal is used to disconnect the communication between the input device and the end actuator, and the conduction signal is used to conduct the communication between the input device and the end actuator.

[0071] According to the input device of the third aspect of the present application, an operating member is provided that can be operated to move to an off position and an on position. In the process of moving the operating member, the second reflector and the second connecting member can be driven to move, thereby changing the distance between the second reflector and the second light sensor, and further changing the light intensity signal detected by the second light sensor. When the operating member is in the off position, the second light sensor can detect a first light intensity signal; when the operating member is in the on position, the second light sensor can detect a second light intensity signal. In the application state where the second light sensor is connected to a signal processing device, the signal processing device can output a disconnection signal according to the first light intensity signal and a conduction signal according to the second light intensity signal. The disconnection signal can be used to disconnect the communication connection between the input device and the end actuator, and the conduction signal can be used to conduct the communication connection between the input device and the end actuator. By adopting the above-mentioned technical means, the communication connection state between the input device and the end actuator can be more conveniently controlled.

[0072] A fourth aspect of the present application provides an input device, the input device comprising:

[0073] Fixed base;

[0074] A rotating bracket, the rotating bracket being rotatable around a central axis relative to the fixed base;

[0075] an opening and closing device, the opening and closing device being provided on the rotating bracket and being elastically openable and closable relative to the rotating bracket;

[0076] a second connecting member, the second connecting member being movably arranged relative to the fixed base and the rotating bracket in a direction parallel to the central axis;

[0077] an operating member connected to the second connecting member, and movable relative to the rotating bracket to a disconnecting position and a conducting position in a direction parallel to the central axis;

[0078] A capacitor, the capacitor comprising:

[0079] a first metal portion connected to the second connector to move with the second connector; and

[0080] a second metal portion, the second metal portion being spaced apart from the first metal portion in a direction parallel to the central axis, and the second metal portion being fixed relative to the fixed base;

[0081] The capacitor is configured to detect a first voltage signal when the operating member is in the disconnected position and to detect a second voltage signal when the operating member is in the connected position. The capacitor is used to be electrically connected to a signal processing device to send the first voltage signal and the second voltage signal to the signal processing device, so that the signal processing device outputs a disconnection signal according to the first voltage signal and outputs a connection signal according to the second voltage signal. The disconnection signal is used to disconnect the communication between the input device and the end actuator, and the connection signal is used to connect the communication between the input device and the end actuator.

[0082] According to the input device of the fourth aspect of the present application, an operating member and a capacitor are additionally provided, specifically, the first metal part of the capacitor is connected to the second connecting member to move with the second connecting member, and the second metal part of the capacitor is fixed relative to the fixed base. The operating member can be operated to move to an off position and an on position. When the operating member moves to the off position, the capacitor can detect a first voltage signal; when the operating member moves to the on position, the capacitor can detect a second voltage signal. In the application state where the capacitor is connected to the signal processing device, the signal processing device can output a disconnection signal according to the first voltage signal and a conduction signal according to the second voltage signal. The disconnection signal can be used to disconnect the communication connection between the input device and the end actuator, and the conduction signal can be used to conduct the communication connection between the input device and the end actuator. By adopting the above-mentioned technical means, the communication connection state between the input device and the end actuator can be more conveniently controlled.

[0083] A fifth aspect of the present application provides a surgical robot, comprising:

[0084] An input device according to the above; and

[0085] A signal processing device is connected to the first light sensor, and is configured to receive a light intensity signal detected by the first light sensor and determine an opening angle of the opening and closing device according to the light intensity signal.

[0086] According to the surgical robot of the fifth aspect of the present application, by applying the input device of the first aspect mentioned above and by connecting the signal processing device to the first light sensor of the input device, the signal processing device can receive the light intensity signal detected by the first light sensor and determine the opening angle of the opening and closing device based on the light intensity signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0087] The following drawings of the embodiments of the present application are hereby incorporated as part of the present application for understanding the present application. The drawings show the embodiments of the present application and their descriptions, and are used to explain the principles of the present application. In the drawings,

[0088] Figure 1 Schematic diagram of the structure of a surgical robot according to a preferred embodiment of the present application;

[0089] Figure 2 for Figure 1 Schematic diagram of the structure of the patient-side robot;

[0090] Figure 3 A stereoscopic view of an input device according to a preferred embodiment of the present application;

[0091] Figure 4 For the Figure 3 A sectional view taken along line AA in FIG.

[0092] Figure 5 For the Figure 3 Another cross-sectional view taken along line AA in FIG.

[0093] Figure 6 For the Figure 3 A sectional view taken along line BB in FIG.

[0094] Figure 7 For the Figure 3 Another cross-sectional view taken along line BB in FIG.

[0095] Figure 8 A perspective view of an input device according to another preferred embodiment of the present application; and

[0096] Figure 9 This is a simplified structural diagram of a main operator according to an embodiment of the present application.

[0097] Description of reference numerals:

[0098] 10: Doctor's console 11: Main operator

[0099] 12: First rotation joint 13: Platform connecting arm

[0100] 14: Wrist connecting arm 15: Input handle

[0101] 100: Fixed base 101: First guide hole

[0102] 110: Rotating bracket 111: Second guide hole

[0103] 112: Third guide hole 120: Opening and closing device

[0104] 121: Clamping claw 130: First connecting member

[0105] 140: First reflector 150: First light sensor

[0106] 160: Angle detection device 161: Measured element

[0107] 162: Detection device 170: Second connecting member

[0108] 171: operating member 172: elastic member

[0109] 180: Second reflector 190: Second light sensor

[0110] 191: Transmission 20: Patient-side robot

[0111] 21: Robotic arm 22: Second rotation joint

[0112] 23: Adjust the connecting arm 24: Operate the connecting arm

[0113] 25: Instrument support 30: Imaging system

[0114] AX: Central axis DETAILED DESCRIPTION

[0115] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it will be apparent to those skilled in the art that the present application embodiments can be implemented without one or more of these details. In other examples, some technical features well known in the art are not described to avoid confusion with the present application embodiments.

[0116] In order to fully understand the embodiments of the present application, a detailed structure will be presented in the following description. Obviously, the implementation of the embodiments of the present application is not limited to the specific details familiar to those skilled in the art.

[0117] It should be understood that the terminology used herein is intended only to describe specific embodiments and is not intended to limit the present application. The singular forms "a," "an," and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. When the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the described features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.

[0118] Ordinal numbers such as "first" and "second" used in this application are merely identifiers and do not convey any other meaning, such as a specific order. Furthermore, for example, the term "first component" itself does not imply the existence of a "second component," nor does the term "second component" itself imply the existence of a "first component." It should be noted that the terms "upper," "lower," "front," "back," "left," "right," "inner," "outer," and similar expressions used in this application are for illustrative purposes only and are not limiting.

[0119] Hereinafter, specific embodiments of the present application will be described in more detail with reference to the accompanying drawings. These drawings illustrate representative embodiments of the present application and do not limit the present application.

[0120] See also Figure 1 、 Figure 2 as well as Figure 9 According to an embodiment of the present application, the surgical robot system is a robot system that can be remotely controlled to complete surgery, which may include a doctor's control console 10 and a patient-side robot 20.

[0121] The doctor's console 10 may include a display unit for displaying the surgical instrument environment, a doctor's operation control mechanism and armrests, etc. The operation control mechanism here can also be called an input device. The operation control mechanism usually includes at least one main manipulator 11 (also called a control arm, main robotic arm, etc.), and the doctor can control the action of the patient-side robot 20 by operating the main manipulator 11 to perform the surgical operation. In other words, the main manipulator serves as one of the input devices of the doctor's console 10. The main manipulator 11 usually includes a multi-stage first connecting arm connected in sequence, and the two adjacent first connecting arms can be rotatably connected by a first rotating joint. In one example, see Figure 9, the first connecting arm may include a platform connecting arm 13 and a wrist connecting arm 14. The platform connecting arm 13 is usually configured in a rod shape; the wrist connecting arm 14 is usually configured in an elbow shape. Furthermore, the main manipulator 11 may also include an input handle 15 (such as a fingertip clamp), which can be rotatably connected to the last-level wrist connecting arm through the first rotating joint 12. The input handle 15 here can also be called an opening and closing device. In addition, the doctor's console is also provided with other control switches that are convenient for hands or feet to touch or press, which are used to perform various functional operations and complete human-computer interaction.

[0122] The patient-side robot 20 may include at least one robotic arm 21 (also referred to as a slave robotic arm), which receives instructions from the doctor's console 10 to move in order to achieve the pitch and / or yaw of the surgical instrument connected to the end of the robotic arm. The robotic arm 21 generally includes multiple second connecting arms connected in sequence, and two adjacent second connecting arms can be rotatably connected through a second rotating joint 22. In one example, see Figure 2 , the second connecting arm may include an adjustment connecting arm 23 and an operation connecting arm 24. Furthermore, the robotic arm 21 may also include an instrument support frame 25, which is rotatably connected to the final operation connecting arm 24 through a second rotation joint 22. The surgical instrument or endoscope is detachably mounted on the instrument support frame 25. An instrument driving device may also be provided on the instrument support frame 25, and the driving device receives instructions from the doctor's control console 10 to drive the surgical instrument to perform insertion, rotation, clamping and other actions. In addition, the patient-side robot 20 may also include a base, a column is provided on the base, and at least one robotic arm 21 that can be raised and lowered relative to the base is provided on the column. A handle may also be provided on the base, and the operator can use the handle to assist in completing the movement of the base.

[0123] Furthermore, the surgical robot may further include an imaging system 30. The imaging system 30 includes a display screen, an endoscope controller, system electronic equipment, an image processor, and the like.

[0124] Among the aforementioned input devices, the opening and closing angle of the input handle 15 serves as a crucial input parameter for controlling the patient-side robot 20, so its measurement accuracy and stability are extremely important. Specifically, the physician directly controls the execution of the instrument's movements by manipulating the main manipulator 11. Therefore, high requirements are placed on the main manipulator 11, especially the input handle, for motion detection accuracy, environmental stability, and reliability. Furthermore, the motion range of the input handle 15 must conform to human operating habits, and the amplitude of movement must not be excessive. This effectively requires detection within a small range of motion and displacement, placing high demands on detection accuracy.

[0125] The existing technology uses a Hall effect sensor. The operating angle of the input handle 15 of the master operator 11 is converted into the displacement of a magnet through structural design, that is, the magnet moves closer or farther away from the Hall effect sensor. This is used to determine the movement changes of the input handle 15 of the master operator 11. However, magnets are affected by the physical properties of the material. For example, the magnetic field strength of the magnet changes with temperature. This can lead to inaccurate detection of the movement of the input handle 15, affecting the ultimate control of the instrument. Therefore, ensuring accurate measurement of the opening and closing angle of the input handle 15 is one of the important conditions for achieving precise control of the robotic arm and surgical instruments to successfully complete the surgical operation.

[0126] See below Figures 3 to 7 The example shown is used to explain the input device according to the present application in detail.

[0127] See Figures 3 to 7 One embodiment of the present application provides an input device. The input device may include a fixed base 100, a rotating bracket 110, an opening and closing device 120, a first connecting member 130, a first reflector 140, and a first light sensor 150. The rotating bracket 110 is rotatable around a central axis AX relative to the fixed base 100. The opening and closing device 120 is provided on the rotating bracket 110 and is openable and closable relative to the rotating bracket 110. The first connecting member 130 is connected to the opening and closing device 120 and is capable of moving relative to the fixed base 100 in a direction parallel to the central axis AX as the opening and closing device 120 opens and closes. The first reflector 140 is connected to the first connecting member 130. The first light sensor 150 is fixed to the fixed base 100. The first light sensor 150 is arranged opposite to the first reflector 140. The first light sensor 150 is configured to detect a light intensity signal of light reflected by the first reflector 140. The first light sensor 150 is configured to be electrically connected to a signal processing device (not shown) to send a detected light intensity signal to the signal processing device, so that the signal processing device determines the opening angle of the opening and closing device 120 according to the light intensity signal.

[0128] According to the input device of the present application, a first reflector 140 is connected to the first connector 130, and a first light sensor 150 is connected to the fixed base 100. Since the first reflector 140 and the first light sensor 150 are arranged opposite each other, the first light sensor 150 can detect the light intensity signal of the light reflected by the first reflector 140. When the first light sensor 150 is connected to a signal processing device, the signal processing device determines the opening angle of the opening and closing device 120 based on the light intensity signal. In other words, the light intensity signal detected by the first light sensor 150 can be used as data for the signal processing device to determine the opening angle of the opening and closing device 120. Because the present application determines the opening and closing angle of the opening and closing device 120 based on the light intensity signal, it is less susceptible to temperature effects than the related art method that uses magnetic field detection. The present application has a simple structure and helps simplify operational requirements, thereby improving operational efficiency and user experience. The present application effectively solves the problem of magnetic field detection methods in the related art being easily affected by temperature. The technical solution of the present application ensures that detection accuracy is not affected by temperature during testing, calibration, and use. This technical solution has a simple structure, reduces the requirements for operating position accuracy, and simplifies operating requirements.

[0129] For example, see Figure 6 , the first reflector 140 is located near the first light sensor 150. Figure 7 , the first reflector 140 is located away from the first light sensor 150. The first light sensor 150 can detect different light intensity signals when the first reflector 140 is at different positions along the central axis AX. Generally, the light intensity detected by the first light sensor 150 is weaker when the first light sensor 150 is farther away from the first reflector 140 than when the first light sensor 150 is closer to the first reflector 140.

[0130] In one example, the first reflector 140 is rotatably disposed relative to the fixed base 100 in a circumferential direction about the central axis AX. The first connector 130 is fixedly disposed relative to the rotating bracket 110 in a circumferential direction about the central axis AX. It should be understood that when an operator or user rotates the rotating bracket 110, the rotating bracket 110 can drive the first reflector 140 to rotate via the first connector 130. In this application scenario, the outer contour of the first reflector 140 can be circular.

[0131] In another example, the first reflector 140 is fixedly disposed relative to the fixed base 100 in a circumferential direction about the central axis AX. The first connecting member 130 is fixedly disposed relative to the rotating bracket 110 in a circumferential direction about the central axis AX. Furthermore, the first connecting member 130 is rotatably connected to the first reflector 140 about the central axis AX. That is, the first reflector 140 cannot rotate relative to the fixed base 100 along with the first connecting member 130 and the rotating bracket 110. Here, the outer contour of the first reflector 140 is non-circular.

[0132] See Figures 4 to 7 For example, the first light sensor 150 is spaced apart from the first reflector 140 along a direction parallel to the central axis AX. This effectively prevents the first light sensor 150 and the first reflector 140 from interfering with each other when they approach each other along the central axis AX, thereby protecting the first light sensor 150 and the first reflector 140.

[0133] Optionally, the first light sensor 150 and the first reflector 140 are arranged on the same straight line parallel to the central axis AX, which is conducive to rationally utilizing the radial space inside the input device and reducing the radial outer size of the input device.

[0134] Continue reading Figures 4 to 7 In addition, the input device may further include an angle detection device 160. The angle detection device 160 may include a measured element 161 and a detection device 162. The measured element 161 is fixed relative to the rotating bracket 110 and can rotate around the central axis AX with the rotating bracket 110. The detection device 162 is arranged corresponding to the measured element 161 along a direction parallel to the central axis AX. The detection device 162 can be fixed relative to the fixed base 100. That is, the detection device 162 can be directly or indirectly connected to the fixed base 100. The detection device 162 is configured to detect an angle signal of the measured element 161 rotating around the central axis AX relative to the detection device 162. The detection device 162 is used to be electrically connected to a signal processing device to send an angle signal to the signal processing device, so that the signal processing device determines the angle of rotation of the rotating bracket 110 relative to the fixed base 100 based on the angle signal. By arranging the measured element 161 and the detection device 162 to cooperate with each other to form the angle detection device 160 , the deflection angle of the rotating bracket 110 can be detected when the rotating bracket 110 rotates relative to the fixed base 100 .

[0135] Furthermore, the detection device 162 is spaced apart from the measured element 161 along a direction parallel to the central axis AX. Spacing the detection device 162 and the measured element 161 along the central axis AX helps prevent interference such as friction between the detection device 162 and the measured element 161 during their relative rotation, thereby protecting the detection device 162 and the measured element 161.

[0136] Optionally, the detection device 162 and the measured element 161 are arranged on the same straight line parallel to the central axis AX, which is conducive to rationally utilizing the internal radial space of the input device and reducing the radial outer size of the input device.

[0137] For example, angle detection device 160 may be a rotary encoder. The rotary encoder may include a code disk and an optical chip. The code disk is configured as measured element 161. The optical chip is configured as detection device 162. In other words, angle detection device 160 employs an optical encoder. This also, to a certain extent, prevents detection accuracy from being affected by temperature changes.

[0138] Continue reading Figures 4 to 7 As an example of the present application for controlling the input device and the end effector, the input device may further include a second connecting member 170, an operating member 171, a second reflective member 180, and a second light sensor 190. The second connecting member 170 is movably provided relative to the fixed base 100 and the rotating bracket 110 along a direction parallel to the central axis AX. The operating member 171 is fixedly connected to the second connecting member 170. The operating member 171 is movable relative to the rotating bracket 110 along a direction parallel to the central axis AX to a disconnected position (such as Figure 4 as shown) and the conduction position (as shown Figure 5 As shown). The second reflector 180 is connected to the second connecting member 170 so as to move with the second connecting member 170. The second light sensor 190 is fixedly arranged relative to the fixed base 100. The second light sensor 190 is arranged opposite to the second reflector 180. The second light sensor 190 is configured to detect a first light intensity signal of the light reflected by the second reflector 180 when the operating member 171 is in the disconnected position, and a second light intensity signal of the light reflected by the second reflector 180 when the operating member 171 is in the on position. The second light sensor 190 is used to be electrically connected to the signal processing device to send the first light intensity signal and the second light intensity signal to the signal processing device, so that the signal processing device outputs a disconnect signal according to the first light intensity signal and outputs a on signal according to the second light intensity signal. The disconnect signal here is used to disconnect the communication between the input device and the end actuator. The on signal is used to conduct the communication between the input device and the end actuator.

[0139] According to the present application, by configuring operating member 171 to be operable to move between an off position and an on position, movement of operating member 171 can cause movement of second reflector 180 and second connector 170, thereby changing the distance between second reflector 180 and second light sensor 190, and thereby altering the light intensity signal detected by second light sensor 190. When operating member 171 is in the off position, second light sensor 190 can detect a first light intensity signal; when operating member 171 is in the on position, second light sensor 190 can detect a second light intensity signal. When second light sensor 190 is connected to a signal processing device, the signal processing device can output an off signal based on the first light intensity signal and an on signal based on the second light intensity signal. The off signal can be used to disconnect the communication connection between the input device and the end effector, while the on signal can be used to connect the communication connection between the input device and the end effector. By employing these technical measures, the communication connection between the input device and the end effector can be more conveniently controlled.

[0140] Continue reading Figures 4 to 7 In addition, the input device may further include an elastic member 172. The elastic member 172 is connected to the second connecting member 170. The elastic member 172 is used to apply an elastic force to the second connecting member 170 to move the operating member 171 toward the disconnected position. The addition of the elastic member 172 enables the operating member 171 to automatically return to the disconnected position, making operation more convenient and flexible.

[0141] Alternatively, the elastic member 172 may be configured as a compression spring.

[0142] For example, two or more second light sensors 190 can be provided. This description uses two second light sensors 190 as an example. The two first light sensors 150 are symmetrically positioned on either side of the central axis AX. In the free state, the second reflector 180 is at its greatest distance from the second light sensor 190, and the communication connection between the input device and the end effector is disconnected. When the operating member 171 drives the second reflector 180, the distance between them decreases. When the distance decreases beyond a set value, the communication connection between the input device and the end effector transitions to a conductive state. Precise control of the position of the operating member 171 is unnecessary; simply move the button to the end of the third guide hole 112 parallel to the central axis AX. When the operating button is released, the elastic force of the elastic member 172 resets the second reflector 180, increasing the distance between the second light sensor 190 and the end effector. This operation method of controlling the communication connection state between the input device and the end-effector by moving the operating member 171 simplifies the operation.

[0143] Furthermore, the second reflector 180 and the second light sensor 190 are spaced apart in a direction parallel to the central axis AX. By arranging the second reflector 180 and the second light sensor 190 at a distance from each other, it is possible to prevent the second reflector 180 and the second light sensor 190 from interfering with each other, such as collision, when the second reflector 180 and the second light sensor 190 are close to each other, thereby protecting the second reflector 180 and the second light sensor 190.

[0144] Optionally, the second reflector 180 and the second light sensor 190 are on the same straight line parallel to the central axis AX, which is conducive to rationally utilizing the radial space inside the input device and reducing the radial outer size of the input device.

[0145] Continue reading Figures 4 to 7 For example, the first reflector 140 and the second reflector 180 are located between the first light sensor 150 and the second light sensor 190. Furthermore, the first reflector 140 and the second reflector 180 are spaced apart from each other in a direction parallel to the central axis AX. This arrangement facilitates the rational arrangement of the first reflector 140, the second reflector 180, the first light sensor 150, and the second light sensor 190 in the axial direction, thereby improving the utilization of the axial space and making the input device more compact in a direction parallel to the central axis AX.

[0146] Continue reading Figures 4 to 7 For example, the first connecting member 130 is configured as a first connecting shaft. The second connecting member 170 is configured as a second connecting shaft. The second connecting shaft is a hollow shaft. The second connecting shaft is sleeved outside the first connecting shaft. This improves the radial space utilization of the first and second connecting shafts, making the radial structure more compact and reasonable.

[0147] Furthermore, the axis of at least one of the first connecting shaft and the second connecting shaft coincides with the central axis AX, which can further improve the radial space utilization and radial structural compactness of the first connecting shaft and the second connecting shaft.

[0148] exist Figures 4 to 7 In the example shown, the axes of the first connecting shaft and the second connecting shaft coincide with the central axis AX, which can further improve the radial space utilization and radial structural compactness of the first connecting shaft and the second connecting shaft.

[0149] Continue reading Figures 4 to 7For example, at least one of the fixed base 100 and the rotating bracket 110 is provided with a guide hole. That is, the guide hole may be located solely on one of the fixed base 100 and the rotating bracket 110, or may be located partially on both the fixed base 100 and the rotating bracket 110. The guide hole extends parallel to the central axis AX. The first connecting member 130, the second connecting member 170, the first reflector 140, and the second reflector 180 are movably disposed through the guide hole. The guide hole may be a clearance space provided to accommodate the movement of the first connecting member 130, the second connecting member 170, the first reflector 140, and the second reflector 180 along the central axis AX, or it may be a guiding structure provided to facilitate the movement of the first connecting member 130, the second connecting member 170, the first reflector 140, and the second reflector 180 along the central axis AX. The function of the guiding structure may include that of the clearance space.

[0150] Continue reading Figures 4 to 7 Furthermore, the guide hole may include a first guide hole 101 provided on the fixed base 100 and a second guide hole 111 provided on the rotating bracket 110. The central axis AX of the first guide hole 101 and the second guide hole 111 coincide with each other. The first reflector 140 and the second reflector 180 are located in the first guide hole 101. The first light sensor 150 may be installed at an end of the first guide hole 101 away from the second guide hole 111. The second light sensor 190 may be installed at an end of the first guide hole 101 close to the second guide hole 111. The above-mentioned first connecting member 130 is passed through the first guide hole 101 and the second guide hole 111. The above-mentioned second connecting member 170 is passed through the first guide hole 101 and the second guide hole 111.

[0151] Continue reading Figures 4 to 7 For example, the rotating bracket 110 is provided with a third guide hole 112. The third guide hole 112 extends in a direction parallel to the central axis AX. The third guide hole 112 is connected to the outside of the rotating bracket 110 in a direction intersecting the central axis AX. The operating member 171 is movably provided in the third guide hole 112 along a direction parallel to the central axis AX. And at least part of the operating member 171 protrudes from the outer surface of the rotating bracket 110. By providing the third guide hole 112 and installing the operating member 171 in the third guide hole 112, the guiding and cooperating effect of the third guide hole 112 on the operating member 171 can be utilized to guide the moving path of the operating member 171, thereby improving the accuracy and convenience of the operating member 171 when being operated.

[0152] In addition, the input device may further include a first light emitting element configured to emit light toward the first light reflecting member 140 .

[0153] For example, the first light emitting element can be disposed at the first light sensor 150. Thus, light can be emitted from the first light sensor 150, and then the light reflected by the first reflector 140 can be received by the first light sensor 150. The first light emitting element here can be an infrared light emitting element.

[0154] Optionally, the infrared light emitting element serving as the first light emitting element can be co-located with the first light sensor 150 on a single board or chip. The light sensor incorporates both infrared light emitting and infrared light intensity receiving functions, sharing the same chip. The movement of the opening and closing device 120 mechanically translates into a change in the distance between the first light sensor 150 and the first reflector 140. The distance between the first reflector 140 and the first light sensor 150 affects the intensity of the reflected light. The infrared light emitting element can be a light-emitting diode (LED) that emits light in the infrared spectrum. The intensity of the light emitted by the LED is affected by a driving voltage and a current-limiting resistor. The first light sensor 150, serving as the infrared light intensity receiving element, can be a phototransistor. The phototransistor works in conjunction with an external series resistor to convert the received light intensity into an analog voltage for output. The signal processing device determines the distance between the first light sensor 150 and the first reflector 140 based on the detected analog voltage, thereby calculating the opening and closing angle of the opening and closing device 120.

[0155] In addition, the input device may further include a second light emitting element configured to emit light toward the second light reflecting member 180 .

[0156] For example, the second light emitting element may be provided at the second light sensor 190 . In this way, light may be emitted from the second light sensor 190 , and then the light reflected by the second light reflecting member 180 may be received by the second light sensor 190 .

[0157] Optionally, the second light sensor 190 and the second light emitting element may also be implemented with reference to the first light sensor 150 and the first light emitting element described above.

[0158] Combine Figures 4 to 7As another example of the present application for controlling the input device and the end actuator, the input device may further include a second connecting member 170, an operating member 171 and a capacitor. The second connecting member 170 is movably arranged relative to the fixed base 100 and the rotating bracket 110 along a direction parallel to the central axis AX. The operating member 171 is connected to the second connecting member 170, and the operating member 171 is movable to an off position and a on position relative to the rotating bracket 110 along a direction parallel to the central axis AX. The capacitor includes a first metal part (not shown) and a second metal part (not shown). The first metal part is connected to the second connecting member 170 to move with the second connecting member 170. The second metal part is spaced apart from the first metal part along a direction parallel to the central axis AX. The second metal part is fixed relative to the fixed base 100. The capacitor is configured to detect a first voltage signal when the operating member 171 is in the off position, and to detect a second voltage signal when the operating member 171 is in the on position. The capacitor is electrically connected to a signal processing device to transmit a first voltage signal and a second voltage signal to the signal processing device, causing the signal processing device to output a disconnect signal based on the first voltage signal and a connection signal based on the second voltage signal. The disconnect signal disconnects communication between the input device and the end effector. The connection signal connects communication between the input device and the end effector. Structurally, the first metal portion replaces the second reflector 180, and the second metal portion replaces the second light sensor 190.

[0159] For example, the first metal portion can be a copper-plated area, a copper-plated surface, or a metal-plated surface. Correspondingly, the second metal portion can also be a copper-plated area, a copper-plated surface, or a metal-plated surface. The change in capacitance resulting from the change in distance between the two metal portions serves as data for controlling the communication connection status between the input device and the end-effector.

[0160] In addition, the input device may further include a temperature sensor (not shown). The temperature sensor is disposed near the first light sensor 150. The temperature sensor is configured to detect a temperature signal at the first light sensor 150. The temperature sensor is electrically connected to the signal processing device to transmit a temperature signal to the signal processing device, so that the signal processing device can correct the opening angle of the opening and closing device 120 determined based on the light intensity signal based on the temperature signal.

[0161] The detection of the first light sensor 150 is also affected to some extent by temperature. Although this effect is less severe than that of a Hall effect sensor, compensation for temperature deviations is still necessary when achieving high detection accuracy. Therefore, a temperature sensing resistor can be placed near the first light sensor 150 to serve as a temperature sensor. The signal processing device should compensate for this when calculating distance information based on the real-time temperature data detected by the temperature sensor.

[0162] See Figures 3 to 7 Another embodiment of the present application provides an input device. The input device may include a fixed base 100, a rotating bracket 110, an opening and closing device 120, and an angle detection device 160. The rotating bracket 110 is rotatable relative to the fixed base 100 about a central axis AX. The opening and closing device 120 is disposed on the rotating bracket 110 and elastically opens and closes relative to the rotating bracket 110. The angle detection device 160 includes a measured element 161 and a detection device 162. The measured element 161 is fixed relative to the rotating bracket 110 and is capable of rotating with the rotating bracket 110 about the central axis AX. The detection device 162 is disposed in a direction parallel to the central axis AX corresponding to the measured element 161. The detection device 162 is configured to detect an angle signal indicating the rotation of the measured element 161 about the central axis AX relative to the detection device 162. The detection device 162 is electrically connected to a signal processing device to transmit an angle signal to the signal processing device, so that the signal processing device determines the rotation angle of the rotating bracket 110 relative to the fixed base 100 based on the angle signal.

[0163] According to the input device of the present application, by providing an angle detection device 160, specifically by fixing a measured element 161 relative to a rotating bracket 110, and providing a detection device 162 corresponding to the measured element 161, the detection device 162 detects an angle signal indicating the rotation of the measured element 161 about the central axis AX relative to the detection device 162. When the detection device 162 is connected to a signal processing device, the signal processing device can determine the rotation angle of the rotating bracket 110 relative to the fixed base 100 based on the angle signal detected by the detection device 162.

[0164] Continue reading Figures 3 to 7Another embodiment of the present application provides an input device. The input device may include a fixed base 100, a rotating bracket 110, an opening and closing device 120, a second connecting member 170, an operating member 171, a second reflector 180, and a second light sensor 190. The rotating bracket 110 is rotatable relative to the fixed base 100 about a central axis AX. The opening and closing device 120 is disposed on the rotating bracket 110 and elastically opens and closes relative to the rotating bracket 110. The second connecting member 170 is movable relative to the fixed base 100 and the rotating bracket 110 in a direction parallel to the central axis AX. The operating member 171 is fixedly connected to the second connecting member 170. The operating member 171 is movable relative to the rotating bracket 110 in a direction parallel to the central axis AX between an off position and an on position. The second reflector 180 is connected to the second connecting member 170 so as to move therewith. The second light sensor 190 is fixed relative to the fixed base 100. The second light sensor 190 and the second reflector 180 are disposed opposite each other. The second light sensor 190 is configured to detect a first light intensity signal of light reflected by the second reflector 180 when the operating member 171 is in the off position, and a second light intensity signal of light reflected by the second reflector 180 when the operating member 171 is in the on position. The second light sensor 190 is electrically connected to a signal processing device to transmit the first light intensity signal and the second light intensity signal to the signal processing device, causing the signal processing device to output an off signal based on the first light intensity signal and an on signal based on the second light intensity signal. The off signal is used to disconnect communication between the input device and the end effector. The on signal is used to connect communication between the input device and the end effector.

[0165] According to the input device of the present application, an operating member 171 is operable to move between an off position and an on position. Movement of the operating member 171 causes the second reflector 180 and the second connector 170 to move, thereby changing the distance between the second reflector 180 and the second light sensor 190, and thereby altering the light intensity signal detected by the second light sensor 190. When the operating member 171 is in the off position, the second light sensor 190 detects a first light intensity signal; when the operating member 171 is in the on position, the second light sensor 190 detects a second light intensity signal. When the second light sensor 190 is connected to a signal processing device, the signal processing device outputs an off signal based on the first light intensity signal and an on signal based on the second light intensity signal. The off signal can be used to disconnect the communication connection between the input device and the end effector, while the on signal can be used to connect the communication connection between the input device and the end effector. By employing these technical means, the communication connection between the input device and the end effector can be more conveniently controlled.

[0166] Continue reading Figures 3 to 7Another embodiment of the present application provides an input device. The input device may include a fixed base 100, a rotating bracket 110, an opening and closing device 120, a second connecting member 170, an operating member 171, and a capacitor. The rotating bracket 110 is rotatable about a central axis AX relative to the fixed base 100. The opening and closing device 120 is disposed on the rotating bracket 110 and can elastically open and close relative to the rotating bracket 110. The second connecting member 170 is movably disposed relative to the fixed base 100 and the rotating bracket 110 in a direction parallel to the central axis AX. The operating member 171 is connected to the second connecting member 170. The operating member 171 is movable relative to the rotating bracket 110 in a direction parallel to the central axis AX between an off position and a on position. The capacitor may include a first metal portion and a second metal portion. The first metal portion is connected to the second connecting member 170 so as to move with the second connecting member 170. The second metal portion is spaced apart from the first metal portion in a direction parallel to the central axis AX. The second metal portion is fixed relative to the fixed base 100. The capacitor is configured to detect a first voltage signal when operating member 171 is in the disconnected position and a second voltage signal when operating member 171 is in the connected position. The capacitor is electrically connected to a signal processing device to transmit the first and second voltage signals to the signal processing device, causing the signal processing device to output a disconnect signal based on the first voltage signal and a connect signal based on the second voltage signal. The disconnect signal is used to disconnect communication between the input device and the end-effector. The connect signal is used to connect communication between the input device and the end-effector.

[0167] According to the input device of the present application, an operating member 171 and a capacitor are added, specifically, the first metal part of the capacitor is connected to the second connecting member 170 so as to move with the second connecting member 170, and the second metal part of the capacitor is fixed relative to the fixed base 100. The operating member 171 can be operated to move to an off position and a on position. When the operating member 171 moves to the off position, the capacitor can detect a first voltage signal; when the operating member 171 moves to the on position, the capacitor can detect a second voltage signal. In the application state where the capacitor is connected to a signal processing device, the signal processing device can output a disconnection signal according to the first voltage signal and a conduction signal according to the second voltage signal. The disconnection signal can be used to disconnect the communication connection between the input device and the end actuator, and the conduction signal can be used to conduct the communication connection between the input device and the end actuator. By adopting the above technical means, the communication connection state between the input device and the end actuator can be more conveniently controlled.

[0168] See Figures 1 to 9 The present application also provides a surgical robot. The surgical robot may include a signal processing device (not shown), and an input device of any of the above embodiments or an input device of any combination of the above embodiments.

[0169] For example, according to a surgical robot in an example of the present application, the signal processing device is connected to the first light sensor 150. The signal processing device is configured to receive the light intensity signal detected by the first light sensor 150 and determine the opening angle of the opening and closing device 120 according to the light intensity signal.

[0170] According to the surgical robot of the present application, by connecting the signal processing device to the first light sensor 150 of the input device, the signal processing device can receive the light intensity signal detected by the first light sensor 150 and determine the opening angle of the opening and closing device 120 based on the light intensity signal.

[0171] According to the above-mentioned signal processing device of the present application, a microcontroller unit (MCU) can be selected.

[0172] To prevent ambient light from affecting the light sensors, light shielding treatment may be performed around the first light sensor 150 , the first reflector 140 , the second light sensor 190 , and the second reflector 180 to avoid reflection interference.

[0173] See Figures 1 to 9 , below, taking the application scenario of the main operator 11 of the doctor's console 10 as an example, an application of an input device according to an embodiment of the present application is introduced.

[0174] See Figure 9 The main operator 11 includes an input handle 15 and at least one connecting arm 13, 14. Figure 8 , shows the application of a rotary joint between the input handle 15 and the last-stage wrist connecting arm 14, wherein, for the convenience of illustration, other connecting arms are not shown in the figure. In this example, the input handle 15 can be a fingertip clamp for controlling the rotation and opening and closing of the front end of the surgical instrument. The input handle 15 includes a rotating bracket 110 and an opening and closing device 120. The rotating bracket 110 is rotatable around the central axis relative to the connecting arm 14. The opening and closing device 120 is connected to the rotating bracket 110 and can be elastically opened and closed relative to the rotating bracket 110. The opening and closing device 120 can be manually operated to achieve opening and closing. The rotary joint is used for the rotatable connection between the input handle 15 and the rotating bracket 110.

[0175] The revolute joint may include a first part and a second part that can rotate relative to each other. The end of the rotating bracket 110 can be fixed to the first part of the revolute joint, or it can be configured as the first part of the revolute joint. The end of the connecting arm 14 can be connected to the second part of the revolute joint, or it can be configured as the second part of the revolute joint. The central axis AX of the revolute joint coincides with the central axis of the revolute bracket 110. The connecting rod extends from the revolving bracket 110 along the central axis through the revolute joint. The connecting rod here is the above-mentioned first connecting member 130.

[0176] The rotation angle of the rotating bracket 110 is the basis for controlling the rotation of the front end of the surgical instrument, so it is necessary to monitor the rotation angle in real time during the operation. The angle detection device 160 of the rotating joint provided between the connecting arm and the rotating bracket 110 is used to measure the relative rotation angle between the rotating bracket 110 and the input handle 15.

[0177] The opening and closing angle of the opening and closing device 120 is the basis for controlling the opening and closing of the front end of the surgical instrument. Therefore, the opening and closing angle needs to be detected in real time during the operation. A common measurement method is to set a sensor (such as a Hall sensor) between the opening and closing device 120 and the rotating bracket 110, but this measurement method usually requires the use of other sensors for angle calibration. In this example, another method is used to measure the opening and closing angle, that is, a connecting rod is set in the rotating bracket 110. The opening and closing device 120 and the connecting rod are connected in a linkage manner, and the displacement of the connecting rod is detected by a displacement detection component, and the measured value of the displacement is converted into the opening and closing angle of the opening and closing device 120. The displacement detection component here can include the above-mentioned first light sensor and the first reflector. That is, the displacement of the connecting rod is determined by using light intensity, thereby determining the opening and closing angle of the opening and closing device.

[0178] In one example, the wrist connecting arm 14 is further provided with a signal processing board (not shown). The signal processing board here can be understood as the signal processing device mentioned above. The signal processing board is used to receive and process the information data transmitted by the first light sensor, the angle detection device, and the second light sensor.

[0179] In one example, see Figure 8 and Figure 9The opening and closing device 120 may include two clamping jaws 121. The two clamping jaws 121 are each pivotally connected to the rotating bracket 110, and the two clamping jaws 121 may be arranged in a linkage manner via a pair of spur gears (not shown) so that the two clamping jaws 121 pivot synchronously. The opposing ends of the two clamping jaws 121 are pivotally arranged on either side of the rotating bracket 110. The two clamping jaws 121 can switch between a minimum opening and closing angle close to the rotating bracket 110 and a maximum opening and closing angle away from the rotating bracket 110. The two clamping jaws 121 are arranged symmetrically with respect to the central axis AX. The two clamping jaws 121 are each connected to the first end of the connecting rod via a transmission member 191, so that the opening and closing of the two clamping jaws 121 can drive the connecting rod to move along the central axis. For example, the transmission member 191 may be a connecting rod, the ends of which are pivotally connected to the connecting rod and the clamping jaws 121, respectively, thereby converting the rotation of the clamping jaws 121 relative to the rotating bracket 110 into movement of the connecting rod along the central axis. The transmission member 191 may also be configured in other forms to achieve transmission, for example, a gear transmission form.

[0180] When the two clamping jaws 121 of the input device are at their maximum opening angle, the first light sensor 150 is at its farthest distance from the first reflector 140. Applying force to the two clamping jaws 121 toward their minimum opening angle with your fingers causes the two clamping jaws 121 to push the connecting rod to move linearly along its axis. When the two clamping jaws 121 are at their minimum opening angle, the first light sensor 150 is closest to the first reflector 140. During the pivoting of the two clamping jaws 121, the first light sensor 150 can detect the intensity of light reflected by the first reflector 140 at different positions and transmit the detected data to the signal processing board. After processing by the signal processing board, the opening and closing angle information of the two clamping jaws 121 can be obtained.

[0181] In one example, the input handle 15 may further include an elastic element (not shown). Opposite ends of the elastic element are connected to the two clamping jaws 121 to apply a force to the two clamping jaws 121 that tends to open, thereby maintaining the two clamping jaws 121 in the maximum open position, i.e., the maximum opening angle, in the absence of external forces. The elastic element may be a compression spring, a spring, or other deformable connector.

[0182] The various embodiments of this application use the structural arrangement and working mode of the first reflector 140, the first light sensor 150, the angle detection device 160, the second reflector 180, and the second light sensor 190 as examples to describe the implementation of the technical solution of this application. However, it should be understood that in this application, the measurement of the opening and closing angle of the opening and closing device is not limited to including the first reflector 140 and the first light sensor 150. Similarly, the detection of the deflection angle of the rotating bracket 110 relative to the fixed base 100 is not limited to including the angle detection device 160 composed of the measured element 161 and the detection device 162. Similarly, the sensing device that triggers the communication status between the input device and the end actuator by manipulating the operating member 171 is not limited to including the second reflector 180 and the second light sensor 190.

[0183] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art in the technical field of this application. The terms used herein are only for describing specific implementation purposes and are not intended to limit this application. Terms such as "setting" appearing in this document can mean that one component is directly attached to another component, or that one component is attached to another component through an intermediate component. Features described in this document in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable in the other embodiment or otherwise specified.

[0184] The present application has been described through the above embodiments, but it should be understood that the above embodiments are for illustrative and illustrative purposes only and are not intended to limit the present application to the described embodiments. Those skilled in the art will appreciate that many more variations and modifications may be made based on the teachings of this application, and all of these variations and modifications fall within the scope of protection claimed in this application.

Claims

1. An input device, characterized in that: The input device comprises: Fixed base; A rotating bracket, wherein the rotating bracket is rotatable around a central axis relative to the fixed base; An opening and closing device, which is disposed on the rotating bracket and can be opened and closed relative to the rotating bracket; a first connecting member, the first connecting member being connected to the opening and closing device and being capable of moving relative to the fixed base in a direction parallel to the central axis as the opening and closing device moves; a first reflective member connected to the first connecting member; and A first light sensor, wherein the first light sensor is fixed to the fixed base, the first light sensor is arranged opposite to the first reflective element, the first light sensor is configured to detect a light intensity signal of light reflected by the first reflective element, and the first light sensor is used to be electrically connected to a signal processing device to send the detected light intensity signal to the signal processing device, so that the signal processing device determines the opening angle of the opening and closing device according to the light intensity signal.

2. The input device according to claim 1, characterized in that The first reflective member is rotatably arranged relative to the fixed base in a circumferential direction around the central axis; The first connecting member is fixedly arranged relative to the rotating bracket in a circumferential direction around the central axis.

3. The input device according to claim 1, characterized in that The first reflective member is fixedly disposed relative to the fixed base in a circumferential direction around the central axis; The first connecting member is fixedly disposed relative to the rotating bracket in a circumferential direction around the central axis, and the first connecting member is rotatably connected to the first reflecting member around the central axis.

4. The input device according to claim 1, characterized in that The first light sensor is spaced apart from the first light reflecting member in a direction parallel to the central axis.

5. The input device according to claim 4, characterized in that The first light sensor and the first reflector are arranged on the same straight line parallel to the central axis.

6. The input device according to any one of claims 1 to 5, characterized in that: The input device further comprises an angle detection device, wherein the angle detection device comprises: A measured element, wherein the measured element is fixed relative to the rotating bracket and can rotate around the central axis along with the rotating bracket; A detection device, wherein the detection device is arranged corresponding to the measured element along a direction parallel to the central axis, and the detection device is configured to detect an angle signal of the measured element rotating around the central axis relative to the detection device, and the detection device is used to be electrically connected to the signal processing device to send the angle signal to the signal processing device, so that the signal processing device determines the angle of rotation of the rotating bracket relative to the fixed base according to the angle signal.

7. The input device according to claim 6, characterized in that The detection device is spaced apart from the measured element along a direction parallel to the central axis.

8. The input device according to claim 7, characterized in that The detection device and the measured element are arranged on the same straight line parallel to the central axis.

9. The input device according to claim 6, characterized in that: The angle detection device is a rotary encoder, which includes a code disk and an optical chip. The code disk is configured as the measured element, and the optical chip is configured as the detection device.

10. The input device according to any one of claims 1 to 5, characterized in that: The input device also includes: a second connecting member, the second connecting member being movably arranged relative to the fixed base and the rotating bracket in a direction parallel to the central axis; An operating member, the operating member is fixedly connected to the second connecting member, and the operating member is movable relative to the rotating bracket to a disconnection position and a conduction position along a direction parallel to the central axis; a second reflective member connected to the second connecting member so as to move with the second connecting member; and A second light sensor, the second light sensor is fixedly arranged relative to the fixed base, the second light sensor and the second reflective element are arranged opposite to each other, the second light sensor is configured to detect a first light intensity signal of the light reflected by the second reflective element when the operating element is in the disconnected position and a second light intensity signal of the light reflected by the second reflective element when the operating element is in the on position, the second light sensor is used to be electrically connected to the signal processing device to send the first light intensity signal and the second light intensity signal to the signal processing device, so that the signal processing device outputs a disconnection signal according to the first light intensity signal and outputs a conduction signal according to the second light intensity signal, the disconnection signal is used to disconnect the communication between the input device and the end actuator, and the on signal is used to conduct the communication between the input device and the end actuator.

11. The input device according to claim 10, characterized in that The input device further includes an elastic member connected to the second connecting member, and the elastic member is used to apply an elastic force to the second connecting member so that the operating member moves toward the disconnected position.

12. The input device according to claim 10, characterized in that The second reflector and the second light sensor are spaced apart in a direction parallel to the central axis.

13. The input device according to claim 12, characterized in that The second reflector and the second light sensor are on the same straight line parallel to the central axis.

14. The input device according to claim 10, characterized in that The first and second reflectors are located between the first and second light sensors, and the first and second reflectors are spaced apart from each other in a direction parallel to the central axis.

15. The input device according to claim 10, characterized in that The first connecting member is configured as a first connecting shaft, the second connecting member is configured as a second connecting shaft, the second connecting shaft is a hollow shaft, and the second connecting shaft is sleeved outside the first connecting shaft.

16. The input device according to claim 15, characterized in that An axis of at least one of the first connecting axis and the second connecting axis coincides with the central axis.

17. The input device according to claim 10, characterized in that The fixed base and / or the rotating bracket is provided with a guide hole, and the guide hole extends in a direction parallel to the central axis; The first connecting member, the second connecting member, the first reflecting member and the second reflecting member can be movably inserted into the guide hole.

18. The input device according to claim 17, characterized in that The guide hole comprises a first guide hole provided in the fixed base and a second guide hole provided in the rotating bracket, and the central axis of the first guide hole and the central axis of the second guide hole coincide with each other; The first reflector and the second reflector are located in the first guide hole.

19. The input device according to claim 17, characterized in that The rotating bracket is provided with a third guide hole, the third guide hole extends in a direction parallel to the central axis, and the third guide hole is connected to the outside of the rotating bracket in a direction intersecting the central axis; The operating member is movably disposed in the third guide hole along a direction parallel to the central axis, and at least a portion of the operating member protrudes from an outer surface of the rotating bracket.

20. The input device according to any one of claims 1 to 5, characterized in that: The input device also includes: A first light emitting element is configured to emit light toward the first light reflecting element.

21. The input device according to claim 10, characterized in that The input device also includes: A second light emitting element is configured to emit light toward the second light reflecting member.

22. The input device according to any one of claims 1 to 5, characterized in that: The input device also includes: a second connecting member, the second connecting member being movably arranged relative to the fixed base and the rotating bracket in a direction parallel to the central axis; an operating member connected to the second connecting member, and movable relative to the rotating bracket to a disconnection position and a conduction position along a direction parallel to the central axis; A capacitor, the capacitor comprising: a first metal portion connected to the second connector to move with the second connector; and a second metal part, the second metal part being spaced apart from the first metal part in a direction parallel to the central axis, and the second metal part being fixed relative to the fixed base, The capacitor is configured to detect a first voltage signal when the operating member is in an off position and to detect a second voltage signal when the operating member is in an on position. The capacitor is used to be electrically connected to the signal processing device to send the first voltage signal and the second voltage signal to the signal processing device, so that the signal processing device outputs a disconnection signal according to the first voltage signal and outputs a conduction signal according to the second voltage signal. The disconnection signal is used to disconnect the communication between the input device and the end actuator, and the conduction signal is used to conduct the communication between the input device and the end actuator.

23. The input device according to any one of claims 1 to 5, characterized in that: The input device also includes a temperature sensor, which is arranged at a position close to the first light sensor. The temperature sensor is configured to detect a temperature signal at the first light sensor. The temperature sensor is used to be electrically connected to the signal processing device to send the temperature signal to the signal processing device, so that the signal processing device corrects the opening angle of the opening and closing device determined according to the light intensity signal according to the temperature signal.

24. An input device, characterized in that The input device comprises: Fixed base; A rotating bracket, wherein the rotating bracket is rotatable around a central axis relative to the fixed base; An opening and closing device, which is disposed on the rotating bracket and can be elastically opened and closed relative to the rotating bracket; An angle detection device, the angle detection device comprising: A measured element, wherein the measured element is fixed relative to the rotating bracket and can rotate around the central axis along with the rotating bracket; A detection device, wherein the detection device is arranged corresponding to the measured element along a direction parallel to the central axis, and the detection device is configured to detect an angle signal of the measured element rotating around the central axis relative to the detection device, and the detection device is used to be electrically connected to a signal processing device to send the angle signal to the signal processing device, so that the signal processing device determines the angle of rotation of the rotating bracket relative to the fixed base according to the angle signal.

25. An input device, characterized in that The input device comprises: Fixed base; A rotating bracket, wherein the rotating bracket is rotatable around a central axis relative to the fixed base; An opening and closing device, which is disposed on the rotating bracket and can be elastically opened and closed relative to the rotating bracket; a second connecting member, the second connecting member being movably arranged relative to the fixed base and the rotating bracket in a direction parallel to the central axis; An operating member, the operating member is fixedly connected to the second connecting member, and the operating member is movable relative to the rotating bracket to a disconnection position and a conduction position along a direction parallel to the central axis; a second reflective member connected to the second connecting member so as to move with the second connecting member; and A second light sensor, the second light sensor is fixedly arranged relative to the fixed base, the second light sensor and the second reflective element are arranged opposite to each other, the second light sensor is configured to detect a first light intensity signal of the light reflected by the second reflective element when the operating element is in the disconnected position and a second light intensity signal of the light reflected by the second reflective element when the operating element is in the on position, the second light sensor is used to be electrically connected to a signal processing device to send the first light intensity signal and the second light intensity signal to the signal processing device, so that the signal processing device outputs a disconnection signal according to the first light intensity signal and outputs a conduction signal according to the second light intensity signal, the disconnection signal is used to disconnect the communication between the input device and the end actuator, and the on signal is used to conduct the communication between the input device and the end actuator.

26. An input device, characterized in that The input device comprises: Fixed base; A rotating bracket, wherein the rotating bracket is rotatable around a central axis relative to the fixed base; An opening and closing device, which is disposed on the rotating bracket and can be elastically opened and closed relative to the rotating bracket; a second connecting member, the second connecting member being movably arranged relative to the fixed base and the rotating bracket in a direction parallel to the central axis; an operating member connected to the second connecting member, and movable relative to the rotating bracket to a disconnection position and a conduction position along a direction parallel to the central axis; A capacitor, the capacitor comprising: a first metal portion connected to the second connector to move with the second connector; and a second metal part, the second metal part being spaced apart from the first metal part in a direction parallel to the central axis, and the second metal part being fixed relative to the fixed base, The capacitor is configured to detect a first voltage signal when the operating member is in an off position and to detect a second voltage signal when the operating member is in an on position. The capacitor is used to be electrically connected to a signal processing device to send the first voltage signal and the second voltage signal to the signal processing device, so that the signal processing device outputs a disconnection signal according to the first voltage signal and outputs a conduction signal according to the second voltage signal. The disconnection signal is used to disconnect the communication between the input device and the end actuator, and the conduction signal is used to conduct the communication between the input device and the end actuator.

27. A surgical robot, characterized in that: The surgical robot comprises: An input device according to any one of claims 1 to 26; and A signal processing device is connected to the first light sensor, and is configured to receive a light intensity signal detected by the first light sensor, and determine an opening angle of the opening and closing device according to the light intensity signal.

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