Operating handle and medical cart

Abstract

The invention provides an operating handle and a medical cart. The operating handle comprises a rack, a handle and a driving device, the sliding shaft is movably connected to the rack in the first direction; the first handle is movably connected to the first end of the sliding shaft in the second direction, and the second direction is perpendicular to the first direction; the second handle is movably connected to the second end of the sliding shaft in the second direction; the at least one first displacement sensor is arranged on the sliding shaft and / or the rack and is used for detecting the displacement of the sliding shaft in the first direction; the second displacement sensor is arranged on the first handle and / or the sliding shaft and used for detecting the displacement of the first handle in the second direction; and the third displacement sensor is arranged on the second handle and / or the sliding shaft and is used for detecting the displacement of the second handle in the second direction. According to the operating handle and the medical cart, the structure is simple, and the operation of a user on the operating handle can be accurately and stably detected.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and more specifically to an operating handle and a medical cart. Background Art

[0002] In a remote surgery system, there are usually two main devices: the patient-side robot trolley and the doctor-side trolley.

[0003] Generally, the patient-side trolley needs to be stored or deployed in a specific location. For example, in the early preparation for surgery, we will place the patient-side trolley aside to avoid affecting the preoperative instrument preparation and patient preparation. When the patient completes the preoperative hole arrangement and other preparations, the patient-side trolley is quickly maneuvered into position.

[0004] Since the patient-side trolley is usually a multi-arm cantilever configuration, it is large in size and heavy in weight, and manual drive does not meet the labor protection requirements. Therefore, an operating handle is generally provided on the patient-side trolley. The operating handle detects the force and torque applied by the operator on the handle in the front and rear directions and the left and right directions to interpret the movement intention of the operation, and further decomposes it into the wheels of the patient-side trolley through an algorithm to control the movement of the wheels.

[0005] Existing operating handles usually use dynamic force sensors to detect the force and torque applied by the operator on the handle in the front-to-back direction and left-to-right direction. On the one hand, the force sensor can read the relative force between the human hand and the sensor, but it cannot distinguish whether this interaction force comes directly from the human control intention or other non-subjective control force components, such as the inertial force caused by the handle's own weight under the action of acceleration. These signals are coupled to the human control intention and cannot be directly separated. On the other hand, force sensors also have some taboos in use, such as zero drift and temperature drift problems of force sensors. In other words, the detection accuracy and stability of existing operating handles still need to be improved. Summary of the invention

[0006] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further described in detail in the Detailed Description of the Invention section. The Summary of the Invention section of this application does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0007] In order to at least partially solve the above problems, the present application provides an operating handle in a first aspect, comprising:

[0008] frame;

[0009] a sliding shaft movably connected to the frame along a first direction;

[0010] a first handle, the first handle being movably connected to the first end of the sliding shaft along a second direction, the second direction being perpendicular to the first direction;

[0011] a second handle movably connected to the second end of the sliding shaft along the second direction;

[0012] at least one first displacement sensor, wherein the first displacement sensor is disposed on the sliding shaft and / or the frame, and the first displacement sensor detects the displacement of the sliding shaft in the first direction;

[0013] at least one second displacement sensor, wherein the second displacement sensor is disposed on the first handle and / or the sliding shaft, and the second displacement sensor detects the displacement of the first handle in the second direction;

[0014] At least one third displacement sensor, wherein the third displacement sensor is disposed on the second handle and / or the sliding shaft, and the third displacement sensor detects the displacement of the second handle in the second direction.

[0015] Optionally, at least one of the first displacement sensor, the second displacement sensor and the third displacement sensor is a non-contact displacement sensor.

[0016] Optionally, the first displacement sensor includes a first Hall sensor and a first magnet, wherein the first Hall sensor is disposed on one of the sliding shaft and the frame, and the first magnet is disposed on the other of the sliding shaft and the frame;

[0017] The second displacement sensor includes a second Hall sensor and a second magnet, wherein the second Hall sensor is disposed on one of the first handle and the sliding shaft, and the first magnet is disposed on the other of the first handle and the sliding shaft;

[0018] The third displacement sensor includes a third Hall sensor and a third magnet. The third Hall sensor is disposed on one of the second handle and the sliding shaft, and the third magnet is disposed on the other of the second handle and the sliding shaft.

[0019] Optionally, the first end of the first handle is rotatably connected to the sliding shaft, and the rotation axis of the first handle extends along a third direction, and the third direction is perpendicular to the first direction and the second direction;

[0020] The first end of the second handle is rotatably connected to the sliding shaft, wherein the rotation axis of the second handle extends along the third direction;

[0021] The operating handle also includes a first elastic member and a second elastic member, wherein two ends of the first elastic member in the second direction respectively abut against the second end of the first handle and the sliding shaft, and two ends of the second elastic member in the second direction respectively abut against the second end of the second handle and the sliding shaft.

[0022] Optionally, the first handle or the sliding shaft is provided with a first limit block, and accordingly, the first limit block can abut against the sliding shaft or the first handle to limit the movement of the first handle in the second direction;

[0023] The second handle or the sliding shaft is provided with a second limit block, and accordingly, the second limit block can abut against the sliding shaft or the second handle to limit the movement of the second handle in the second direction.

[0024] Optionally, the sliding shaft is fixedly provided with a first stopper and a second stopper;

[0025] The operating handle further includes a third elastic member and a fourth elastic member. Two ends of the third elastic member in the first direction respectively abut against the first stopper and the frame. Two ends of the fourth elastic member in the first direction respectively abut against the frame and the second stopper.

[0026] Optionally, the frame includes a first sleeve portion and a second sleeve portion which are spaced apart, a middle portion of the sliding shaft is inserted into the first sleeve portion and the second sleeve portion, and the sliding shaft is slidably connected to the first sleeve portion and the second sleeve portion;

[0027] The sliding shaft is fixedly provided with a third stopper, and the third stopper is located between the first sleeve portion and the second sleeve portion;

[0028] The operating handle also includes a fifth elastic member and a sixth elastic member. Both ends of the fifth elastic member in the first direction respectively abut against the first sleeve portion and the third stopper. Both ends of the sixth elastic member in the first direction respectively abut against the second sleeve portion and the third stopper.

[0029] Optionally, the operating handle further includes a first in-position detection sensor and a second in-position detection sensor;

[0030] The first in-position detection sensor is disposed on the first handle, and the second in-position detection sensor is disposed on the second handle.

[0031] Optionally, the first in-position detection sensor is a photoelectric sensor, a pressure sensor or a travel switch;

[0032] The second in-position detection sensor is a photoelectric sensor, a pressure sensor or a travel switch.

[0033] Optionally, the operating handle further includes a first enclosure and a second enclosure;

[0034] At least one end of the first enclosure is fixedly connected to the first handle, a first holding space is defined between the first enclosure and the first handle, and the first in-position detection sensor is located on a side of the first handle facing the first enclosure and / or on the first enclosure;

[0035] At least one end of the second enclosure is fixedly connected to the second handle, a second holding space is defined between the second enclosure and the second handle, and the second in-position detection sensor is located on a side of the second handle facing the second enclosure and / or on the second enclosure.

[0036] Optionally, the first handle is slidably connected to the first end of the sliding shaft along the second direction;

[0037] The second handle is slidably connected to the second end of the sliding shaft along the second direction;

[0038] The operating handle further includes a seventh elastic member and an eighth elastic member. Both ends of the seventh elastic member in the second direction respectively abut against the sliding shaft of the first handle. Both ends of the eighth elastic member in the second direction respectively abut against the second handle and the sliding shaft.

[0039] Optionally, the sliding shaft is a ball spline shaft, the frame includes a ball spline sleeve, and the ball spline sleeve is sleeved on the ball spline shaft.

[0040] A second aspect of the present application provides a medical cart, which includes the operating handle as described above.

[0041] According to the operating handle and medical cart of the present application, the sliding shaft is movably connected to the frame along the first direction, the first handle and the second handle are movably connected to the sliding shaft along the second direction, and the first displacement sensor, the second displacement sensor and the third displacement sensor respectively detect the displacement of the sliding shaft in the first direction, the displacement of the first handle in the second direction and the displacement of the second handle in the second direction. By adopting the above scheme, on the one hand, the structure is simple, and the non-subjective intention input signal caused by the inertia force of the handle can be fully reduced; on the other hand, the use of the displacement sensor can more accurately and stably detect the user's operation of the operating handle compared to the use of the force sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The following drawings of the embodiments of the present application are hereby used 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,

[0043] Figure 1 This is a schematic structural diagram of a medical cart according to an embodiment of the present application;

[0044] Figure 2 is a schematic structural diagram of an operating handle according to an embodiment of the present application;

[0045] Figure 3 Schematic diagram of the structure of an operating handle according to another embodiment of the present application.

[0046] Description of reference numerals:

[0047] 10: Main frame 20: Traveling components

[0048] 30: Surgical instruments

[0049] 100: Operating handle 110: Frame

[0050] 120: sliding shaft 121: first limit block

[0051] 122: second limit block 123: first stop block

[0052] 124: second stopper 125: first extension

[0053] 126: second extension portion 130: first handle

[0054] 131: first rotation axis 140: second handle

[0055] 141: second rotation axis 150: first displacement sensor

[0056] 151: first magnet 152: first Hall sensor

[0057] 160: second displacement sensor 161: second magnet

[0058] 162: Second Hall sensor 170: Third displacement sensor

[0059] 171: third magnet 172: third Hall sensor

[0060] 181: first elastic member 182: second elastic member

[0061] 183: third elastic member 184: fourth elastic member

[0062] 191: First in-position sensor 192: Second in-position sensor

[0063] 193: First enclosure 194: Second enclosure

[0064] 200: Operating handle 210: Frame

[0065] 211: first sleeve portion 212: second sleeve portion

[0066] 220: sliding shaft 221: first limit block

[0067] 222: Second limit block 230: First handle

[0068] 231: first rotation axis 240: second handle

[0069] 241: second rotation axis 250: first displacement sensor

[0070] 251: first magnet 252: first Hall sensor

[0071] 260: second displacement sensor 261: second magnet

[0072] 262: Second Hall sensor 270: Third displacement sensor

[0073] 271: third magnet 272: third Hall sensor

[0074] 281: first elastic member 282: second elastic member

[0075] 283: fifth elastic member 284: sixth elastic member DETAILED DESCRIPTION

[0076] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it is obvious to those skilled in the art that the present application embodiments can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present application embodiments, some technical features well known in the art are not described.

[0077] In order to fully understand the implementation of the present application, a detailed structure will be presented in the following description. Obviously, the implementation of the implementation of the present application is not limited to the specific details familiar to those skilled in the art.

[0078] It should be understood that the purpose of the terms used herein is only to describe specific embodiments and is not intended to be limiting of the present application, and the singular forms of "one", "an" and "said / the" are also intended to include 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 features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof. The terms "upper", "lower", "front", "back", "left", "right" and similar expressions used in this application are for illustrative purposes only and are not limiting.

[0079] Ordinal numbers such as “first” and “second” cited in the present application are merely identifications and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term “first component” itself does not imply the existence of the “second component”, and the term “second component” itself does not imply the existence of the “first component”.

[0080] Hereinafter, specific embodiments of the present application will be described in more detail with reference to the accompanying drawings. These drawings show representative embodiments of the present application and do not limit the present application.

[0081] See attached Figure 1 The present application provides a medical cart, which includes a main frame 10, a travel assembly 20 and a surgical instrument 30. An operating handle 100 is fixedly arranged on the main frame 10, and the operating handle 100 is used for the user to hold so as to control the medical cart to move (including forward, backward, turning, etc.) through it, and the operating handle 100 can detect the user's operation on it. The travel assembly 20 is connected to the main frame 10, and includes a controller and wheels. The wheels may include two independent driving wheels and two independent follower wheels. Among them, the driving wheel may be a differential wheel, which is arranged on the left and right sides of the bottom of the main frame 10 and is driven by electricity, and the follower wheel provides its movement without power. The controller is connected to the operating handle 100 and the driving wheel, and is used to control the movement speed and direction of the two sets of independent driving wheels according to the detection results of the operating handle 100, so as to realize the forward, backward and turning of the medical cart. The surgical instrument 30 is fixedly or detachably connected to the main frame 10, which may be a related instrument for performing thoracic and abdominal surgery or a related instrument for performing other surgeries. Those skilled in the art can configure it according to needs.

[0082] See attached Figure 2 right Figure 1 The operating handle 100 shown in FIG. 1 is exemplarily described. The operating handle 100 includes a frame 110, a sliding shaft 120, a first handle 130, a second handle 140, a first displacement sensor 150, a second displacement sensor 160 and a third displacement sensor 170.

[0083] The frame 110 is fixedly disposed on the main frame 10 , for example, fixedly connected to the main frame 10 by welding, and the frame 110 is used to install the sliding shaft 120 .

[0084] The sliding shaft 120 is moved along a first direction (ie Figure 2 The sliding shaft 120 is movably connected to the frame 110 (in the left and right directions in the figure), specifically, the sliding shaft 120 is connected to the frame through a sliding pair with a single degree of freedom, and can only move along the first direction relative to the frame 110, but cannot rotate or move along other directions. In this embodiment, the sliding shaft 120 is a ball spline shaft, and the frame 110 includes a ball spline sleeve, which is sleeved in the middle of the ball spline shaft, and both ends of the ball spline shaft are located outside the ball spline sleeve, and the ball spline shaft can move along the first direction in the ball spline sleeve.

[0085] In some other embodiments, the sliding shaft 120 can also be connected to the frame 110 through a single-degree-of-freedom sliding pair consisting of a sliding groove extending along a first direction and a sliding portion located in the sliding groove, one of the sliding groove and the sliding portion is located on the sliding shaft 120, and the other is located on the frame 110.

[0086] In this embodiment, the sliding shaft 120 is fixedly provided with a first stopper 123 and a second stopper 124, the first stopper 123 and the second stopper 124 are arranged at intervals on the sliding shaft 120, the sliding shaft 120 between the first stopper 123 and the second stopper 124 is arranged in the frame 110, and the diameters of the first stopper 123 and the second stopper 124 are greater than the diameter of the rotating shaft 120 arranged in the frame 110. The operating handle 100 also includes a third elastic member 183 and a fourth elastic member 184, the third elastic member 183 abuts against the first stopper 123 and the frame 110 at both ends in the first direction, and the fourth elastic member 184 abuts against the frame 110 and the second stopper 124 at both ends in the first direction. The arrangement of the third elastic member 183 and the fourth elastic member 184 can enable the sliding shaft 120 to remain in a specific initial position when there is no external force. In this embodiment, the third elastic member 183 and the fourth elastic member 184 are two identical springs. The third elastic member 183 and the fourth elastic member 184 both have a certain amount of pre-compression, that is, when there is no external force, the third elastic member 183 and the fourth elastic member 184 are both in a compressed state. The force acting on the sliding shaft 120 (or the force acting on the first handle 130 and the second handle 140) needs to be greater than a certain threshold value to further compress the third elastic member 183 or the fourth elastic member 184. When the force acting on the sliding shaft 120 (or the force acting on the first handle 130 and the second handle 140) is less than the threshold value, the sliding shaft 120 will not be displaced, thereby effectively avoiding the sliding shaft 120 from being displaced in the first direction due to unexpected situations such as accidental touch and vibration. At the same time, the third elastic member 183 and the fourth elastic member 184 have a certain damping effect, which can dissipate the ability of system vibration and accelerate system stability.

[0087] In this embodiment, the first displacement sensor 150 is arranged on the sliding shaft 120 and the frame 110, and is used to detect the displacement of the sliding shaft 120 in the first direction. The first displacement sensor 150 is a non-contact displacement sensor. The use of a non-contact displacement sensor can effectively ensure the safety of the sensor itself, and the sensor has no risk of impact damage during the movement of the sliding shaft 120. The first displacement sensor 150 includes a first magnet 151 and a first Hall sensor 152. The first Hall sensor 152 is fixedly arranged in the frame, and the first magnet 151 is fixedly arranged on the sliding shaft 120, and moves synchronously with the movement of the sliding shaft 120. When the sliding shaft 120 moves along the first direction, the distance between the first magnet 151 and the first Hall sensor 152 will change accordingly, and the Hall voltage signal output by the first Hall sensor 152 will also change accordingly. Based on the Hall voltage signal output by the first Hall sensor 152, the distance between the first magnet 151 and the first Hall sensor 152 can be determined, that is, the displacement of the sliding shaft 120 in the first direction can be determined. The displacement may be positive or negative. For example, the displacement of the sliding shaft 120 from the initial position to the left may be defined as negative, and the displacement of the sliding shaft 120 from the initial position to the right may be defined as positive. The controller may be connected to the first displacement sensor 150 to obtain the displacement of the sliding shaft 120 in the first direction, control the leftward deflection of the driving wheel when the displacement of the sliding shaft 120 is negative, control the rightward deflection of the driving wheel when the displacement of the sliding shaft 120 is positive, and control the size of the deflection angle according to the size of the displacement. The specific control strategy may be configured by those skilled in the art as needed.

[0088] In some other embodiments, the first Hall sensor 151 may be fixedly disposed on the sliding shaft 120 , and the first magnet 151 may be fixedly disposed in the frame 110 .

[0089] In some other embodiments, the first displacement sensor 150 may be a laser ranging sensor or an ultrasonic ranging sensor disposed on one of the sliding shaft 120 and the frame 110, and is used to measure the distance between a certain portion on the other of the sliding shaft 120 and the frame 110 in the first direction, and further determine the displacement of the sliding shaft 120 in the first direction based on the measured distance.

[0090] In some other embodiments, the first displacement sensor 150 may also be a contact displacement sensor disposed on the sliding shaft 120 and / or the frame 110 .

[0091] In this embodiment, there is only one first displacement sensor 150. In other embodiments, there may be multiple first displacement sensors 150, for example, multiple first magnets 151 and multiple first Hall sensors 152 may be provided, or one first magnet 151 and multiple first Hall sensors 152 may be provided, so as to achieve cross-validation and redundant validation, thereby improving overall reliability. Those skilled in the art may configure as needed, and this application does not limit this.

[0092] The first handle 130 is arranged along the second direction (ie Figure 2 The first end of the sliding shaft 120 is movably connected to the first end of the sliding shaft 120 along the front-to-back direction (in the front-to-back direction), and the second handle 140 is movably connected to the second end of the sliding shaft 120 along the second direction, and the second direction is perpendicular to the first direction. In this embodiment, the first end of the sliding shaft 120 is inserted into the first handle 130, and there is a gap between the inner side of the first handle 130 and the outer side of the sliding shaft 120 located in the first handle 130. The first end of the first handle 130 (that is, the end of the first handle 130 facing the second handle 140) is rotatably connected to the sliding shaft 120 through the first rotating shaft 131, and the first rotating shaft 131 is rotatably connected to the sliding shaft 120 along the third direction (that is, the front-to-back direction). Figure 2 The first handle 130 extends in a direction perpendicular to the paper surface in the figure, so that the first handle 130 can rotate around the first rotating shaft 131 in a clockwise or counterclockwise direction, and the rotation includes a component of movement in the front-back direction, that is, the first handle 130 can move in the second direction. When the sliding shaft 120 moves in the first direction, the first handle 130 moves synchronously with the sliding shaft 120 in the first direction. A first elastic member 181 is arranged between the second end of the first handle 130 (that is, the end of the first handle 130 away from the second handle 140) and the sliding shaft 120, and the two ends of the first elastic member 181 in the second direction are respectively abutted against the second end of the first handle 130 and the sliding shaft 120. In this embodiment, the end of the sliding shaft 120 away from the second handle 140 has a first protruding portion 125, and the first elastic member 181 is arranged between the front side and the rear side of the first protruding portion 125 and the second end of the first handle 130 (that is, there are two first elastic members 181). The first elastic member 181 can be a spring, which moves in the second direction (that is, Figure 2The first elastic member 181 extends in the front-to-back direction in the second direction. The two ends of the first elastic member 181 in the second direction are respectively in contact with the inner side of the first extension portion 125 and the first handle 130, and the first elastic member 181 can keep the first handle 130 in a specific initial position when there is no external force. The first elastic member 181 has a certain amount of pre-compression, that is, when there is no external force, the first elastic member 181 is in a compressed state. The force acting on the first handle 130 needs to be greater than a certain threshold value to further compress the first elastic member 181, that is, when the force acting on the first handle 130 is less than the threshold value, the first handle 130 will not be displaced in the second direction (that is, the first handle 130 will not be rotated), thereby effectively avoiding the displacement of the first handle 130 in the second direction caused by unexpected situations such as accidental touch and vibration. At the same time, the first elastic member 181 has a certain damping effect, which can dissipate the ability of system vibration and accelerate system stability. In some embodiments, there may be only one first elastic member 181, which extends along the second direction, with a first end fixedly connected to the first extension portion 125, and a second end fixedly connected to the first handle 130. In some embodiments, the first elastic member 181 may be other suitable elastic members such as metal springs disposed between the second end of the first handle 130 and the sliding shaft 120.

[0093] In this embodiment, a first stopper 121 is provided on the circumferential surface of the first end of the sliding shaft 120. The first stopper 121 is used to abut against the first handle 130 to limit the movement of the first handle 130 in the second direction, so as to protect the first elastic member and prevent it from being damaged. In this embodiment, the first stopper 121 is a rubber gasket, which surrounds the sliding shaft 120 in the circumferential direction and is adjacent to the first elastic member 181. The diameter of the outer contour of the first stopper 121 is greater than the diameter of the sliding shaft 120 and smaller than the diameter of the inner wall of the handle. When the moving distance of the first handle 130 in the second direction reaches the stopper position, the first stopper 121 bears the remaining force, limits the first handle 130 from continuing to move in the second direction, avoids compression of the first elastic member 181, and thus avoids damage to the first elastic member 181; at the same time, the first stopper 121 can also withstand the huge component of the force load when the medical cart goes up and downhill. In some embodiments, the first stopper 121 can be two rubber pads, which are respectively bonded to the front and rear sides of the sliding shaft 120. In some embodiments, the first limiting block 121 may be disposed on the inner surface of the first handle 130 to abut against the sliding shaft 120 to limit the movement of the first handle 130 in the second direction.

[0094] In this embodiment, the first end of the first handle 130 is rotatably connected to the sliding shaft 120 through the first rotating shaft 131. In some other embodiments, the first handle 130 can be slidably connected to the first end of the sliding shaft 120 along the second direction. Specifically, the sliding shaft 120 can have a slide groove extending along the second direction, and the cross section of the slide groove in the second direction can be a trapezoid or other suitable shapes. The first handle 130 has a sliding portion extending along the second direction, the sliding portion matches the shape of the slide groove and is located in the slide groove, and can slide in the slide groove along the second direction, so that the first handle 130 can move along the second direction relative to the sliding shaft 130. A seventh elastic member can be provided between the inner side of the first handle 130 and the sliding shaft 120, and the seventh elastic member is used to keep the first handle 130 in a specific initial position when no external force is applied. The seventh elastic member can be, for example, a spring extending along the second direction, which can be provided between the first handle 130 and the sliding shaft in a manner similar to the first elastic member 181, and will not be described in detail here.

[0095] The second displacement sensor 160 is provided at the first handle 130 and the sliding shaft 120, and is used to detect the displacement of the first handle 130 in the second direction. The second displacement sensor 160 is a non-contact displacement sensor, and the use of the non-contact displacement sensor can effectively ensure the safety of the sensor itself, and the sensor has no risk of impact damage during the movement of the first handle 130. The second displacement sensor 160 includes a second magnet 161 and a second Hall sensor 162, the second magnet 161 is fixedly provided at the first handle 130, and the second Hall sensor 162 is fixedly provided at the sliding shaft 120. When the first handle 130 moves in the second direction, the distance between the second magnet 161 and the second Hall sensor 162 will change accordingly, and the Hall voltage signal output by the second Hall sensor 162 will also change accordingly. Based on the Hall voltage signal output by the second Hall sensor 162, the distance between the second magnet 161 and the second Hall sensor 162 can be determined, that is, the displacement of the first handle 130 in the second direction can be determined. The displacement may be positive or negative. For example, the displacement of the first handle 130 backward from the initial position may be defined as negative, and the displacement of the sliding shaft 120 forward from the initial position may be defined as positive. The controller may be connected to the first displacement sensor 160 to obtain the displacement of the first handle 130 in the second direction, control the left driving wheel to decelerate or reverse when the displacement of the first handle 130 is negative, control the left driving wheel to rotate forward when the displacement of the first handle 130 is positive, and control the rotation speed of the left driving wheel according to the size of the displacement. The specific control strategy may be configured by those skilled in the art as needed, and this application does not limit this.

[0096] In some other embodiments, the second Hall sensor 162 may be fixedly disposed on the first handle 130 , and the second magnet 161 may be fixedly disposed in the sliding shaft 120 .

[0097] In some other embodiments, the second displacement sensor 160 may be a laser ranging sensor or an ultrasonic ranging sensor provided on one of the first handle 130 and the sliding shaft 120, and is used to measure the distance between a certain part on the other of the first handle 130 and the sliding shaft 120 in the second direction, and then the displacement of the first handle 130 in the second direction may be determined based on the measured distance.

[0098] In some other embodiments, the second displacement sensor 160 may also be a contact displacement sensor disposed on the first handle 130 and / or the sliding shaft 120 .

[0099] In this embodiment, there is only one second displacement sensor 160. In other embodiments, there may be multiple second displacement sensors 160, for example, multiple second magnets 161 and multiple second Hall sensors 162 may be provided, or one second magnet 152 and multiple second Hall sensors 162 may be provided, so as to achieve cross-validation and redundant validation, and improve overall reliability. Those skilled in the art may configure as needed.

[0100] In this embodiment, the second handle 140 and the first handle 130 are symmetrically arranged at both ends of the sliding shaft 120. The first end of the second handle 140 (i.e., the end of the second handle 140 facing the first handle 130) is rotatably connected to the sliding shaft 120 through the second rotating shaft 141, and the second rotating shaft extends along the third direction. A second elastic member 182 is arranged between the second end of the second handle 140 (i.e., the end of the second handle 140 away from the first handle 130) and the sliding shaft 120. The sliding shaft 120 is provided with a second limit block 122, and the second limit block 122 is used to abut against the second handle 140 to limit the movement of the second handle 140 in the second direction. The third displacement sensor 170 is arranged at the second handle 140 and the sliding shaft 120, and the third displacement sensor 170 detects the displacement of the second handle 140 in the second direction. The connection mode between the second handle 140 and the sliding shaft 120 can be the same as the connection mode between the first handle 130 and the sliding shaft 120, the specific structure and setting mode of the second elastic member 182 can be the same as the second elastic member 18, the specific structure and setting mode of the second limit block 122 can be the same as the first limit block 121, and the specific structure and setting mode of the third displacement sensor 170 are the same as the second displacement sensor 160, which will not be repeated here. The displacement of the second handle 140 in the second direction can be positive or negative. For example, the displacement of the second handle 140 backward from the initial position can be defined as negative, and the displacement of the sliding shaft 140 forward from the initial position can be defined as positive. The controller can be connected to the second displacement sensor 170 to obtain the displacement of the second handle 140 in the second direction, control the right driving wheel to slow down or reverse when the displacement of the second handle 140 is negative, control the right driving wheel to rotate forward when the displacement of the second handle 140 is positive, and control the speed of the right driving wheel according to the size of the displacement. The specific control strategy can be configured by those skilled in the art as needed, and this application does not limit this.

[0101] In the present embodiment, the operating handle 100 further includes a first in-position detection sensor 191 and a second in-position detection sensor 192. The first in-position detection sensor 191 is disposed on the first handle 130, and the second in-position detection sensor 192 is disposed on the second handle 140. The first in-position detection sensor 191 and the second in-position detection sensor 192 are respectively used to detect whether the user's hands are respectively on the first handle 130 and the second handle 140, that is, to detect whether the first handle 130 and the second handle 140 are held by the operator. In the present embodiment, the first in-position detection sensor 191 is a photoelectric sensor, which includes a light emitter and a light receiver. The light emitter and the light receiver are located outside the first handle 130 and at both ends of the first direction of the first handle 130. The position between the light emitter and the light receiver is the position of the operator's hand when holding the first handle 130. When the operator does not hold the first handle 130, the optical receiver can receive the light emitted by the optical transmitter; when the operator holds the first handle 130, the operator's hand will block the light emitted by the optical transmitter, so that the optical receiver cannot receive the light, thereby judging whether the operator holds the first handle 130. In some embodiments, the first in-position detection sensor 191 can also be replaced by a photoelectric sensor with a pressure sensor, and the pressure sensor is arranged outside the first handle 130. When the operator holds the first handle 130, a certain pressure will be generated on the pressure sensor, so that the pressure sensor can determine whether the operator holds the first handle 130 according to whether the pressure detected exceeds a set threshold. The pressure sensor can be a long airbag pressure sensor. In some embodiments, the first in-position detection sensor 191 can also be a travel switch, which can be configured to be triggered when the operator holds it. The triggering part of the travel switch can be connected to a long strip button so that it can be better triggered by the operator. In this embodiment, the second in-position detection sensor 192 is a photoelectric sensor. Similarly, the second in-position detection sensor 192 can also be a pressure sensor or a travel switch. The controller is connected to the first in-position detection sensor 191 and the second in-position detection sensor 192, and is used to control the driving wheel to move only when the first in-position detection sensor 191 and the second in-position detection sensor 192 simultaneously detect that the operator is holding the handle. Thus, the control handle can be effectively prevented from being interfered by the control signal that is not the subjective intention of the operator, and the wrong start can be avoided.

[0102] In this embodiment, the operating handle 100 further includes a first enclosure 193 and a second enclosure 194. At least one end of the first enclosure 193 is fixedly connected to the first handle 130, and a first gripping space is provided between the first enclosure 193 and the first handle 130. The first in-position detection sensor 191 is located on the side of the first handle 130 facing the first enclosure 130 and / or on the first enclosure 191. At least one end of the second enclosure 194 is connected to the second handle 140, and a second gripping space is provided between the second enclosure 194 and the second handle 140. The second in-position detection sensor 192 is located on the side of the second handle 140 facing the second enclosure 194 and / or on the second enclosure 194. The shapes of the first enclosure 193 and the second enclosure 194 may be U-shaped, L-shaped, C-shaped or other suitable shapes. The arrangement of the first enclosure 193 and the second enclosure 194 can effectively avoid non-subjective input accidents that simultaneously trigger the first in-position detection sensor 191 and the second in-position detection sensor 192 due to accidental covering or collision of objects.

[0103] According to the operating handle 100 of the present embodiment, the structure is simple and light, and the non-subjective intention input signal caused by the inertia force of the handle can be fully reduced. The operating handle 100 adopts a non-contact displacement sensor, which can fully guarantee the safety of the sensor itself, without the risk of impact damage, and the displacement sensor does not have problems such as zero drift and temperature drift existing in the force sensor, and can detect more accurately and stably. The non-contact sensor layout configuration provides higher data flexibility and programmable rich response characteristics, such as requiring a more refined and uniform speed when low operating force is required, avoiding the trouble caused by low speed instability, and setting a limit at high speed. And the displacement sensor and the elastic member are independent of each other. By configuring the elastic member (the first elastic member 181, the second elastic member 182, the third elastic member 183, and the fourth elastic member 184) (for example, configuring the stiffness of the spring), the high-frequency vibration input signal (which may be generated when the touch is mistaken) can be effectively filtered, and the movement can be smoothed when it stops, avoiding the introduction of noise. The elastic part adopts a spring, which has its own damping and can filter the force signal to a certain extent, avoid the introduction of high-frequency signals, and reduce the lag problem caused by program filtering.

[0104] See attached Figure 3 An operating handle 200 according to another embodiment of the present application is exemplified. The operating handle can replace the attached Figure 2 The operating handle 100 is shown in FIG.

[0105] The operating handle 200 includes a frame 210 , a sliding shaft 220 , a first handle 230 , a second handle 240 , a first displacement sensor 250 , a second displacement sensor 260 and a third displacement sensor 270 .

[0106] The frame 210 may be fixedly disposed on the main frame 10 , for example, fixedly connected to the main frame 10 by welding. The frame 210 is used to install the sliding shaft 120 .

[0107] The sliding shaft 120 is moved along a first direction (ie Figure 2 The sliding shaft 220 is movably connected to the frame 110 (in the left and right directions). Specifically, the frame 210 includes a first sleeve portion 211 and a second sleeve portion 212 arranged at intervals, and the first sleeve portion 211 and the second sleeve portion 212 are fixedly arranged on the frame 210. The middle part of the sliding shaft 220 is inserted into the first sleeve portion 211 and the second sleeve portion 212, and the sliding shaft 220 is slidably connected to the first sleeve portion 211 and the second sleeve portion 212. The sliding shaft 120 can be a ball spline shaft, and the first sleeve portion 211 and the second sleeve portion 212 are both ball spline sleeves. The ball spline shaft is inserted into the ball spline sleeve and can move in the ball spline sleeve along the first direction.

[0108] The sliding shaft 220 is fixedly provided with a third stopper 223, and the third stopper 223 is located between the first sleeve portion 211 and the second sleeve portion 212. The operating handle 200 also includes a fifth elastic member 283 and a sixth elastic member 284, which extend along the second direction, and the two ends of the fifth elastic member 283 in the first direction are respectively abutted against the first sleeve portion 211 and the third stopper 223, and the two ends of the sixth elastic member 284 in the first direction are respectively abutted against the second sleeve portion 212 and the third stopper 223. The arrangement of the fifth elastic member 283 and the sixth elastic member 284 can keep the sliding shaft 220 in a specific initial position when no external force is applied. In this embodiment, the fifth elastic member 283 and the sixth elastic member 284 are two identical springs. The fifth elastic member 283 and the sixth elastic member 284 both have a certain amount of pre-compression, that is, when no external force is applied, the fifth elastic member 283 and the sixth elastic member 284 are both in a compressed state. The force acting on the sliding shaft 220 (or the force acting on the first handle 230 and the second handle 240) needs to be greater than a certain threshold value to further compress the fifth elastic member 283 or the sixth elastic member 284. When the force acting on the sliding shaft 220 (or the force acting on the first handle 230 and the second handle 240) is less than the threshold value, the sliding shaft 220 will not be displaced, thereby effectively preventing the sliding shaft 220 from being displaced in the first direction due to undesirable situations such as accidental touch and vibration. At the same time, the fifth elastic member 283 and the sixth elastic member 284 have a certain damping effect, which can dissipate the ability of system vibration and accelerate system stability.

[0109] In this embodiment, the first displacement sensor 250 is disposed on the sliding shaft 220 and the frame 210, and is used to detect the displacement of the sliding shaft 220 in the first direction. The first displacement sensor 250 includes a first magnet 251 and a first Hall sensor 252, the first Hall sensor 252 is fixedly disposed in the frame, and the first magnet 151 is fixedly disposed on the sliding shaft 220, which surrounds the sliding shaft 220 in the circumferential direction and is located between the first sleeve portion 211 and the second sleeve portion 212, serving as the third stopper 223 mentioned above.

[0110] The first handle 230 is arranged along the second direction (ie Figure 2 The first handle 230 is movably connected to the first end of the sliding shaft 220 along the front-to-back direction (in the front-to-back direction), and the second handle 240 is movably connected to the second end of the sliding shaft 220 along the second direction, and the second direction is perpendicular to the first direction. In this embodiment, the first end of the first handle 230 (that is, the end of the first handle 230 away from the second handle 240) is rotatably connected to the sliding shaft 220 through the first rotation axis 231, and the first rotation axis 231 is movably connected to the sliding shaft 220 along the third direction (that is, Figure 2 The first handle 230 is provided with a first elastic member 281 between the second end of the first handle 230 (i.e., the end of the first handle 230 facing the second handle 240) and the sliding shaft 220. The two ends of the first elastic member 281 in the second direction are respectively in contact with the second end of the first handle 230 and the sliding shaft 220. The first limit block 221 is also provided on the circumferential surface of the first end of the sliding shaft 220. The connection method between the first handle 240 and the sliding shaft 220 can be the same as the connection method between the first handle 130 and the sliding shaft 120. The specific structure and setting method of the first elastic member 281 can be the same as the first elastic member 181. The specific structure and setting method of the first limit block 221 can be the same as the first limit block 121. The specific structure and setting method of the third displacement sensor 170 are the same as the second displacement sensor 160, which will not be described again here. The second handle 240 and the first handle 230 are symmetrically arranged at the two ends of the sliding shaft 220, and their structures will not be described again here.

[0111] The second displacement sensor 260 is disposed at the first handle 230 and the sliding shaft 220, and is used to detect the displacement of the first handle 230 in the second direction. The third displacement sensor 270 is disposed at the second handle 240 and the sliding shaft 220, and the third displacement sensor 270 detects the displacement of the second handle 240 in the second direction. The specific structure and arrangement of the second displacement sensor 260 and the third displacement sensor 270 may be the same as those of the second displacement sensor 160 and the third displacement sensor 170, and will not be repeated here.

[0112] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those generally 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 article can mean that one component is directly attached to another component, or that one component is attached to another component through an intermediate. Features described in this article 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.

[0113] The present application has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and description, and are not intended to limit the present application to the described embodiments. It can be understood by those skilled in the art that more variations and modifications can be made according to the teachings of the present application, and these variations and modifications all fall within the scope of protection claimed in the present application.

Claims

1. An operating handle, characterized in that: include: frame; a sliding shaft movably connected to the frame along a first direction; a first handle, the first handle being movably connected to the first end of the sliding shaft along a second direction, the second direction being perpendicular to the first direction; a second handle movably connected to the second end of the sliding shaft along the second direction; at least one first displacement sensor, wherein the first displacement sensor is disposed on the sliding shaft and / or the frame, and the first displacement sensor detects the displacement of the sliding shaft in the first direction; at least one second displacement sensor, the second displacement sensor being disposed on the first handle and / or the sliding shaft, and detecting a displacement of the first handle in the second direction; At least one third displacement sensor, wherein the third displacement sensor is disposed on the second handle and / or the sliding shaft, and the third displacement sensor detects the displacement of the second handle in the second direction.

2. The operating handle according to claim 1, characterized in that: At least one of the first displacement sensor, the second displacement sensor, and the third displacement sensor is a non-contact displacement sensor.

3. The operating handle according to claim 1, characterized in that: The first displacement sensor includes a first Hall sensor and a first magnet, wherein the first Hall sensor is disposed on one of the sliding shaft and the frame, and the first magnet is disposed on the other of the sliding shaft and the frame; The second displacement sensor includes a second Hall sensor and a second magnet, wherein the second Hall sensor is disposed on one of the first handle and the sliding shaft, and the first magnet is disposed on the other of the first handle and the sliding shaft; The third displacement sensor includes a third Hall sensor and a third magnet. The third Hall sensor is disposed on one of the second handle and the sliding shaft, and the third magnet is disposed on the other of the second handle and the sliding shaft.

4. The operating handle according to claim 1, characterized in that: The first end of the first handle is rotatably connected to the sliding shaft, and the rotation axis of the first handle extends along a third direction, and the third direction is perpendicular to the first direction and the second direction; The first end of the second handle is rotatably connected to the sliding shaft, wherein the rotation axis of the second handle extends along the third direction; The operating handle also includes a first elastic member and a second elastic member, wherein two ends of the first elastic member in the second direction respectively abut against the second end of the first handle and the sliding shaft, and two ends of the second elastic member in the second direction respectively abut against the second end of the second handle and the sliding shaft.

5. The operating handle according to claim 4, characterized in that: The first handle or the sliding shaft is provided with a first limit block, and accordingly, the first limit block can abut against the sliding shaft or the first handle to limit the movement of the first handle in the second direction; The second handle or the sliding shaft is provided with a second limit block, and accordingly, the second limit block can abut against the sliding shaft or the second handle to limit the movement of the second handle in the second direction.

6. The operating handle according to claim 1, characterized in that: The sliding shaft is fixedly provided with a first stopper and a second stopper; The operating handle further includes a third elastic member and a fourth elastic member. Two ends of the third elastic member in the first direction respectively abut against the first stopper and the frame. Two ends of the fourth elastic member in the first direction respectively abut against the frame and the second stopper.

7. The operating handle according to claim 1, characterized in that: The frame comprises a first sleeve portion and a second sleeve portion which are arranged at intervals, the middle portion of the sliding shaft is inserted into the first sleeve portion and the second sleeve portion, and the sliding shaft is slidably connected to the first sleeve portion and the second sleeve portion; The sliding shaft is fixedly provided with a third stopper, and the third stopper is located between the first sleeve portion and the second sleeve portion; The operating handle also includes a fifth elastic member and a sixth elastic member. Both ends of the fifth elastic member in the first direction respectively abut against the first sleeve portion and the third stopper. Both ends of the sixth elastic member in the first direction respectively abut against the second sleeve portion and the third stopper.

8. The operating handle according to claim 1, characterized in that: The operating handle also includes a first in-position detection sensor and a second in-position detection sensor; The first in-position detection sensor is disposed on the first handle, and the second in-position detection sensor is disposed on the second handle.

9. The operating handle according to claim 8, characterized in that: The first in-position detection sensor is a photoelectric sensor, a pressure sensor or a travel switch; The second in-position detection sensor is a photoelectric sensor, a pressure sensor or a travel switch.

10. The operating handle according to claim 8, characterized in that: The operating handle also includes a first enclosure and a second enclosure; At least one end of the first enclosure is fixedly connected to the first handle, a first holding space is defined between the first enclosure and the first handle, and the first in-position detection sensor is located on a side of the first handle facing the first enclosure and / or on the first enclosure; At least one end of the second enclosure is fixedly connected to the second handle, a second holding space is defined between the second enclosure and the second handle, and the second in-position detection sensor is located on a side of the second handle facing the second enclosure and / or on the second enclosure.

11. The operating handle according to claim 1, characterized in that: The first handle is slidably connected to the first end of the sliding shaft along the second direction; The second handle is slidably connected to the second end of the sliding shaft along the second direction; The operating handle further includes a seventh elastic member and an eighth elastic member. Both ends of the seventh elastic member in the second direction respectively abut against the sliding shaft of the first handle. Both ends of the eighth elastic member in the second direction respectively abut against the second handle and the sliding shaft.

12. The operating handle according to claim 1, characterized in that: The sliding shaft is a ball spline shaft, the frame comprises a ball spline sleeve, and the ball spline sleeve is sleeved on the ball spline shaft.

13. A medical cart, characterized in that: Comprising an operating handle as claimed in any one of claims 1 to 12.

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