Operating handle and medical cart

Abstract

The application provides an operating handle and a medical cart. The operating handle comprises a frame, a sliding shaft movably connected to the frame in a first direction, a first handle movably connected to a first end of the sliding shaft in a second direction, the second direction being perpendicular to the first direction, a second handle movably connected to a second end of the sliding shaft in the second direction, at least one first displacement sensor arranged on the sliding shaft and / or the frame and used for detecting displacement of the sliding shaft in the first direction, at least one second displacement sensor arranged on the first handle and / or the sliding shaft and used for detecting displacement of the first handle in the second direction, and at least one third displacement sensor arranged on the second handle and / or the sliding shaft and used for detecting 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 the 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 instruments, and more particularly to an operating handle and a medical cart. BACKGROUND

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

[0003] Generally, the patient-side cart needs to be stored or deployed in a specific position. For example, during the preoperative preparation, the patient-side cart is placed aside to avoid affecting the preoperative instrument preparation and patient preparation. When the patient completes the preoperative preparation such as hole preparation, the patient-side cart is quickly positioned.

[0004] Since the patient-side cart is usually in a multi-arm overhanging configuration, it has a large volume and heavy weight, and manual driving does not meet the labor protection requirements. Therefore, an operating handle is generally provided on the patient-side cart. The operating handle detects the front-back direction, left-right direction force and torque exerted on the handle by the operator to interpret the moving intention of the operation. Further, the algorithm is decomposed to the wheels of the patient-side cart to control the wheel movement.

[0005] The existing operating handle usually detects the front-back direction, left-right direction force and torque exerted on the handle by the operator through a dynamic force sensor. On the one hand, the force sensor can read the relative force between the hand and the sensor, but cannot distinguish whether the interaction force directly comes from the control intention of the person or other non-subjective control force components, such as the inertial force caused by the weight of the handle under the action of acceleration. These signal couplings cannot be directly separated from the control intention of the person. On the other hand, the force sensor also has some usage taboos, such as zero drift and temperature drift. That is, the detection accuracy and stability of the existing operating handle still need to be improved. SUMMARY

[0006] A series of simplified concepts are introduced in the summary section, which will be further described in detail in the detailed description section. The summary section of the present application does not mean to attempt to limit the key features and necessary technical features of the claimed technical solutions, nor to determine the protection scope of the claimed technical solutions.

[0007] To at least partially solve the above problems, the first aspect of the present application provides an operating handle, which comprises:

[0008] a rack;

[0009] a sliding shaft movably connected to the rack in a first direction;

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

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

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

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

[0014] at least one third displacement sensor disposed on the second handle and / or the sliding shaft, the third displacement sensor detecting 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 comprises a first Hall sensor and a first magnet, the first Hall sensor being disposed on one of the sliding shaft and the frame, the first magnet being disposed on the other of the sliding shaft and the frame;

[0017] the second displacement sensor comprises a second Hall sensor and a second magnet, the second Hall sensor being disposed on one of the first handle and the sliding shaft, the first magnet being disposed on the other of the first handle and the sliding shaft;

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

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

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

[0021] The operation handle further comprises a first elastic member and a second elastic member, two ends of the first elastic member in the second direction are respectively in abutment with the second end of the first handle and the sliding shaft, and two ends of the second elastic member in the second direction are respectively in abutment with 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 limiting block, and correspondingly, the first limiting block can be in abutment with 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 limiting block, and correspondingly, the second limiting block can be in abutment with 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 stop block and a second stop block.

[0025] The operation handle further comprises a third elastic member and a fourth elastic member, two ends of the third elastic member in the first direction are respectively in abutment with the first stop block and the rack, and two ends of the fourth elastic member in the first direction are respectively in abutment with the rack and the second stop block.

[0026] Optionally, the rack comprises a first sleeve portion and a second sleeve portion arranged at intervals, the middle part of the sliding shaft is arranged in the first sleeve portion and the second sleeve portion, and the sliding shaft is slidingly connected to the first sleeve portion and the second sleeve portion.

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

[0028] The operation handle further comprises a fifth elastic member and a sixth elastic member, two ends of the fifth elastic member in the first direction are respectively in abutment with the first sleeve portion and the third stop block, and two ends of the sixth elastic member in the first direction are respectively in abutment with the second sleeve portion and the third stop block.

[0029] Optionally, the operation handle further comprises a first in-position detection sensor and a second in-position detection sensor.

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

[0031] Optionally, the first in-position detection sensor is an optical sensor, a pressure sensor or a travel switch.

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

[0033] Optionally, the operation handle further comprises a first enclosure and a second enclosure.

[0034] At least one end of the first enclosure is fixedly connected to the first handle, and the first enclosure and the first handle have a first holding space therebetween, and the first in-place 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, and the second enclosure and the second handle have a second holding space therebetween, and the second in-place 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 slidingly connected to a first end of the sliding shaft in the second direction.

[0037] The second handle is slidingly connected to a second end of the sliding shaft in the second direction.

[0038] The operation handle further comprises a seventh elastic member and an eighth elastic member, both ends of the seventh elastic member in the second direction abut against the first handle and the sliding shaft respectively, and both ends of the eighth elastic member in the second direction abut against the second handle and the sliding shaft respectively.

[0039] Optionally, the sliding shaft is a ball spline shaft, and the rack comprises a ball spline sleeve, which is sleeved on the ball spline shaft.

[0040] The second aspect of the present application provides a medical cart comprising the operation handle as described above.

[0041] According to the operation handle and the medical cart of the present application, the sliding shaft is movably connected to the rack in the first direction, the first handle and the second handle are movably connected to the sliding shaft in 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-mentioned scheme, on the one hand, the structure is simple, and the non-subjective intended input signal caused by the handle inertia force can be sufficiently reduced; on the other hand, compared with the force sensor, the displacement sensor can more accurately and stably detect the operation of the user on the operation handle. BRIEF DESCRIPTION OF DRAWINGS

[0042] The following drawings of the embodiments of the present application are hereby incorporated into the present application as part of the present application for the purpose of understanding the present application. The embodiments of the present application and their description shown in the drawings are used to explain the principles of the present application. In the drawings,

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

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

[0045] Figure 3 Fig. 3 is a structural schematic diagram of an operating handle according to another embodiment of the present application.

[0046] Legend of reference signs:

[0047] 10: main body frame 20: traveling assembly

[0048] 30: surgical instrument

[0049] 100: operating handle 110: rack

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

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

[0052] 124: second stop block 125: first protruding part

[0053] 126: second protruding part 130: first handle

[0054] 131: first rotating shaft 140: second handle

[0055] 141: second rotating shaft 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-place sensor 192: second in-place sensor

[0063] 193: first enclosure 194: second enclosure

[0064] 200: operating handle 210: rack

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

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

[0067] 222: second limiting block 230: first handle

[0068] 231: first rotating shaft 240: second handle

[0069] 241: second rotating shaft 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, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without one or more of these specific details. In other instances, well-known features have not been described in detail to avoid obscuring aspects of the present application.

[0077] For a thorough understanding of the present application, reference is made to the following detailed description in conjunction with the accompanying drawings. It is to be understood that the application is not limited to the specific details of the application described herein.

[0078] It should be understood that the terminology used herein is intended only to describe particular embodiments and is not intended to limit the scope of this application. The singular forms “a,” “an,” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. When the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof. The terms “upper,” “lower,” “front,” “rear,” “left,” “right,” and similar expressions used in this application are for illustrative purposes only and are not intended to be limiting.

[0079] Ordinal numbers such as “first” and “second” used in this application are merely identifiers and have no other meaning, such as a specific order. Moreover, for example, the term “first component” does not imply the existence of a “second component”, and the term “second component” does not imply the existence of a “first component”.

[0080] The specific embodiments of this application will be described in more detail below with reference to the accompanying drawings, which illustrate representative embodiments of this application and are not intended to limit this application.

[0081] See appendix Figure 1 This application provides a medical trolley, comprising a main frame 10, a traveling assembly 20, and surgical instruments 30. An operating handle 100 is fixedly mounted on the main frame 10 for a user to grip and control the trolley's movement (including forward, backward, and turning). The operating handle 100 can detect user input. The traveling assembly 20 is connected to the main frame 10 and includes a controller and wheels. The wheels may include two independent drive wheels and two independent follower wheels. The drive wheels can be differential wheels, located on the left and right sides of the bottom of the main frame 10, and are electrically driven, while the follower wheels are not powered. The controller is connected to the operating handle 100 and the drive wheels, and controls the speed and direction of the two independent drive wheels based on the detection results from the operating handle 100, thereby enabling the trolley to move forward, backward, and turn. The surgical instruments 30 are fixedly or detachably connected to the main frame 10. They can be instruments used for thoracic and abdominal surgeries or other surgeries, and can be configured as needed by those skilled in the art.

[0082] See attached document Figure 2 right Figure 1 The operating handle 100 shown in the figure is illustrated by way of example. 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 mounted on the main frame 10, for example, by welding. The frame 110 is used to mount the sliding shaft 120.

[0084] The sliding shaft 120 is along the first direction (i.e. Figure 2 The sliding shaft 120 is movably connected to the frame 110 in the left-right direction. Specifically, the sliding shaft 120 is connected to the frame via a single-degree-of-freedom sliding pair, and can only move in the first direction relative to the frame 110, but cannot rotate or move in other directions. In this embodiment, the sliding shaft 120 is a ball spline shaft, and the frame 110 includes a ball spline sleeve. The ball spline sleeve is fitted onto the middle part of the ball spline shaft, and the two ends of the ball spline shaft are located outside the ball spline sleeve. The ball spline shaft can move in the first direction within the ball spline sleeve.

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

[0086] In the 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 spaced apart on the sliding shaft 120, the sliding shaft 120 between the first stopper 123 and the second stopper 124 is arranged in the rack 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 rack 110. The operating handle 100 further comprises a third elastic member 183 and a fourth elastic member 184, the third elastic member 183 is in abutment with the first stopper 123 and the rack 110 at two ends in the first direction respectively, and the fourth elastic member 184 is in abutment with the rack 110 and the second stopper 124 at two ends in the first direction respectively. The third elastic member 183 and the fourth elastic member 184 can make the sliding shaft 120 remain in a specific initial position without external force. In the embodiment, the third elastic member 183 and the fourth elastic member 184 are two springs which are the same. The third elastic member 183 and the fourth elastic member 184 both have a certain pre-compression amount, that is, the third elastic member 183 and the fourth elastic member 184 are both in a compressed state without external force. 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, and 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, which will not cause the displacement of the sliding shaft 120, so that the displacement of the sliding shaft 120 in the first direction caused by unexpected situations such as accidental touch and vibration can be effectively avoided. 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 generated by system vibration and accelerate system stability.

[0087] In the embodiment, the first displacement sensor 150 is arranged between the sliding shaft 120 and the frame 110, and is configured 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 the non-contact displacement sensor can effectively ensure the safety of the sensor itself, and the sensor is not at 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 sliding shaft 120. When the sliding shaft 120 moves in the first direction, the distance between the first magnet 151 and the first Hall sensor 152 changes accordingly, and the Hall voltage signal output by the first Hall sensor 152 also changes 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 can be positive or negative. For example, the displacement of the sliding shaft 120 to the left from the initial position can be defined as negative, and the displacement of the sliding shaft 120 to the right from the initial position can be defined as positive. The controller can be connected with the first displacement sensor 150 to obtain the displacement of the sliding shaft 120 in the first direction, control the left deflection of the driving wheel when the displacement of the sliding shaft 120 is negative, control the right 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 can be configured by those skilled in the art as needed.

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

[0089] In some other embodiments, the first displacement sensor 150 can be a laser ranging sensor or an ultrasonic ranging sensor arranged on one of the sliding shaft 120 and the frame 110. The first displacement sensor 150 is configured to measure the distance between a certain part on the other one of the sliding shaft 120 and the frame 110 in the first direction, and then determine the displacement of the sliding shaft 120 in the first direction according to the measured distance.

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

[0091] In the present embodiment, the first displacement sensor 150 is only one, in other embodiments, the first displacement sensor 150 can be provided with multiple, for example, multiple first magnets 151 and multiple first Hall sensors 152 can be provided, or, a first magnet 151 and multiple first Hall sensors 152 are provided, to realize cross verification, redundant verification, and improve the overall reliability. Those skilled in the art can configure as needed, which is not limited in the present application.

[0092] The first handle 130 is movably connected to the first end of the sliding shaft 120 along the second direction (i.e. the front-back direction in Figure 2 The second handle 140 is movably connected to the second end of the sliding shaft 120 along the second direction, which is perpendicular to the first direction. In the present embodiment, the first end of the sliding shaft 120 is arranged in 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 arranged in the first handle 130. The first end of the first handle 130 (i.e. the end of the first handle 130 facing the second handle 140) is rotatably connected to the sliding shaft 120 through a first rotating shaft 131, and the first rotating shaft 131 extends along the third direction (i.e. the direction perpendicular to the paper in Figure 2 Thus, the first handle 130 can rotate along the clockwise or counterclockwise direction around the first rotating shaft 131, and the rotation includes the component of moving along the front-back direction, i.e. the first handle 130 can move along the second direction. When the sliding shaft 120 moves along the first direction, the first handle 130 moves along the first direction synchronously with the sliding shaft 120. The second end of the first handle 130 (i.e. the end of the first handle 130 away from the second handle 140) is provided with a first elastic member 181 between the first handle 130 and the sliding shaft 120, and the two ends of the first elastic member 181 in the second direction are respectively in abutment with the second end of the first handle 130 and the sliding shaft 120. In the present embodiment, the end of the sliding shaft 120 away from the second handle 140 has a first protruding portion 125, and the front side and the rear side of the first protruding portion 125 are respectively provided with a first elastic member 181 (i.e. there are two first elastic members 181) between the second end of the first handle 130. The first elastic member 181 can be a spring, which is arranged along the second direction (i.e. the front-back direction in Figure 2The first elastic member 181 extends in the second direction. The two ends of the first elastic member 181 in the second direction respectively abut against the inner side of the first extension 125 and the first handle 130, and the first elastic member 181 can keep the first handle 130 in a specific initial position when no external force is applied. The first elastic member 181 has a certain pre-compression amount, that is, the first elastic member 181 is in a compressed state when no external force is applied. 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 unintended 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 energy generated by system vibration and accelerate system stabilization. In some embodiments, the first elastic member 181 can be only one, which extends in the second direction, and the first end is fixedly connected with the first extension 125, and the second end is fixedly connected with the first handle 130. In some embodiments, the first elastic member 181 can be other suitable elastic members such as metal springs, which are arranged between the second end of the first handle 130 and the sliding shaft 120.

[0093] In the present embodiment, the circumferential surface of the first end of the sliding shaft 120 is provided with a first limiting block 121, which 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 avoid damage. In the present embodiment, the first limiting block 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 limiting block 121 is greater than the diameter of the sliding shaft 120 and less than the diameter of the inner side wall surface of the handle. When the movement distance of the first handle 130 in the second direction reaches the position of the limiting block, the remaining force is borne by the first limiting block 121, which limits the continuous movement of the first handle 130 in the second direction, avoids the compression of the first elastic member 181, and thus avoids the damage of the first elastic member 181; at the same time, the first limiting block 121 can also bear a large component of the force load when the medical cart goes uphill or downhill. In some embodiments, the first limiting block 121 can be two rubber pads, which are respectively bonded to the front side and the rear side of the sliding shaft 120. In some embodiments, the first limiting block 121 can be arranged on the inner side surface of the first handle 130, which is used to abut against the sliding shaft 120 to limit the movement of the first handle 130 in the second direction.

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

[0095] The second displacement sensor 160 is arranged on 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, which 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 arranged on the first handle 130, and the second Hall sensor 162 is fixedly arranged on 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 can be positive or negative, for example, the displacement of the first handle 130 from the initial position backward can be defined as negative, and the displacement of the sliding shaft 120 from the initial position forward can be defined as positive. The controller can be connected with 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 displacement. The specific control strategy can be configured by those skilled in the art as needed, which is not limited in the present application.

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

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

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

[0099] In the present embodiment, the second displacement sensor 160 is only one, in some other embodiments, the second displacement sensor 160 can be provided with multiple, for example, multiple second magnets 161 and multiple second Hall sensors 162 can be provided, or, one second magnet 152 and multiple second Hall sensors 162 are arranged to realize cross verification, redundant verification, and improve the overall reliability. Those skilled in the art can configure as needed.

[0100] In the embodiment, the second handle 140 is symmetrically arranged with the first handle 130 at two ends of the sliding shaft 120. A first end of the second handle 140 (i.e. an end of the second handle 140 facing the first handle 130) is rotatably connected to the sliding shaft 120 through a second rotating shaft 141 extending in a third direction. A second end of the second handle 140 (i.e. an end of the second handle 140 away from the first handle 130) is provided with a second elastic member 182 relative to the sliding shaft 120. The sliding shaft 120 is provided with a second limiting block 122 for abutting against the second handle 140 to limit the movement of the second handle 140 in a second direction. A third displacement sensor 170 is arranged between 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 of the second handle 140 and the sliding shaft 120 can be the same as the connection mode of the first handle 130 and the sliding shaft 120, the specific structure and arrangement mode of the second elastic member 182 can be the same as those of the second elastic member 18, the specific structure and arrangement mode of the second limiting block 122 can be the same as those of the first limiting block 121, and the specific structure and arrangement mode of the third displacement sensor 170 are the same as those of 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 from the initial position backward can be defined as negative, and the displacement of the sliding shaft 140 from the initial position forward can be defined as positive. The controller can be connected with the second displacement sensor 170 to obtain the displacement of the second handle 140 in the second direction, control the right drive wheel to decelerate or reverse when the displacement of the second handle 140 is negative, control the right drive wheel to rotate forward when the displacement of the second handle 140 is positive, and control the rotation speed of the right drive wheel according to the displacement. The specific control strategy can be configured by those skilled in the art as needed, which is not limited in the present application.

[0101] In the embodiment, the operation handle 100 further comprises a first in-position detection sensor 191 and a second in-position detection sensor 192. The first in-position detection sensor 191 is arranged on the first handle 130, and the second in-position detection sensor 192 is arranged 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, i.e., to detect whether the first handle 130 and the second handle 140 are held by the operator. In the embodiment, the first in-position detection sensor 191 is an optical sensor, which comprises 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 hand when the operator holds the first handle 130. When the operator does not hold the first handle 130, the light receiver can receive the light emitted by the light emitter; when the operator holds the first handle 130, the hand of the operator will block the light emitted by the light emitter, so that the light receiver cannot receive the light, thereby it can be determined whether the operator holds the first handle 130. In some embodiments, the first in-position detection sensor 191 can also be replaced by a pressure sensor. The pressure sensor is arranged outside the first handle 130. When the operator holds the first handle 130, the pressure sensor will generate a certain pressure, so that the pressure sensor can determine whether the operator holds the first handle 130 according to whether the detected pressure exceeds a set threshold. The pressure sensor can be a long strip air bag 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-shaped button, so that it can be better triggered by the operator. In the embodiment, the second in-position detection sensor 192 is an optical sensor. Similarly, the second in-position detection sensor 192 can also be a pressure sensor or a travel switch. The controller is connected with the first in-position detection sensor 191 and the second in-position detection sensor 192, and is used to control the driving wheel to drive only when the first in-position detection sensor 191 and the second in-position detection sensor 192 simultaneously detect that the operator holds. Thus, it can effectively avoid the interference of the non-operator subjective intention manipulation signal to the operation handle, and avoid false start.

[0102] In this embodiment, the operating handle 100 further includes a first barrier 193 and a second barrier 194. At least one end of the first barrier 193 is fixedly connected to the first handle 130, and a first gripping space is formed between the first barrier 193 and the first handle 130. A first presence detection sensor 191 is located on the side of the first handle 130 facing the first barrier 130 and / or on the first barrier 191. At least one end of the second barrier 194 is connected to the second handle 140, and a second gripping space is formed between the second barrier 194 and the second handle 140. A second presence detection sensor 192 is located on the side of the second handle 140 facing the second barrier 194 and / or on the second barrier 194. The shapes of the first barrier 193 and the second barrier 194 can be U-shaped, L-shaped, C-shaped, or other suitable shapes. The arrangement of the first barrier 193 and the second barrier 194 can effectively prevent non-subjective input accidents caused by accidental covering or impact of objects, which simultaneously trigger the first presence detection sensor 191 and the second presence detection sensor 192.

[0103] The operating handle 100 according to this embodiment has a simple and lightweight structure, which can significantly reduce input signals from non-subjective intentions caused by the inertial force of the handle. The operating handle 100 adopts a non-contact displacement sensor, which can fully ensure the safety of the sensor itself, eliminating the risk of impact damage. Moreover, the displacement sensor does not have the problems of zero drift and temperature drift that exist in force sensors, and can perform detection more accurately and stably. The non-contact sensor layout configuration provides higher data flexibility and rich programmable response characteristics, such as more precise and uniform speed when low operating force is required, avoiding the problems caused by low-speed instability, and setting amplitude limits at high speeds. Furthermore, the displacement sensor and the elastic element are independent of each other. By configuring the elastic elements (first elastic element 181, second elastic element 182, third elastic element 183, fourth elastic element 184) (e.g., configuring the spring stiffness), high-frequency vibration input signals (which may be generated during accidental touches) can be effectively filtered, and smoothness can be achieved when the movement stops, avoiding the introduction of noise. The elastic element uses a spring, which has built-in damping and can filter the operating force signal to a certain extent, avoiding the introduction of high-frequency signals and reducing the lag problem caused by program filtering.

[0104] See appendix Figure 3 An example of an operating handle 200 according to another embodiment of this application will be described, which can replace the attached... Figure 2 The operating handle 100 is shown in the figure.

[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 rack 210 can be fixedly arranged on the main frame 10, for example, fixedly connected to the main frame 10 by welding, and the rack 210 is used to install the sliding shaft 120.

[0107] The sliding shaft 120 is movably connected to the rack 110 along the first direction (i.e. Figure 2 The first sleeve part 211 and the second sleeve part 212 are fixedly arranged on the rack 210. The middle part of the sliding shaft 220 passes through the first sleeve part 211 and the second sleeve part 212, and the sliding shaft 220 is slidingly connected to the first sleeve part 211 and the second sleeve part 212. The sliding shaft 120 can be a ball spline shaft, the first sleeve part 211 and the second sleeve part 212 are ball spline sleeves, the ball spline shaft passes through the ball spline sleeves and can move in the ball spline sleeves along the first direction.

[0108] The sliding shaft 220 is fixedly arranged with a third stopper 223 between the first sleeve part 211 and the second sleeve part 212. The operating handle 200 further includes a fifth elastic member 283 and a sixth elastic member 284, which extend along the second direction. The two ends of the fifth elastic member 283 in the first direction respectively abut against the first sleeve part 211 and the third stopper 223, and the two ends of the sixth elastic member 284 in the first direction respectively abut against the second sleeve part 212 and the third stopper 223. The arrangement of the fifth elastic member 283 and the sixth elastic member 284 can make the sliding shaft 220 remain in a specific initial position without external force. In the 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 pre-compression amount, that is, without external force, 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, so that the displacement of the sliding shaft 220 in the first direction caused by unexpected situations such as accidental touch and vibration can be effectively avoided. 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 generated by system vibration and accelerate system stability.

[0109] In the embodiment, the first displacement sensor 250 is arranged between the sliding shaft 220 and the frame 210, and is configured 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 arranged in the frame, and the first magnet 251 is fixedly arranged on the sliding shaft 220, and circumferentially surrounds the sliding shaft 220 and is located between the first sleeve portion 211 and the second sleeve portion 212, and serves as the third stopper 223.

[0110] The first handle 230 is movably connected to the first end of the sliding shaft 220 in the second direction (i.e. the front-back direction of the Figure 2 The second handle 240 is movably connected to the second end of the sliding shaft 220 in the second direction, and the second direction is perpendicular to the first direction. In the embodiment, the first end of the first handle 230 (i.e. the end of the first handle 230 away from the second handle 240) is rotatably connected to the sliding shaft 220 through a first rotating shaft 231, and the first rotating shaft 231 extends in the third direction (i.e. the direction perpendicular to the paper surface of the Figure 2 The second end of the first handle 230 (i.e. the end of the first handle 230 towards the second handle 240) is provided with a first elastic member 281, and the two ends of the first elastic member 281 in the second direction are respectively in abutment with the second end of the first handle 230 and the sliding shaft 220. The circumferential surface of the first end of the sliding shaft 220 is further provided with a first limiting block 221. The connection between the first handle 240 and the sliding shaft 220 can be the same as the connection between the first handle 130 and the sliding shaft 120, the specific structure and arrangement of the first elastic member 281 can be the same as the first elastic member 181, the specific structure and arrangement of the first limiting block 221 can be the same as the first limiting block 121, and the specific structure and arrangement of the third displacement sensor 170 can be the same as the second displacement sensor 160, which will not be repeated here. The second handle 240 is symmetrically arranged at the two ends of the sliding shaft 220, and the structure thereof will not be repeated here.

[0111] The second displacement sensor 260 is arranged between the first handle 230 and the sliding shaft 220, and is configured to detect the displacement of the first handle 230 in the second direction. The third displacement sensor 270 is arranged between the second handle 240 and the sliding shaft 220, and is configured to detect 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 can be the same as the second displacement sensor 160 and the third displacement sensor 170, which will not be repeated here.

[0112] Unless otherwise defined, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used herein, the term "set" can mean either a component is directly attached to another component or a component is attached to another component through an intermediate component. The features described in one embodiment can be applied to another embodiment, either individually or in combination, unless the features are not applicable or are otherwise stated.

[0113] The application has been described through the above embodiments, but it should be understood that the above embodiments are only for the purpose of example and illustration, and are not intended to limit the application to the scope of the described embodiments. Those skilled in the art can understand that more variations and modifications can be made according to the teachings of the present application, which all fall within the scope of the application claimed.

Claims

1. An operating handle, characterized in that, include: frame; A sliding shaft, which is movably connected to the frame along a first direction; A first handle is movably connected to a first end of the sliding shaft along a second direction perpendicular to the first direction; A second handle, which is movably connected to the second end of the sliding shaft along the second direction; At least one first displacement sensor, the first displacement sensor being disposed on the sliding shaft and / or the frame, the first displacement sensor detecting the displacement of the sliding shaft in the first direction; At least one 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; At least one third displacement sensor is disposed on the second handle and / or the sliding shaft, the third displacement sensor detecting 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. 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. The second Hall sensor is disposed in one of the first handle and the sliding shaft, and the second magnet is disposed in 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 shaft of the first handle extends along a third direction, which 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 shaft of the second handle extends along the third direction; The operating handle further includes a first elastic element and a second elastic element. The two ends of the first elastic element in the second direction abut against the second end of the first handle and the sliding shaft, respectively. The two ends of the second elastic element in the second direction abut against the second end of the second handle and the sliding shaft, respectively.

5. The operating handle according to claim 4, characterized in that, The first handle or the sliding shaft is provided with a first limiting block. Accordingly, the first limiting block can abut against the sliding shaft or the first handle to restrict the movement of the first handle in the second direction. The second handle or the sliding shaft is provided with a second limiting block. Accordingly, the second limiting block can abut against the sliding shaft or the second handle to restrict 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 stop and a second stop; The operating handle further includes a third elastic element and a fourth elastic element. The two ends of the third elastic element in the first direction abut against the first stop and the frame, respectively, and the two ends of the fourth elastic element in the first direction abut against the frame and the second stop, respectively.

7. The operating handle according to claim 1, characterized in that, The frame includes a first sleeve portion and a second sleeve portion spaced apart, the middle portion of the sliding shaft passes through 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 stop block, which is located between the first sleeve portion and the second sleeve portion; The operating handle further includes a fifth elastic element and a sixth elastic element. The two ends of the fifth elastic element in the first direction abut against the first sleeve portion and the third stop block, respectively. The two ends of the sixth elastic element in the first direction abut against the second sleeve portion and the third stop block, respectively.

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

9. The operating handle according to claim 8, characterized in that, The first in-situ detection sensor is a photoelectric sensor, a pressure sensor, or a limit switch; The second in-situ detection sensor is a photoelectric sensor, a pressure sensor, or a limit 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, and there is a first gripping space between the first enclosure and the first handle. The first in-situ detection sensor is located on the 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, and there is a second gripping space between the second enclosure and the second handle. The second in-situ detection sensor is located on the 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 element and an eighth elastic element. The two ends of the seventh elastic element in the second direction abut against the first handle and the sliding shaft, respectively. The two ends of the eighth elastic element in the second direction abut against the second handle and the sliding shaft, respectively.

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

13. A medical trolley, characterized in that, Includes the operating handle as described in any one of claims 1-12.

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