Multifunctional handle for surgical robot control and use method thereof

Abstract

The invention belongs to the related technical field of surgical robots, and discloses a multifunctional handle for controlling a surgical robot and a use method of the multifunctional handle. The multifunctional handle comprises a handle main body, a connecting shaft, a handle cover, an encoder, a kneading arm, a grip and a five-way key, the handle body serves as a center structure for connecting all parts of the multifunctional handle. The connecting shaft is used for connecting the handle main body with a console; the handle cover is fixedly connected to the upper portion of the handle body through a bolt. The encoder is fixed on the handle cover, the kneading arm is connected with the handle main body through a rotating shaft, and the grip is fixedly connected with the bottom of the handle main body; the five-way key is mounted on the left side of the handle main body; the design of the grip supports two gripping methods which are respectively suitable for high-precision operation and easy operation. According to the multifunctional handle, the hand fatigue of an operator can be effectively relieved, and the precision and convenience of surgical operation are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field related to surgical robots, and more specifically, relates to a multifunctional handle for controlling a surgical robot and a method for using the same. Background Art

[0002] With the continuous progress of medical technology, surgical robots have become an indispensable tool in modern surgical operations. In the operation of surgical robots, the handle, as the direct interaction interface between the operator and the robot, plays a crucial role. The handle is not only a tool for controlling the end effector of the robot, but its design and functions directly affect the operator's operation experience, comfort, and the success rate of the surgery.

[0003] Traditional control handles for surgical robots usually adopt a single pinch - grip design, where the operator pinches the handle with the thumb, index finger, and middle finger. Although this design can achieve basic control functions, during long - term operation, due to the fingers maintaining the pinch - grip posture for a long time, it is easy to cause hand fatigue of the operator, especially excessive tension in the thumb and index finger. Therefore, the existing surgical robot handles have certain limitations in terms of comfort and ergonomics. Especially during complex surgical operations, the operator may feel a heavy burden on the hand, thus affecting the operation accuracy and efficiency.

[0004] In addition, traditional surgical robot handles are mostly used in laparoscopic surgeries and usually have relatively simple functions and lack key control functions. However, in endoscopic surgeries, the functions of surgical instruments are more complex, involving multiple operation modes such as self - locking, flushing, and aspiration. The operator needs to interrupt the operation and frequently adjust different function switches.

[0005] Based on the above problems, there is an urgent need to propose a multifunctional handle for controlling a surgical robot, which allows the operator to hold the grip to move the handle when performing non - high - precision operations, thus reducing the finger burden; while when high - precision actions need to be performed, the operator can still perform precise control by pinching the main body and the pinching arm to improve comfort and flexibility. Summary of the Invention

[0006] Aiming at the above - mentioned defects or improvement requirements of the prior art, the present invention provides a multifunctional handle for controlling a surgical robot and a method for using the same. The purpose is to enable the operator to control the surgical robot more intuitively and conveniently by improving the design of the handle, reducing the fatigue during the control process, and enhancing the operation accuracy and efficiency, thereby solving the technical problem that the heavy hand burden during complex surgical operations affects the operation accuracy and efficiency.

[0007] To achieve the above object, according to one aspect of the present invention, a multifunctional handle for surgical robot control is provided, which includes a handle body, a connecting shaft, a handle cover, an encoder, a pinch arm, a grip, and a five-way button; the handle body serves as the central structure connecting the various parts of the multifunctional handle; the connecting shaft is used to connect the handle body to the console and provides axial rotational freedom for the multifunctional handle; the handle cover is fixedly connected to the upper part of the handle body by bolts; the encoder is fixed on the handle cover, the pinch arm is connected to the handle body through a rotating shaft, and the grip is fixedly connected to the bottom of the handle body; the five-way button is installed on the left side of the handle body for operation by the thumb.

[0008] Preferably, the handle body includes a body base, an embedded chip, a body rotating shaft, a return torsion spring, a fixing bolt, and a bearing; the body base is installed on the console through a connecting shaft; the embedded chip is fixedly arranged inside the body base and is used to receive, process, and send button signals; the bearing is fixed at the bottom of the body base, the body rotating shaft is installed in the inner ring of the bearing through interference fit of the shaft hole, the return torsion spring is axially fixed on the body rotating shaft, one side of the return torsion spring is fixed to the pinch arm, the other side of the return torsion spring is fixed to the body base, and the pinch arm is installed on the body rotating shaft and fixed by a fixing bolt.

[0009] Preferably, the rotating shaft of the encoder is concentrically assembled with the body rotating shaft and is used to record the movement of the pinch arm in real time.

[0010] Preferably, the grip includes a right grip, a left grip, a button group, and a linear motor; through holes are provided on the upper sides of the right grip and the left grip and are respectively fixedly connected to the through holes at the bottom of the handle body through fasteners; the right grip and the left grip are fixedly connected by bolts; the button group is installed on the left grip; the linear motor is installed inside the grip.

[0011] Preferably, the button group includes multiple buttons and is used to control different functions of the surgical robot.

[0012] Preferably, the button group includes a first button, a second button, a third button, and a fourth button; the first button is used to aspirate the intracavitary effusion, the second button is used for irrigation, the third button is used for inflation, and the fourth button is used to enter the joint self-locking mode.

[0013] Preferably, through holes are provided on both sides of the handle body and are fixedly connected to the through holes on both sides of the handle cover by bolts.

[0014] Preferably, an integrated LED lamp is provided on the top of the handle cover and is used to display the working state of the multifunctional handle.

[0015] Preferably, the linear motor is used to alert the operator when an abnormal state occurs, such as when the surgical arm may cause damage to tissues or there is a communication abnormality.

[0016] According to another aspect of the present invention, a method for using a multi-functional handle for surgical robot control is provided, and the following two grasping methods can be adopted:

[0017] (1) When fine control is required, the operator adopts a pinching grip, with the thumb against the handle body, and the index finger or middle finger placed on the pinching arm, and the palm does not touch the handle body;

[0018] (2) When easy non-fine control is required, the operator adopts a grasping grip, with the thumb against the handle body, the index finger placed on the pinching arm, and the remaining three fingers holding the grip.

[0019] Generally speaking, compared with the prior art through the above technical solutions conceived by the present invention, a multi-functional handle for surgical robot control provided by the present invention mainly has the following beneficial effects:

[0020] 1. The integrated design of the multi-functional buttons and switches enables the operator to efficiently control multiple functions during the operation, simplifies the operation process, and reduces interference during the operation. The multi-functional handle of the present invention integrates multiple buttons and switches, and the operator can directly control these functions on the handle, thus avoiding interrupting the operation to adjust other devices, further improving work efficiency and operation fluency.

[0021] 2. By introducing the grip design, the comfort of the handle is optimized, enabling the operator to reduce hand fatigue during non-high-precision operations and enhancing the flexibility of the operation. On the basis of maintaining precision control, the handle design improves the intuitiveness and comfort of the operation, making the operation more flexible and convenient, and improving the accuracy and efficiency of surgical operations.

[0022] 3. The multi-functional handle of the present invention is applicable to various surgical robots, especially in endoscopic surgery and minimally invasive surgery. It not only improves the comfort and accuracy of the operator, but also makes the control of various functions during the operation more convenient and efficient. These innovations significantly improve the limitations of the existing handle design and meet the higher requirements for precision, flexibility, and multitasking ability in modern surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic structural diagram of a multi-functional handle for surgical robot control provided by the present invention;

[0024] Figure 2 is an exploded schematic structural diagram of a multi-functional handle for surgical robot control provided by the present invention;

[0025] Figure 3 It is a schematic diagram of the main structure of the conventional endoscope manipulation part;

[0026] Figure 4 It is an exploded view of the structure of the main body part of a multifunctional handle for surgical robot control provided by the present invention;

[0027] Figure 5 It is an exploded view of the structure of the handle part of a multifunctional handle for surgical robot control provided by the present invention;

[0028] In all the drawings, the same reference numerals are used to represent the same elements or structures, where:

[0029] Handle main body 1, connecting shaft 2, handle cover 3, encoder 4, pinching arm 5, grip 6, five-way button 7, main body base 11, embedded chip 12, main body rotating shaft 13, return torsion spring 14, fixing bolt 15, bearing 16, right grip 61, left grip 62, button group 63, linear motor 64, endoscope control device 8, first deflection joint rotating disk 81, first deflection joint lock 82, second deflection joint rotating disk 83, second deflection joint lock 84, switching button 85, suction button 86, inflation and water spraying button 87. Detailed implementation manners

[0030] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0031] This embodiment provides a multifunctional handle for surgical robot control. Please refer to Figure 1 and Figure 2 , which includes a handle main body 1, a connecting shaft 2, a handle cover 3, an encoder 4, a pinching arm 5, a grip 6, and a five-way button 7; the handle main body 1 serves as the central structure connecting the various parts of the multifunctional handle; the connecting shaft 2 is used to connect the handle main body 1 to the console and provides axial rotational freedom for the multifunctional handle; the handle cover 3 is fixedly connected to the upper part of the handle main body 1 by bolts; the encoder 4 is fixed on the handle cover 3, the pinching arm 5 is connected to the handle main body 1 through a rotating shaft, the grip 6 is fixedly connected to the bottom of the handle main body 1; the five-way button 7 is installed on the left side of the handle main body 1 for operation by the thumb.

[0032] Please refer to Figure 4, the handle body 1 includes a body base 11, an embedded chip 12, a body rotating shaft 13, a return torsion spring 14, a fixing bolt 15, and a bearing 16; the body base 11 is installed on the console through a connecting shaft 2; the embedded chip 17 is fixedly arranged inside the body base 11 and is used to receive, process, and send button signals; the bearing 16 is fixed to the bottom of the body base 1, the body rotating shaft 13 is installed in the inner ring of the bearing 16 through interference fit of the shaft hole, the return torsion spring 14 is axially fixed on the body rotating shaft 13, one side of the return torsion spring 13 is fixed to the pinching arm 5, the other side of the return torsion spring 13 is fixed to the body base 11, the pinching arm 5 is installed on the body rotating shaft 13 and is fixed by the fixing bolt 15.

[0033] Please refer to Figure 5 , the grip 6 includes a right grip 61, a left grip 62, a button group 63, and a linear motor 64; through holes are provided on the upper sides of the right grip 61 and the left grip 62, and are respectively fixedly connected to the bottom through holes of the handle body 1 through fasteners; the right grip 61 and the left grip 62 are fixedly connected by bolts; the button group 63 is installed on the left grip 62; the linear motor 64 is installed inside the grip 6.

[0034] The button group 63 includes multiple buttons and is used to control different functions of the surgical robot.

[0035] The button group 63 includes a first button, a second button, a third button, and a fourth button; the first button is used to aspirate intracavitary fluid, the second button is used for irrigation, the third button is used for inflation, and the fourth button is used to enter the joint self-locking mode.

[0036] The five-way button 7 can be set to a multi-functional multiplexing mode. In the scenario of the display remote control function, the display menu items are switched through the up, down, left, and right keys, and the center key is used for confirmation; in the scenario of the joint self-locking function, each button can correspond to a joint, and the self-locking state is triggered and released through the button to control the self-locking of the target joint.

[0037] Through holes are provided on both sides of the handle body 1 and are fixed to the through holes on both sides of the handle cover 3 through bolts.

[0038] An integrated LED light is provided on the top of the handle cover 3 and is used to display the working state of the multi-functional handle.

[0039] The linear motor 64 is used to remind the operator when an abnormal state occurs, such as the surgical arm may cause damage to tissues or communication abnormalities.

[0040] A position for the operator's thumb to place is provided on the outer side surface of the handle body 1, a position for the operator's index finger to place is provided on the pinching arm 4, and positions for the remaining three fingers of the operator to place are provided on the grip 5. The surface design of the handle body conforms to the ergonomic principle and is optimized to reduce the hand fatigue of the operator during long-term use.

[0041] Please refer to Figure 3 , which is a schematic diagram of the main structure of a conventional endoscope control device 8. It includes a first deflection joint rotating disk 81, a first deflection joint latch 82, a second deflection joint rotating disk 83, a second deflection joint latch 84, a switching button 85, a suction button 88, and an inflation and water spraying button 87. By rotating the first deflection joint rotating disk 81 or the second deflection joint rotating disk 83, the deflection of the end of the endoscope in the up and down and left and right directions can be controlled respectively; by pressing the first deflection joint latch 82 or the second deflection joint latch 84, the end joint of the endoscope can be locked to maintain a fixed position. The suction button 88 is used to control the air extraction valve to discharge the liquid accumulated in front of the endoscope lens; on the contrary, the inflation and water spraying button 87 can control the air injection valve to eject gas or liquid from the end of the endoscope; the switching button 85 is used to switch the ejected medium (gas or liquid). A multifunctional handle for surgical robot control in this embodiment, its multiple buttons can also be custom-configured according to different requirements during the surgical process, so that the operator can conveniently and quickly perform function switching and parameter adjustment.

[0042] The usage method of the multifunctional handle for surgical robot control in this embodiment is as follows:

[0043] The following two grasping methods can be adopted:

[0044] (1) When fine manipulation is required, the operator adopts a pinching grip method, with the thumb against the handle body 1, and the index finger or middle finger placed on the pinching arm 5, and the palm does not contact the handle body 1; by slightly pinching to control the opening angle of the pinching arm 5, thereby controlling the opening and closing angle of the end effector of the surgical robot such as scissors and forceps;

[0045] (2) When easy non-fine manipulation is required, the operator adopts a grasping grip method, with the thumb against the handle body 1, the index finger placed on the pinching arm 5, and the remaining three fingers holding the grip 6.

[0046] The control method of a multifunctional handle for surgical robot control in this embodiment is as follows:

[0047] S1. Identify and map the operator's hand movement instructions;

[0048] S2. Adjust the movement mode of the surgical robot according to the hand movement instructions in S1;

[0049] S3. When high-precision operation is required, identify the operator's action of pinching the pinching arm and precisely control the movement of the surgical instrument.

[0050] Those skilled in the art can easily understand that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A multifunctional handle for controlling a surgical robot, characterized in that: The multifunctional handle comprises a handle body (1), a connecting shaft (2), a handle cover (3), an encoder (4), a pinching arm (5), a grip (6), and a five-way button (7); the handle body (1) serves as a central structure for connecting the various parts of the multifunctional handle; the connecting shaft (2) is used to connect the handle body (1) to a control console and provide the multifunctional handle with axial rotational freedom; the handle cover (3) is fixedly connected to the top of the handle body (1) by bolts; the encoder (4) is fixed to the handle cover (3), the pinching arm (5) is connected to the handle body (1) by a rotating shaft, and the grip (6) is fixedly connected to the bottom of the handle body (1); and the five-way button (7) is installed on the left side of the handle body (1).

2. A multifunctional handle for controlling a surgical robot according to claim 1, characterized in that: The handle body (1) comprises a main body base (11), an embedded chip (12), a main body rotating shaft (13), a rebound torsion spring (14), a fixing bolt (15), and a bearing (16); the main body base (11) is mounted on a control panel via a connecting shaft (2); the embedded chip (17) is fixedly arranged inside the main body base (11) for receiving, processing and sending key signals; the bearing (16) is fixed to the bottom of the main body base (1); the main body rotating shaft (13) is mounted on the inner ring of the bearing (16) via an interference fit of an axial hole; the rebound torsion spring (14) is axially fixed to the main body rotating shaft (13); one side of the rebound torsion spring (13) is fixed to the pinching arm (5); the other side of the rebound torsion spring (13) is fixed to the main body base (11); the pinching arm (5) is mounted on the main body rotating shaft (13) and fixed via a fixing bolt (15).

3. A multifunctional handle for controlling a surgical robot as claimed in claim 2, characterized in that: The rotating shaft of the encoder (4) is coaxially assembled with the main body rotating shaft (13) and is used to record the movement of the kneading arm (5) in real time.

4. A multifunctional handle for controlling a surgical robot according to claim 1, characterized in that: The grip (6) comprises a right grip (61), a left grip (62), a button group (63) and a linear motor (64); through holes are provided on the upper sides of the right grip (61) and the left grip (62), and are respectively fixedly connected to the bottom through holes of the handle body (1) by fasteners; the right grip (61) and the left grip (62) are fixedly connected by bolts; the button group (63) is installed on the left grip (62); and the linear motor (64) is installed in the grip (6).

5. A multifunctional handle for controlling a surgical robot according to claim 4, characterized in that: The button group (63) includes a plurality of buttons for controlling different functions of the surgical robot.

6. A multifunctional handle for controlling a surgical robot according to claim 4, characterized in that: The button group (63) comprises a first button, a second button, a third button and a fourth button; the first button is used to absorb fluid accumulated in the cavity, the second button is used for flushing, the third button is used for inflation, and the fourth button is used to enter a joint self-locking mode.

7. A multifunctional handle for controlling a surgical robot according to claim 4, characterized in that: The linear motor (64) is used to remind the operator when the handle is in an abnormal state.

8. The multifunctional handle for controlling a surgical robot according to claim 1, characterized in that: Through holes are provided on both sides of the handle body (1), and the handle body (1) is fixed to the through holes on both sides of the handle cover (3) by bolts.

9. The multifunctional handle for controlling a surgical robot according to claim 1, characterized in that: An integrated LED light is arranged on the top of the handle cover (3) for displaying the working status of the multifunctional handle.

10. A method for using a multifunctional handle for controlling a surgical robot, using the multifunctional handle according to any one of claims 1 to 9, characterized in that: There are two grip methods: (1) When fine manipulation is required, the operator adopts a pinch grip method, with the thumb against the handle body (1), the index finger or middle finger placed on the pinch arm (5), and the palm not in contact with the handle body (1); (2) When easy, non-fine manipulation is required, the operator adopts a grasping grip, with the thumb against the handle body (1), the index finger placed on the pinch arm (5), and the remaining three fingers holding the handle (6).

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