A doctor's control console handle, control console, and surgical robot system

Abstract

The present invention discloses a handle for a doctor's control panel, a control panel, and a surgical robot system, which relate to the technical field of medical devices. The handle includes a handle head, a handle body, and an operating mechanism for controlling a surgical robot. The handle head and the handle body are connected via a posture switching device. The control panel includes the handle, and the surgical robot system includes the control panel or the handle. The handle for the doctor's control panel of the present invention adjusts the posture between the handle head and the handle body via the posture switching device to meet the doctor's need to adjust the posture of the surgical instrument. The doctor's control panel, in addition to having a posture-adjustable handle, also achieves the ability to accurately control the end effector for trigger action. The surgical robot system of the present invention combines the above advantages.

Description

[0001] Related applications

[0002] This application claims priority to Chinese patent application number CN202510903161.X, filed on July 1, 2025, entitled “Handle, Doctor’s Console and Surgical Robot System”, the entire text of which is hereby incorporated by reference, and all of its contents are incorporated into this application by reference. Technical Field

[0003] The present invention relates to the technical field of medical devices, and in particular to a handle for a doctor's control console, a control console, and a surgical robot system. Background Art

[0004] In a surgical robot system, the doctor controls the movements of the robot and the end effector through a console to perform the surgical operation. To facilitate manual operation, a handle is provided on the console, and the doctor controls the movements of the robot and the end effector through the handle.

[0005] The defect of the handle in the above-mentioned prior art is that the handle is an integrated structure and does not have the function of posture adjustment. The doctor's hand holds the handle to operate, but generally speaking, during ordinary surgical operations, the doctor's habitual holding posture is not consistent when it comes to different surgical instruments such as scalpels, surgical forceps, etc. When directly operating the surgical instrument, the doctor can adjust his holding posture at any time according to the different surgical instruments, but the integrated handle cannot meet the doctor's needs for adjusting the holding posture of the surgical instrument. Summary of the Invention

[0006] In order to solve the deficiencies in the prior art, the present invention provides a handle for a doctor's control panel, a control panel, and a surgical robot system. The handle adjusts the posture between the handle head and the handle body through a posture switching device to meet the doctor's needs for adjusting the holding posture of surgical instruments.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] On the one hand, the present invention provides a handle for a doctor's control console, comprising a handle head, a handle body, and an operating mechanism for controlling a surgical robot; the handle head and the handle body are connected by a posture switching device.

[0009] In the present invention, a split handle is used, and the doctor can realize the posture switching of the handle composed of the handle head and the handle body by controlling the posture switching device between the handle head and the handle body, so that the doctor can adopt a common and convenient holding method for different surgical instruments when holding.

[0010] In a further technical solution, the posture switching device includes a first fixing member arranged on the handle head and a second fixing member arranged on the handle body, and a connecting member arranged between the first fixing member and the second fixing member for adjusting the relative angle between the first fixing member and the second fixing member.

[0011] By setting a first fixing member to improve the connection strength with the handle head, by setting a second fixing member to improve the connection strength with the handle body, and by setting a connecting member for adjusting the angle therebetween, the relative angle between the handle head and the handle body can be adjusted, thereby achieving adjustment of the overall posture of the handle.

[0012] In a further technical solution, the first fixing member and the second fixing member are rotatably connected via a first rotating shaft.

[0013] On the basis of the connection of the connecting member that can adjust the angle, the first rotating shaft is assembled to realize the relative rotation of the first fixing member and the second fixing member, thereby further improving the stability and smoothness of the posture switching.

[0014] In a further technical solution, the connecting member includes a limiting member, the first fixing member / the second fixing member is provided with a first limiting hole and a second limiting hole, the first limiting hole and the second limiting hole are connected through a motion groove, the limiting member passes through the second fixing member / the first fixing member, and the limiting member passes through a groove structure formed by the first limiting hole, the second limiting hole and the motion groove;

[0015] The limiting member includes an axially connected passing shaft section and a limiting shaft section, the diameter of the limiting shaft section is less than or equal to the diameter of the first limiting hole and the second limiting hole, the diameter of the limiting shaft section is greater than the width of the motion groove, and the diameter of the passing shaft section is less than or equal to the width of the motion groove.

[0016] When adjusting the posture, first push the limit member to make the limit shaft section exit the first limit hole or the second limit hole, and then enter the first limit hole or the second limit hole through the shaft section. Since the diameter of the shaft section is smaller, it can pass through the motion groove from the first limit hole to the second limit hole or vice versa. Since the limit member passes through one of the first fixing member and the second fixing member, the process of the limit member moving in the groove structure is the process of relative displacement between the first fixing member and the second fixing member, that is, the process of relative angle change between the handle head and the handle body, that is, the process of posture adjustment. After the adjustment is completed, move the limit member again so that the limit shaft section is located in the groove structure, so that the posture switching can be locked.

[0017] By arranging the limiting member and the groove structure on the first fixing member and the second fixing member respectively, the posture adjustment is achieved by controlling the limiting member to move in the groove structure, which is simple to operate and has a locking function.

[0018] In a further technical solution, the operating mechanism includes a trigger for operation and a trigger mechanism, and the trigger mechanism is used to receive a trigger action signal and transmit the action signal to the outside.

[0019] For different surgical instruments, their actions are implemented by the end effector of the surgical robot. When the handle is operated, the trigger mechanism is triggered by the trigger action to transmit the action instructions to the end effector.

[0020] In a further technical solution, the trigger and the trigger mechanism are both arranged on the handle body.

[0021] The handle body has the function of posture conversion. The trigger and the trigger mechanism are both set on the handle body. No matter how the angle of the handle body changes, the handle and the trigger mechanism can change accordingly, ensuring that the doctor can always trigger through the handle.

[0022] In a further technical solution, the trigger mechanism includes a trigger switch and a torsion spring, the trigger spring on the trigger switch faces the trigger, and the torsion spring is arranged between the housing of the handle body and the trigger.

[0023] The trigger switch is used to receive the trigger signal, and the torsion spring provides reaction force for the trigger, enhancing the feel and being able to reset the trigger in time.

[0024] In a further technical solution, the trigger is provided with a first contact portion for contacting a trigger spring of the trigger switch and a second contact portion for contacting a torsion spring.

[0025] By providing the first contact portion and the second contact portion, the order and interval of the contact between the trigger and the trigger switch and the contact between the trigger and the torsion spring can be more accurately controlled, thereby further improving the control feel.

[0026] On the other hand, the present invention provides a doctor's control console, including a handle for the doctor's control console according to any of the above technical solutions.

[0027] In a further technical solution, a motor is provided outside the handle head, and the output shaft of the motor is a connecting shaft, which is connected to the trigger.

[0028] By setting the output shaft of the motor to provide torque, a pre-tension is provided for the trigger, so that the doctor can feel the trigger more clearly during the control process. At the same time, when the trigger movement is fed back to the connecting shaft, the trigger movement amplitude can be detected through the connecting shaft, thereby providing more precise control of the end effector.

[0029] In a further technical solution, the trigger is connected to the connecting shaft via a connecting line passing through the handle head.

[0030] Since the force transmission between the trigger and the connecting shaft needs to pass through the handle head, and there is a possibility of posture switching between the handle head and the handle body, setting a connecting line can ensure stable force transmission.

[0031] In a further technical solution, a reversing wheel mechanism is provided in the handle head;

[0032] The reversing wheel mechanism at least comprises a reversing wheel connected to the posture switching device and a connecting wheel connected to the end of the connecting shaft.

[0033] By providing a reversing wheel and a connecting wheel, the movement of the connecting line caused by the movement of the trigger is converted into the rotation of the connecting shaft.

[0034] On the other hand, the present invention also provides a surgical robot system, including the above-mentioned control console technical solution or any of the above-mentioned doctor's control console handles.

[0035] The beneficial effects are:

[0036] 1. The doctor's control console handle of the present invention adjusts the posture between the handle head and the handle body through a posture switching device to meet the doctor's needs for adjusting the holding posture of surgical instruments. The doctor's control console not only has a posture-adjustable handle but also has the ability to accurately control the end effector for trigger action. The surgical robot system of the present invention has the above advantages.

[0037] 2. By setting a first fixing member to improve the connection strength with the handle head, by setting a second fixing member to improve the connection strength with the handle body, and by setting a connecting member for adjusting the angle between them, the relative angle between the handle head and the handle body can be adjusted, thereby achieving adjustment of the overall posture of the handle.

[0038] 3. On the basis of the connection of the connecting member that can adjust the angle, the first rotating shaft is assembled to realize the relative rotation of the first fixing member and the second fixing member, thereby further improving the stability and smoothness of the posture switching.

[0039] 4. By arranging the limiting member and the groove structure on the first fixing member and the second fixing member respectively, the posture adjustment is achieved by controlling the limiting member to move within the groove structure, which is simple to operate and has a locking function.

[0040] 5. For different surgical instruments, their actions are implemented by the end effector of the surgical robot. When operating the handle, the trigger mechanism is triggered by the trigger action to transmit the action instructions to the end effector.

[0041] 6. The handle body has the function of posture conversion. The trigger and the trigger mechanism are both set on the handle body. No matter how the angle of the handle body changes, the handle and the trigger mechanism can change accordingly, ensuring that the doctor can always trigger through the handle.

[0042] 7. The trigger switch is used to receive the trigger signal, and the torsion spring provides reaction force for the trigger, enhancing the feel and resetting the trigger in time.

[0043] 8. By providing the first contact portion and the second contact portion, the order and interval of the contact between the trigger and the trigger switch and the contact between the trigger and the torsion spring can be more accurately controlled, thereby further improving the control feel.

[0044] 9. By setting the output shaft of the motor to provide torque, a pre-tension is provided for the trigger, so that the doctor can feel the trigger more clearly during the control process. At the same time, when the action of the trigger is fed back to the connecting shaft, the action amplitude of the trigger can be detected through the connecting shaft, thereby providing more precise control of the end effector.

[0045] 10. Since the force transmission between the trigger and the connecting shaft needs to pass through the handle head, and there is a possibility of posture switching between the handle head and the handle body, setting a connecting line can ensure stable force transmission.

[0046] 11. By setting a reversing wheel and a connecting wheel, the movement of the connecting line caused by the movement of the trigger is converted into the rotation of the connecting shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a schematic diagram of the overall structure of a handle for a doctor's console according to an embodiment of the present invention;

[0048] Figure 2 This is a schematic diagram of the internal structure of a handle for a doctor's console according to an embodiment of the present invention;

[0049] Figure 3 1 is a simplified structural diagram of the first fixing member and the second fixing member inside the handle of the doctor's console according to an embodiment of the present invention;

[0050] Figure 4 1 is a schematic diagram of the external structure of the handle head of the doctor's console handle according to an embodiment of the present invention;

[0051] Figure 5 This is a schematic diagram of the assembly of the posture switching function of the handle for the doctor's console according to an embodiment of the present invention;

[0052] Figure 6 This is a simplified structural diagram of the posture switching function of the handle for the doctor's console according to an embodiment of the present invention;

[0053] Figure 7 2 is a schematic structural diagram of a first posture of a handle for a doctor's console according to an embodiment of the present invention;

[0054] Figure 8 2 is a schematic structural diagram of a second posture of a handle for a doctor's console according to an embodiment of the present invention;

[0055] Figure 9 1. It is a schematic diagram of the internal structure of the handle body of the doctor's console handle according to an embodiment of the present invention;

[0056] Figure 10 1 is a simplified structural diagram of the trigger and trigger mechanism of the doctor's console handle according to an embodiment of the present invention;

[0057] Figure 11 It is a simplified schematic diagram of the functional principle of accurately detecting the trigger action of the handle of the doctor's control console according to an embodiment of the present invention.

[0058] Reference numerals: 2, handle; 21, handle head; 211, head upper shell; 212, head lower shell; 213, reversing wheel mechanism; 2131, first reversing wheel; 2132, second reversing wheel; 2133, third reversing wheel; 214, first fixing member; 2141, first limiting hole; 2142, second limiting hole; 2143, motion groove; 215, connecting line; 216, connecting shaft; 22, handle body; 221, handle upper shell; 222, handle lower shell; 222 1. Third limiting hole; 223. Posture switching device; 2231. First rotating shaft; 2232. Second fixing member; 2233. Spring; 2234. Limiting member; 2235. Passing shaft segment; 2236. Limiting shaft segment; 2237. Anti-slip shoulder; 2238. Pressing member; 224. Trigger mechanism; 2241. Trigger switch; 2242. Torsion spring; 2243. Third fixing member; 23. Trigger; 231. First contact portion; 232. Second contact portion; 233. Second rotating shaft. DETAILED DESCRIPTION

[0059] The present invention will be further described below in conjunction with the accompanying drawings:

[0060] Example

[0061] like Figure 1 and Figure 2 As shown, a handle for a doctor's control console includes a handle head 21, a handle body 22 and an operating mechanism for controlling a surgical robot; the handle head 21 and the handle body 22 are connected by a posture switching device 223.

[0062] In the present invention, a split handle 2 is used, and the doctor can realize the posture switching of the handle 2 composed of the handle head 21 and the handle body 22 by controlling the posture switching device 223 between the handle head 21 and the handle body 22, so that the doctor can adopt a common and convenient holding method for different surgical instruments when holding.

[0063] In this embodiment, the handle head 21 includes an upper head shell 211 and a lower head shell 212 connected to each other, and the handle body 22 includes an upper handle shell 221 and a lower handle shell 222 connected to each other. Dividing the handle head 21 and the handle body 22 into two upper and lower shells facilitates assembly of the handle 2 and its internal components.

[0064] In another embodiment, Figure 2 and Figure 3 As shown, the posture switching device 223 includes a first fixing member 214 arranged on the handle head 21 and a second fixing member 2232 arranged on the handle body 22, and a connecting member arranged between the first fixing member 214 and the second fixing member 2232 for adjusting the relative angle between the first fixing member 214 and the second fixing member 2232.

[0065] In this embodiment, the first fixing member 214 is fixedly connected to the head lower shell 212 , and the second fixing member 2232 is fixedly connected to the handle body lower shell 222 .

[0066] By setting a first fixing member 214 to improve the connection strength with the handle head 21, by setting a second fixing member 2232 to improve the connection strength with the handle body 22, and by setting a connecting member for adjusting the angle therebetween, the relative angle between the handle head 21 and the handle body 22 can be adjusted, thereby achieving adjustment of the overall posture of the handle 2.

[0067] In another embodiment, Figure 3 and Figure 4 As shown, the first fixing member 214 and the second fixing member 2232 are rotatably connected via a first rotating shaft 2231 .

[0068] It can be understood that in order to minimize the gap between the handle head 21 and the handle body 22 as much as possible, in this embodiment, a portion of the first fixing member 214 extends out of the handle head 21 to the inside of the handle body 22, and is rotatably connected to the second fixing member 2232 through the first rotating shaft 2231 inside the handle body 22.

[0069] On the basis of the connection of the connecting member that can adjust the angle, the first rotating shaft 2231 is assembled to cooperate to realize the relative rotation of the first fixing member 214 and the second fixing member 2232, thereby further improving the stability and smoothness of the posture switching.

[0070] In another embodiment, Figure 5 and Figure 6 As shown, the connecting member includes a limiting member 2234. A first limiting hole 2141 and a second limiting hole 2142 are formed on the first fixing member 214 / the second fixing member 2232. The first limiting hole 2141 and the second limiting hole 2142 are connected through a movement groove 2143. The limiting member 2234 passes through the second fixing member 2232 / the first fixing member 214, and the limiting member 2234 passes through the groove structure formed by the first limiting hole 2141, the second limiting hole 2142 and the movement groove 2143.

[0071] The limiting member 2234 includes an axially connected through shaft segment 2235 and a limiting shaft segment 2236, the diameter of the limiting shaft segment 2236 is less than or equal to the diameter of the first limiting hole 2141 and the second limiting hole 2142, the diameter of the limiting shaft segment 2236 is greater than the width of the motion groove 2143, and the diameter of the through shaft segment 2235 is less than or equal to the width of the motion groove 2143.

[0072] In this embodiment, if Figure 5 As shown, the second fixing member 2232 includes two second connecting ears. The portion of the first fixing member 214 extending into the handle body 22 is a first connecting ear located between the two second connecting ears of the second fixing member 2232. The first rotating shaft 2231 passes through the first connecting ear and the two second connecting ears.

[0073] In this embodiment, if Figure 5 and Figure 6 As shown, the first limiting hole 2141 , the second limiting hole 2142 and the movement groove 2143 are provided on the connecting ear of the first fixing member 214 , and the limiting member 2234 is provided through the connecting ear of the second fixing member 2232 .

[0074] When adjusting the posture, for example, the posture of the handle 2 is first as follows: Figure 7As shown, the limiting member 2234 is pushed to make the limiting shaft section 2236 exit the first limiting hole 2141 or the second limiting hole 2142, and then enter the first limiting hole 2141 or the second limiting hole 2142 through the shaft section 2235. Since the diameter of the shaft section 2235 is small, it can pass through the motion groove 2143 from the first limiting hole 2141 to the second limiting hole 2142, or pass through the motion groove 2143 from the second limiting hole 2142 to the first limiting hole 2141. The limiting member 2234 passes through the second fixing member 2232. Therefore, the process of the limiting member 2234 moving in the groove structure is the process of relative displacement between the first fixing member 214 and the second fixing member 2232, that is, the process of relative angle change between the handle head 21 and the handle body 22, that is, the process of posture adjustment. After the adjustment is completed, the limiting member 2234 is moved again to make the limiting shaft section 2236 located in the groove structure, so that the posture switching can be locked. At this time, the posture of the handle 2 after switching is as follows: Figure 8 shown.

[0075] When the surgical instruments on the robotic arm of the surgical robot are grasping forceps, separating forceps, scissors and other surgical instruments, the user uses Figure 7 When the surgical instrument on the robotic arm of the surgical robot is a surgical instrument such as a needle holder, the user uses Figure 8 The operation can be performed with the handle 2 in the posture in the middle. Thus, different surgical instrument holding requirements can be met by switching the posture.

[0076] By arranging the limiting member 2234 and the groove structure on the first fixing member 214 and the second fixing member 2232 respectively, the posture adjustment is achieved by controlling the limiting member 2234 to move within the groove structure, which is easy to operate and has a locking function.

[0077] In another embodiment, Figure 5 and Figure 6 As shown, the posture switching device 223 also includes a spring 2233, which is arranged axially end to end with the limiting member 2234, and the spring 2233 is arranged between the end of the limiting member 2234 passing through the first fixing member 214 and the inner wall of the lower shell 222 of the handle body. Specifically, the spring 2233 is arranged on the side of the limiting shaft segment 2236 away from the passing shaft segment 2235.

[0078] In this embodiment, due to the presence of spring 2233, spring 2233 will always apply an axial force to the limiting shaft segment 2236, so that before the doctor presses the limiting part 2234, the axial force applied by the spring 2233 always makes the limiting shaft segment 2236 located in the groove structure of the first fixing part 214. Only when it is necessary to switch the posture, the doctor presses the limiting part 2234 to compress the spring 2233, so that the shaft segment 2235 enters the groove structure of the first fixing part 214. At this time, the posture can be switched. After the posture switching is completed, the limiting part 2234 is released, and the limiting shaft segment 2236 returns to the groove structure of the first fixing part 214 again due to the elastic force of the spring 2233, completing self-locking.

[0079] In another embodiment, Figure 5 and Figure 6 As shown, a pressing piece 2238 is provided at the end of the limiting piece 2234 . The cross-sectional area of ​​the pressing piece 2238 is larger than the cross-sectional area of ​​the limiting piece 2234 . The pressing piece 2238 serves to facilitate the doctor to press the limiting piece 2234 .

[0080] In another embodiment, Figure 1 and Figure 2 As shown, the operating mechanism includes a trigger 23 for operation and a trigger mechanism 224. The trigger mechanism 224 is used to receive an action signal from the trigger 23 and transmit the action signal to the outside.

[0081] For different surgical instruments, their actions are implemented by the end effector of the surgical robot. When the handle 2 is operated, the trigger mechanism 224 is triggered by the action of the trigger 23 to transmit the action instruction to the end effector.

[0082] In another embodiment, Figure 1 and Figure 2 As shown, the trigger 23 and the trigger mechanism 224 are both arranged on the handle body 22.

[0083] In this embodiment, the trigger switch 2241 is fixedly connected to the housing 221 on the handle body, and the torsion spring 2242 is fixed to the housing 221 on the handle body through the third fixing member 2243.

[0084] The handle body 22 has the function of posture conversion. The trigger 23 and the trigger mechanism 224 are both set on the handle body 22. No matter how the angle of the handle body 22 changes, the handle 2 and the trigger mechanism 224 can change accordingly, ensuring that the doctor can always trigger through the handle 2.

[0085] In another embodiment, Figure 9 and Figure 10As shown, the trigger mechanism 224 includes a trigger switch 2241 and a torsion spring 2242 . The trigger spring on the trigger switch 2241 faces the trigger 23 , and the torsion spring 2242 is disposed between the housing of the handle body 22 and the trigger 23 .

[0086] The trigger switch 2241 is used to receive the trigger 23 signal, and the torsion spring 2242 provides a reaction force for the trigger 23 to enhance the hand feel, and can also reset the trigger 23 in time.

[0087] In another embodiment, Figure 10 As shown, the trigger 23 is provided with a first contact portion 231 for contacting the trigger spring of the trigger switch 2241 and a second contact portion 232 for contacting the torsion spring 2242 .

[0088] By providing the first contact portion 231 and the second contact portion 232 , the order and interval of the contact between the trigger 23 and the trigger switch 2241 and the contact between the trigger 23 and the torsion spring 2242 can be more accurately controlled, thereby further improving the control feel.

[0089] In another embodiment, Figure 9 and Figure 10 As shown, the trigger 23 is provided with a second rotating shaft 233, and the trigger 23 is rotatably connected to the lower shell 222 of the handle body through the second rotating shaft 233. When the trigger 23 is pressed by the doctor's hand, the trigger 23 rotates and moves toward the trigger switch 2241.

[0090] In another embodiment, Figure 9 As shown, a third limiting hole 2221 is provided on the lower shell 222 of the handle body. Figure 6 and Figure 9 As shown, an anti-slip shoulder 2237 is also provided on the pressing member 2238. The diameter of the anti-slip shoulder 2237 is larger than the diameter of the third limiting hole 2221. The limiting member 2234 is set in the third limiting hole 2221. The third limiting hole 2221 will limit the anti-slip shoulder 2237 from escaping from the lower shell body 222 of the handle body.

[0091] A doctor's control console comprises the doctor's control console handle 2 according to any one of the above embodiments.

[0092] In another embodiment, Figure 11 As shown, a motor is provided outside the handle head 21 , and the output shaft of the motor is a connecting shaft 216 , which is connected to the trigger 23 .

[0093] By setting the output shaft of the motor to provide torque, a pre-tension is provided for the trigger 23, so that the doctor can feel the trigger 23 more clearly during the control process. At the same time, when the action of the trigger 23 is fed back to the connecting shaft 216, the action amplitude of the trigger 23 can be detected by the rotation angle of the connecting shaft 216, thereby providing more precise control of the end effector.

[0094] Specifically, in this embodiment, the rotation angle of the connecting shaft 216 is achieved by providing an encoder outside the connecting shaft 216 .

[0095] At the same time, a motor is provided outside the handle head 21, which also provides a hardware foundation for realizing force feedback between the trigger 23 and the surgical end effector. Specifically, the stroke of the trigger 23 is divided into two sections, the front section is the normal force stage, and the rear section is the strong force stage. The dividing point is when the trigger 23 moves to the point where it contacts the torsion spring 2242. It can be understood that the torsion spring 2242 is not in contact with the second contact portion 232 of the trigger 23 throughout the entire process. Therefore, in the normal force stage of the trigger 23, that is, the stage of contact with the torsion spring 2242, the force of the surgical end effector (such as the clamping force of the surgical forceps) is controlled by detecting the movement amplitude of the trigger 23. The movement amplitude of the trigger 23 is positively correlated with the magnitude of the force of the surgical end effector. At the same time, an upper limit is set for the force of the surgical end effector in the normal force stage. That is, when the doctor operates in the front section of the trigger 23, the surgical end effector can only apply a maximum upper limit value to the human body. The setting of this upper limit value is to prevent the doctor from causing damage to human tissue due to misoperation. At the upper limit value, the force is relatively small and will not damage the patient's tissue.

[0096] When trigger 23 moves to contact torsion spring 2242, torsion spring 2242 begins to provide a reaction force for trigger 23, which is equivalent to a reminder for the doctor. Further, when trigger 23 reaches the end of its travel, it will reach a mechanical limit. At this time, trigger 23 will no longer deflect. At the same time, before reaching the limit, trigger switch 2241 is triggered, and the surgical end effector will apply a greater clamping force. This design is designed to solve scenarios such as clamps and needle holders that require a large clamping force. The system not only provides a greater clamping force, but also allows the doctor to clearly feel the second stage of the trigger force, so that the doctor will not accidentally trigger the second stage of force.

[0097] Furthermore, during the above-mentioned whole process, the force feedback of the trigger 23 can be achieved by detecting the force applied by the surgical end effector (such as detecting the current of the end effector motor). The force can be applied in reverse to the trigger 23 through the motor outside the handle head 21, so that the doctor can have a more accurate grip.

[0098] In another embodiment, Figure 11 As shown, the trigger 23 is connected to the connecting shaft 216 via a connecting line 215 passing through the handle head 21.

[0099] Since the force transmission between the trigger 23 and the connecting shaft 216 needs to pass through the handle head 21, and there is a possibility of posture switching between the handle head 21 and the handle body 22, the connection line 215 is provided to ensure stable force transmission.

[0100] In another embodiment, Figure 11 As shown, a reversing wheel mechanism 213 is provided in the handle head 21;

[0101] The reversing wheel mechanism 213 includes at least a reversing wheel connected to the posture switching device 223 and a connecting wheel connected to the end of the connecting shaft 216 .

[0102] In this embodiment, there are a total of three reversing wheels. Specifically, a first reversing wheel 2131 is provided on the first fixing member 214, and a second reversing wheel 2132 and a third reversing wheel 2133 are rotatably connected inside the handle head 21. The first reversing wheel 2131 is rotatably connected to the first fixing member 214, and the first fixing member 214 is directly connected to the handle body 22, so it is close to the handle body 22 and close to the wrench distance of the handle body 22. Subsequently, the second reversing wheel 2132 and the third reversing wheel 2133 change the direction of the connecting line 215 to a direction tangent to the circumference of the connecting wheel on the connecting shaft 216, so that the connecting line 215 can be connected to the connecting wheel.

[0103] By providing a reversing wheel and a connecting wheel, the movement of the connecting line 215 caused by the movement of the trigger 23 is converted into the rotation of the connecting shaft 216.

[0104] More specifically, an encoder is also provided on the connecting shaft 216, which is used to detect the rotation angle of the connecting shaft 216. The movement of the trigger 23 drives the rotation of the connecting shaft 216. Therefore, by detecting the rotation angle of the connecting shaft 216, the movement amplitude of the trigger 23 can be obtained, thereby providing a technical basis for further controlling the surgical end effector based on the movement amplitude of the trigger 23.

[0105] A surgical robot system includes the above-mentioned control console or the doctor's control console handle 2 of any of the above-mentioned embodiments.

[0106] The doctor's console handle 2 of the present invention adjusts the posture between the handle head 21 and the handle body 22 through the posture switching device 223 to meet the doctor's needs for adjusting the holding posture of the surgical instrument. The doctor's console not only has a posture-adjustable handle 2, but also realizes the ability to accurately control the end effector according to the action of the trigger 23. The surgical robot system of the present invention has the above advantages.

[0107] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and modifications fall within the scope of the invention as claimed.

Claims

1. A handle for a doctor's console, characterized in that: It includes a handle head, a handle body and an operating mechanism for controlling the surgical robot; the handle head and the handle body are connected by a posture switching device; The posture switching device includes a first fixing member provided on the handle head, a second fixing member provided on the handle body, and a connecting member provided between the first fixing member and the second fixing member for adjusting the relative angle between the first fixing member and the second fixing member; The first fixing member and the second fixing member are rotatably connected via a first rotating shaft; The connecting member includes a limiting member, the first fixing member / the second fixing member is provided with a first limiting hole and a second limiting hole, the first limiting hole and the second limiting hole are connected through a motion groove, the limiting member passes through the second fixing member / the first fixing member, and the limiting member passes through a groove structure formed by the first limiting hole, the second limiting hole and the motion groove; The limiting member includes an axially connected passing shaft section and a limiting shaft section, the diameter of the limiting shaft section is less than or equal to the diameter of the first limiting hole and the second limiting hole, the diameter of the limiting shaft section is greater than the width of the motion groove, and the diameter of the passing shaft section is less than or equal to the width of the motion groove.

2. The handle for the doctor's console according to claim 1, characterized in that: The operating mechanism includes a trigger for operation and a trigger mechanism, and the trigger mechanism is used to receive a trigger action signal and transmit the action signal to the outside.

3. The handle for the doctor's console according to claim 2, characterized in that: The trigger and the trigger mechanism are both arranged on the handle body.

4. The handle for the doctor's console according to claim 3, characterized in that: The trigger mechanism includes a trigger switch and a torsion spring. The trigger spring on the trigger switch faces the trigger. The torsion spring is arranged between the housing of the handle body and the trigger.

5. The handle for the doctor's console according to claim 4, characterized in that: The trigger is provided with a first contact portion for contacting a trigger spring of a trigger switch and a second contact portion for contacting a torsion spring.

6. A doctor's console, characterized in that: The invention comprises a handle for a doctor's console as claimed in any one of claims 1 to 5.

7. The doctor's console according to claim 6, characterized in that: A motor is provided outside the handle head, and the output shaft of the motor is a connecting shaft, which is connected to the trigger.

8. The doctor's console according to claim 7, characterized in that: The trigger is connected to the connecting shaft via a connecting line passing through the handle head.

9. The doctor's console according to claim 8, characterized in that: A reversing wheel mechanism is provided in the handle head; The reversing wheel mechanism at least comprises a reversing wheel connected to the posture switching device and a connecting wheel connected to the end of the connecting shaft.

10. A surgical robot system, characterized in that: The device comprises a control panel according to any one of claims 6 to 9 or a handle for a doctor's control panel according to any one of claims 1 to 5.

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