Hand operation device and surgical robot

Abstract

The invention provides a hand operation device and a surgical robot, and the hand operation device comprises a far-end deflection joint which is used for performing deflection motion in a horizontal plane; the far-end pitching joint is connected with the far-end deflection joint, and the far-end pitching joint is used for carrying out pitching motion; the translation joint is connected with the far-end pitching joint, and the translation joint is used for performing translation motion; the far-end rolling joint is connected with the translation joint, and the far-end rolling joint is used for rolling movement; the near-end pitching joint is connected with the far-end rolling joint, and the near-end pitching joint is used for carrying out pitching motion; the near-end deflection joint is connected with the near-end pitching joint, and the near-end deflection joint is used for performing deflection motion; and the near-end rolling joint is connected with the near-end deflection joint, and the near-end rolling joint is used for rolling movement. By adopting the technical scheme, the surgical operation fineness is remarkably improved, the movement range is expanded, the stability is enhanced, and the surgical operation comfort and the immediacy sense are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and more particularly, to a hand operating device and a surgical robot. Background Art

[0002] In the medical field, especially in surgical operations, there are extremely high core demands for precision, safety, and operational comfort. Surgical robots have emerged as a result. Using a master-slave teleoperation structure, they enable doctors to indirectly control slave-side execution tools. This approach not only reduces the risk of infection between doctors and patients, but also mitigates human error. It also provides doctors with a sense of presence during surgery, significantly promoting the development of intelligent and precise medical surgery.

[0003] Currently, existing surgical robot teleoperation main hands still face several technical bottlenecks in practical application. For example, the inflexible joint structure design of some devices makes it difficult to accurately capture the complex postures generated by hand manipulation, resulting in insufficient accuracy in the corresponding snake-bone joint postures, which affects the precision of surgical operations. In terms of joint motion control, the distal yaw, pitch, and translation joints of some devices have limited range of motion and poor stability when achieving angular yaw, translation, or roll motion, which in turn affects the smoothness and accuracy of the overall operation. Summary of the Invention

[0004] The object of the present invention is to provide a hand operating device and a surgical robot to solve the technical problem in the prior art that the hand operating device of the surgical robot is not flexible enough, which affects the smoothness of the operation.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] In a first aspect, a hand operation device is provided, comprising:

[0007] The distal yaw joint is used for yaw motion in the horizontal plane;

[0008] a distal pitch joint connected to the distal yaw joint, the distal pitch joint being used for performing pitch motion;

[0009] a translation joint connected to the distal pitch joint, the translation joint being used for translational motion;

[0010] a distal roll joint connected to the translation joint, the distal roll joint being used for rolling motion;

[0011] a proximal pitch joint connected to the distal roll joint, the proximal pitch joint being used for pitching motion;

[0012] a proximal yaw joint connected to the proximal pitch joint, the proximal yaw joint being used for yaw motion;

[0013] The proximal roll joint is connected to the proximal yaw joint, and the proximal roll joint is used for performing a rolling motion.

[0014] By adopting the above technical solutions, the precision of surgical operations is significantly improved, the range of motion is expanded, stability is enhanced, and the comfort and sense of presence of surgical operations are improved.

[0015] In one embodiment, a first bearing seat, a first bearing provided on the first bearing seat, and a first sensor, wherein the first bearing seat is used to be arranged at the bottom of the surgical robot, the first bearing is connected to the distal pitch joint, and the first sensor is used to obtain the yaw angle of the first bearing.

[0016] In one embodiment, the distal pitch joint includes a second bearing seat, a second bearing arranged on the second bearing seat, and a second sensor, the second bearing seat is connected to the first bearing, the second bearing is connected to the translation joint, and the second sensor is used to obtain the pitch angle of the second bearing.

[0017] In one embodiment, the translation joint includes a slide rail seat, a sliding member sliding on the slide rail seat, and a sliding sensor, the slide rail seat is connected to the second bearing, the sliding member is connected to the distal roll joint, and the sliding sensor is used to obtain the translation distance of the sliding member.

[0018] In one embodiment, the distal roll joint includes a third bearing seat, a third bearing arranged on the third bearing seat, and a third sensor. The third bearing seat is connected to the sliding member, the third bearing is connected to the proximal pitch joint, and the third sensor is used to obtain the roll angle of the third bearing.

[0019] In one embodiment, the proximal pitch joint includes a fourth bearing seat, a fourth bearing arranged on the fourth bearing seat, and a fourth sensor. The fourth bearing seat is connected to the third bearing, the fourth bearing is connected to the proximal yaw joint, and the fourth sensor is used to obtain the pitch angle of the fourth bearing.

[0020] In one embodiment, the proximal yaw joint includes a fifth bearing seat, a fifth bearing arranged on the fifth bearing seat, and a fifth sensor. The fifth bearing seat is connected to the fourth bearing, the fifth bearing is connected to the proximal roll joint, and the fifth sensor is used to obtain the yaw angle of the fifth bearing.

[0021] In one embodiment, the proximal roll joint includes a sixth bearing seat, a sixth bearing provided on the sixth bearing seat, and a sixth sensor, the sixth bearing seat is connected to the fifth bearing, and the sixth sensor is used to obtain the roll angle of the sixth bearing.

[0022] In one embodiment, the first sensor, the second sensor, the third sensor, the fourth sensor, the fifth sensor, the sixth sensor, and the sliding sensor are all communicatively connected to a surgical system.

[0023] In a second aspect, a surgical robot is provided, comprising a surgical system and the above-mentioned hand operating device, wherein the hand operating device is communicatively connected to the surgical system.

[0024] By adopting the above technical solution, on the basis of having the advantages of the hand operation device of the above embodiment, the surgical robot of this embodiment also has the advantage of high flexibility in surgical operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 This is a three-dimensional structural diagram from one perspective of a hand operating device provided by an embodiment of the present invention.

[0027] Figure 2 This is a three-dimensional structural diagram from another perspective of the hand operating device provided by an embodiment of the present invention.

[0028] Figure 3 2 is an exploded view of a hand operating device provided by an embodiment of the present invention.

[0029] The reference numerals in the figures are:

[0030] 10. Surgical robot; 20. Hand manipulation device; 21. Distal yaw joint; 211. First bearing seat; 212. First bearing; 213. First sensor; 22. Distal pitch joint; 221. Second bearing seat; 222. Second bearing; 223. Second sensor; 23. Translation joint; 231. Slide seat; 232. Sliding member; 233. Sliding sensor; 24. Distal roll joint; 241. Third bearing seat; 242. Third bearing; 243. Third sensor; 25. Proximal pitch joint; 251. Fourth bearing seat; 252. Fourth bearing; 253. Fourth sensor; 26. Proximal yaw joint; 261. Fifth bearing seat; 262. Fifth bearing; 263. Fifth sensor; 27. Proximal roll joint; 271. Sixth bearing seat; 272. Sixth bearing; 273. Sixth sensor; R1. First yaw axis; R2. First pitch axis; R3. First roll axis; R4. Second yaw axis; R5. Second pitch axis; R6. Second roll axis. DETAILED DESCRIPTION

[0031] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0032] It should be noted that when an element is referred to as being “fixed to” or “disposed on” another element, it may be directly located on the other element or indirectly located on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0033] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate that the device or element must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0034] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating relative importance or the number of technical features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined. The following is a more detailed description of the specific implementation of the present invention in conjunction with specific embodiments:

[0035] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a hand operation device 20, comprising:

[0036] The distal yaw joint 21 is used for yaw motion in the horizontal plane;

[0037] The distal pitch joint 22 is connected to the distal yaw joint 21 and is used for pitching motion;

[0038] The translation joint 23 is connected to the distal pitch joint 22 and is used for translational motion;

[0039] The distal roll joint 24 is connected to the translation joint 23 and is used for rolling motion;

[0040] The proximal pitch joint 25 is connected to the distal roll joint 24, and the proximal pitch joint 25 is used for pitching motion;

[0041] The proximal yaw joint 26 is connected to the proximal pitch joint 25, and the proximal yaw joint 26 is used for yaw motion;

[0042] The proximal roll joint 27 is connected to the proximal yaw joint 26 and is used for performing a roll motion.

[0043] Specifically, the distal yaw joint 21 is located at the farthest end of the device. Its core function is to perform yaw motion in the horizontal plane. Structurally, it resembles a connecting component that can rotate about a vertical axis (the Z axis in a common Cartesian coordinate system). This allows the connected structure to rotate left and right in the horizontal plane, providing the device with horizontal directional adjustment capabilities.

[0044] The distal pitch joint 22 is closely connected to the distal yaw joint 21 and is responsible for performing the pitch motion. Its structural design is centered around a horizontal axis (e.g., the X-axis), enabling the device to swing up and down in the vertical plane, similar to the up and down movement of a human arm.

[0045] The translation joint 23 supports the distal pitch joint 22 and is mainly used to complete translation movement, thereby realizing linear displacement adjustment of the device in a specific direction (such as the Y axis).

[0046] The distal roll joint 24 is connected to the translation joint 23 to achieve roll motion. The structural principle is to build a rotating structure around the longitudinal axis of the device (such as the Y axis), so that the connected parts rotate around the axis, achieving a posture adjustment effect similar to the rolling of an object.

[0047] The proximal pitch joint 25 connects to the distal roll joint 24, reintroducing the pitch motion. This proximal joint is similar in structure to the distal pitch joint 22, but may differ in size, load capacity, and other parameters depending on the overall design requirements, further expanding the device's angular adjustment range within the vertical plane.

[0048] The proximal yaw joint 26 connects to the proximal pitch joint 25 to complete the yaw motion. It also rotates around the vertical axis and has similar structural elements to the distal yaw joint 21, providing the device with fine-tuning capabilities from a proximal position.

[0049] Proximal roll joint 27, the final joint at the proximal end of the device, connects to proximal yaw joint 26 and performs the roll motion. Its structural design ensures that the device can be rotated about its longitudinal axis in the proximal position, cooperating with distal roll joint 24 to achieve full-scale roll control.

[0050] The working principle of the hand operating device 20 provided in this embodiment is as follows:

[0051] The device adopts a "distal-proximal" multi-joint symmetrical layout, with each joint performing its own function and working together to accurately capture and restore the complex movements of the doctor's hands. The distal joints focus on the precise acquisition of subtle movements, such as the distal yaw joint 21 and the distal pitch joint 22, which can simulate the fine rotation and pitch movements of the wrist, and accurately convert the slight posture changes of the doctor's hand in the horizontal and vertical planes into joint angle changes. The proximal joints are responsible for the stable transmission of large-scale movements. When the doctor moves his arms over a large range, the proximal yaw joint 26 and the proximal pitch joint 25 respond synchronously, ensuring that the entire device can fully and in real time acquire the posture information generated by the hand operation, and accurately transmit it to the slave surgical execution tool through the master-slave remote control structure, effectively solving the problem of inaccurate acquisition of complex postures by existing devices.

[0052] By adopting the above technical solutions:

[0053] Significantly Improves Surgical Degrees: The device's flexible multi-joint design and precise gesture acquisition and transmission capabilities enable it to accurately map subtle hand movements to surgical instruments. During minimally invasive surgery, the surgeon can manipulate the slave surgical instruments with their master hand to perform delicate procedures such as vascular suturing and nerve reconnection. This effectively avoids operational errors caused by the inaccurate gesture acquisition of traditional devices, significantly improving surgical precision and providing strong support for the patient's postoperative recovery and treatment outcomes.

[0054] Expanded Range of Motion and Enhanced Stability: The optimized joint structure and motion control mechanism surpass the motion limitations of existing devices. The high-precision linear motion of the translation joint 23 and the wide-angle, flexible rotation of the yaw and pitch joints enable full, seamless operation of surgical instruments within the surgical site, meeting the range of motion requirements of complex surgeries. Furthermore, the stable joint motion reduces instrument vibration and deflection during surgery, lowering surgical risks, improving surgical success rates and safety, and providing surgeons with a more reliable surgical tool.

[0055] Improved surgical comfort and immersive experience: The device is designed with the surgeon's comfort in mind. Its joint layout and operation method conform to ergonomic principles, effectively reducing fatigue during prolonged surgical procedures. Through precise motion capture and transmission, the surgeon can experience real-time feedback from the interaction between the surgical instrument and the surgical site while operating the master hand, enhancing the surgeon's immersive experience and allowing them to perform the procedure more focused and naturally, further improving the quality and efficiency of the surgery.

[0056] Please also refer to Figure 3 In one embodiment, the distal yaw joint 21 includes a first bearing seat 211, a first bearing 212 provided on the first bearing seat 211, and a first sensor 213. The first bearing seat 211 is used to be arranged at the bottom of the surgical robot 10, the first bearing 212 is connected to the distal pitch joint 22, and the first sensor 213 is used to obtain the yaw angle of the first bearing 212.

[0057] Specifically, the first bearing seat 211 is the foundational support component of the distal yaw joint 21, designed to be securely mounted on the bottom of the surgical robot 10. Structurally, it is typically constructed from high-strength, corrosion-resistant metal materials, such as stainless steel or titanium alloy, to ensure long-term stable operation in the surgical environment. Its shape and dimensions are customized to the overall layout of the surgical robot 10. It features precise mounting interfaces and positioning structures, enabling a tight connection to the robot's bottom frame. This provides a stable mounting foundation for subsequent components, ensuring the stability of the entire joint during operation and preventing displacement caused by vibration or external impact.

[0058] The first bearing 212 is mounted on the first bearing seat 211 and is the core component that enables the rotation function of the distal yaw joint 21. It is connected to the distal pitch joint 22 and generally uses a high-precision slewing bearing, such as a crossed roller bearing or a thin-walled ball bearing. Crossed roller bearings can withstand large radial forces, axial forces, and overturning moments, ensuring that the joint can still rotate smoothly when subjected to forces in different directions; thin-walled ball bearings have lower friction torque and higher rotational accuracy, making the yaw movement of the joint more sensitive and smooth. The inner ring of the first bearing 212 is tightly fitted with the shaft connected to the distal pitch joint 22, and the outer ring is fixed to the first bearing seat 211. The rolling of the rolling elements between the inner and outer rings enables the yaw movement of the distal pitch joint 22 and subsequent connected components in the horizontal plane. Specifically, the first bearing 212 defines a first yaw axis R1, around which the distal pitch joint 22 can rotate.

[0059] The first sensor 213 is used to obtain the yaw angle of the first bearing 212 and is a key sensing element for achieving precise control. Common first sensors 213 are angle sensors, such as photoelectric angle sensors or magnetoelectric angle sensors. Photoelectric angle sensors convert the bearing's rotation angle into a digital signal output through a code disk and a photoelectric detection element, and have the characteristics of high precision and strong anti-interference ability; magnetoelectric angle sensors use changes in the magnetic field to sense the bearing's rotation angle, and have a simple structure and high reliability. These sensors can monitor the yaw angle of the first bearing 212 in real time and feed the data back to the control system of the surgical robot 10, allowing doctors to accurately grasp the real-time status of the distal yaw joint 21 and provide accurate data support for surgical operations.

[0060] By adopting the above technical solutions:

[0061] Improving surgical precision: Precise positioning is crucial during surgery. The distal yaw joint 21, through its precise structural design and angle feedback control, enables surgical instruments to adjust their position and orientation with millimeter or even submillimeter accuracy. For minimally invasive surgery, for example, the surgeon can use the operating hand, leveraging the precise yaw motion of the distal yaw joint 21, to precisely deliver surgical instruments to the lesion site, avoiding surrounding vital blood vessels, nerves, and other tissues. This significantly improves surgical safety and success rates, while minimizing damage to the patient's normal tissues.

[0062] Enhanced surgical flexibility: Traditional surgical robots lack the flexibility of their 10 joints, limiting the variety of surgical operations. The distal yaw joint 21 design provides surgical instruments with additional degrees of freedom, enabling them to maneuver flexibly within complex surgical spaces.

[0063] Optimizing the human-machine interaction experience of the surgical robot 10: The yaw angle information fed back in real time by the first sensor 213 not only helps improve operational accuracy, but also optimizes the human-machine interaction performance of the surgical robot 10. When the doctor operates the main hand, he can perceive the movement state of the distal yaw joint 21 in real time through visual feedback (such as the display screen of the surgical console) or a force feedback device, as if he were directly operating the surgical instrument. This real-time and accurate feedback mechanism enhances the doctor's sense of control over the surgical process, reduces operational uncertainty, improves the smoothness and comfort of surgical operations, and further enhances the practicality and ease of use of the surgical robot 10.

[0064] In one embodiment, the distal pitch joint 22 includes a second bearing seat 221, a second bearing 222 arranged on the second bearing seat 221, and a second sensor 223. The second bearing seat 221 is connected to the first bearing 212, the second bearing 222 is connected to the translation joint 23, and the first sensor 213 is used to obtain the pitch angle of the second bearing 222.

[0065] Specifically, the second bearing seat 221 serves as the basic carrier of the distal pitch joint 22, and one end of the second bearing seat is connected to the first bearing 212, forming an orderly connection between the joints. In terms of material selection, similar to the first bearing seat 211, high-strength, corrosion-resistant metal materials such as stainless steel or titanium alloy are usually used to meet the stringent requirements of the surgical environment for equipment stability and durability. In terms of structural design, it has an adaptive mounting interface and positioning structure, which can be precisely docked with the first bearing 212 to ensure the stability of the entire joint system. At the same time, its shape and size have been optimized to reduce its own weight and volume as much as possible while ensuring the load-bearing capacity, so as to facilitate the overall layout and flexible operation of the surgical robot 10. The second bearing seat 221 can be selected as a U-shaped bearing seat.

[0066] The second bearing 222 is mounted on the second bearing seat 221, and one end is connected to the translation joint 23. It is the core component for realizing the pitch motion of the distal pitch joint 22. In order to ensure the smoothness and high precision of the joint motion, high-precision flange bearings are often selected. The inner and outer rings of the second bearing 222 are tightly matched with the second bearing seat 221 and the connecting shaft of the translation joint 23 respectively. Through the relative sliding or rolling between the inner and outer rings of the bearing, the translation joint 23 and subsequent connecting components are driven to perform pitch motion in the vertical plane. In detail, the second bearing 222 is defined with a first pitch axis R2, and the translation joint 23 can rotate around the first pitch axis R2.

[0067] The second sensor 223 is used to obtain the pitch angle of the second bearing 222 and is an important sensing component for achieving precise control. Similar to the first sensor 213, common types include photoelectric angle sensors and magnetoelectric angle sensors. This type of sensor can monitor the angular changes of the second bearing 222 during pitch motion in real time, convert the collected data into electrical signals, and promptly feed back to the control system of the surgical robot 10. By accurately obtaining the angular information of the second bearing 222, the control system can accurately grasp the real-time status of the distal pitch joint 22, providing a reliable data basis for subsequent precise control.

[0068] By adopting the above technical solutions:

[0069] Improved vertical positioning accuracy during surgical procedures: Precise positioning of surgical instruments is crucial during surgery, especially when operating on deep tissue or complex anatomical structures. The distal pitch joint 22, with its precise structural design and real-time angular feedback control, enables precise vertical positioning of surgical instruments, effectively reducing surgical risks and improving surgical success rates and patient outcomes.

[0070] Enhanced flexibility of surgical operations in the vertical plane: Traditional surgical robots 10 often have limitations in their ability to move in the vertical plane, making it difficult to meet the diverse needs of complex surgeries. The design of the distal pitch joint 22 in this patent provides surgical instruments with additional degrees of freedom of movement in the vertical plane. During thoracic surgery, faced with irregular chest contours and organ positions, surgical instruments can approach the lesion from different angles through the flexible pitch movement of the distal pitch joint 22, completing complex operations that are difficult for traditional surgical instruments to complete. This provides doctors with a richer range of surgical operation path options and greatly improves the flexibility and adaptability of surgical operations in the vertical plane.

[0071] Optimizing the coordination and smoothness of surgical robot 10 operations: The distal pitch joint 22 works in conjunction with other joints, such as the distal yaw joint 21 and the translation joint 23, to form a multi-dimensional motion system for the surgical robot 10. Through precise angle control and real-time data feedback, this joint can seamlessly coordinate with other joints, ensuring more coordinated and smooth movement of surgical instruments in three-dimensional space. During the operation, the doctor can more naturally and smoothly control the surgical instruments to complete various complex movements, reducing operational delays and errors caused by inaccurate joint coordination, improving the overall efficiency and quality of surgical operations, and providing patients with a better treatment experience.

[0072] In one embodiment, the translation joint 23 includes a slide rail seat 231, a sliding member 232 sliding on the slide rail seat 231, and a sliding sensor 233. The slide rail seat 231 is connected to the second bearing 222, the sliding member 232 is connected to the distal roll joint 24, and the sliding sensor 233 is used to obtain the translation distance of the sliding member 232.

[0073] Specifically, the slide rail seat 231 is the basic support component of the translation joint 23, one end of which is connected to the second bearing 222 to receive the motion transmission from the distal pitch joint 22. The slide rail seat 231 is usually made of high-strength aluminum alloy or stainless steel, and has good rigidity and wear resistance to ensure stability during frequent linear motion. It is machined with high-precision linear guide grooves inside. The shape and dimensional accuracy of the guide grooves directly affect the movement smoothness and positioning accuracy of the sliding part 232. The guide grooves can be common rectangular, V-shaped or ball guide structures, in which the ball guide replaces sliding friction with rolling friction, which can significantly reduce friction and improve movement efficiency and accuracy.

[0074] The sliding member 232 is slidably mounted on the rail seat 231, and the other end is connected to the distal roll joint 24. It is the executive component for realizing translational motion. The sliding member 232 is generally composed of a slider and a connecting seat. The slider portion is precisely matched with the guide groove of the rail seat 231, and adopts a design of embedded balls or rollers to reduce sliding resistance and withstand a certain load. The connecting seat is used to fix the distal roll joint 24. Its shape and interface are customized according to the structure of the distal roll joint 24 to ensure a firm connection between the two and to stably transmit motion and power. The sliding stroke and motion accuracy of the sliding member 232 on the rail seat 231 directly determine the working range and positioning accuracy of the translation joint 23.

[0075] Sliding sensor 233 is used to obtain the translational distance of sliding member 232 in real time and is the core sensing component for achieving precise control. Common sliding sensors 233 include linear displacement sensors, such as optical scales, magnetic scales, or inductive displacement sensors. Optical scales use the principle of photoelectric conversion to convert the linear displacement of sliding member 232 into a digital pulse signal, characterized by high precision and fast response speed. Magnetic scales use changes in the magnetic signal between the magnetic scale and the magnetic head to measure displacement, and are suitable for harsh environments such as oil, dust, etc. Inductive displacement sensors, based on the principle of electromagnetic induction, calculate displacement by detecting changes in inductance caused by changes in the position of sliding member 232. They have the advantages of simple structure and strong anti-interference capabilities. These sensors can provide real-time feedback of the displacement information of sliding member 232 to the control system, providing data support for precise control.

[0076] By adopting the above technical solutions:

[0077] Accurately mapping hand gestures: The high-precision structural design and real-time displacement feedback mechanism of the translation joint 23 accurately translates linear displacement changes generated by hand manipulation into actual device motion. When simulating snake-bone joint gestures, the translation joint 23 responds quickly and precisely to both minor adjustments and larger movements, ensuring that the movement of the device's end effector is fully synchronized with the hand's manipulation. This significantly improves the accuracy of gesture acquisition and mapping, providing reliable support for scenarios requiring high-precision control, such as surgical procedures and precision assembly.

[0078] In one embodiment, the distal roll joint 24 includes a third bearing seat 241, a third bearing 242 arranged on the third bearing seat 241, and a third sensor 243. The third bearing seat 241 is connected to the sliding member 232, the third bearing 242 is connected to the proximal pitch joint 25, and the third sensor 243 is used to obtain the roll angle of the third bearing 242.

[0079] Specifically, the third bearing seat 241 is the basic support structure of the distal roll joint 24, one end of which is connected to the sliding member 232 of the translation joint 23, and receives the motion transmission from the translation joint 23. In terms of material selection, high-strength, lightweight alloy materials are usually used, such as titanium alloy or aviation aluminum alloy, which can not only ensure the structural strength during frequent rotational movements, but also reduce the overall weight of the device for flexible operation. Its structural design has precise installation positioning holes and adapter interfaces, and the connection part with the sliding member 232 has been specially processed to ensure that the connection between the two is stable and highly coaxial, avoiding the influence of the bearing's rotation accuracy due to installation errors. At the same time, the third bearing seat 241 provides a stable installation platform for the third bearing 242 and the third sensor 243, and its internal space layout is reasonable, leaving enough space for the installation and maintenance of subsequent components.

[0080] The third bearing 242 is mounted on the third bearing seat 241, with its other end connected to the proximal pitch joint 25. It is the core component that enables the rolling motion of the distal roll joint 24. Given the high torque and rotational precision required, high-precision angular contact ball bearings, tapered roller bearings, or crossed roller bearings are typically used. Angular contact ball bearings can withstand both radial and axial loads, making them suitable for high-speed rotation applications that require a certain amount of axial load capacity. Tapered roller bearings can withstand large radial and unidirectional axial loads, making them suitable for heavy-duty rotation applications. Crossed roller bearings, by arranging two rows of rollers at 90°, can withstand large radial, axial, and tilting moments with a small cross-section, ensuring smooth and precise rotation of the joint. The inner and outer rings of the third bearing 242 mate tightly with the connecting shaft between the third bearing seat 241 and the proximal pitch joint 25, respectively. Rolling motion around the axis is achieved through the rolling of the rolling elements. Specifically, the third bearing 242 defines a first roll axis R3, around which the proximal pitch joint 25 can rotate.

[0081] The third sensor 243 is used to obtain the roll angle of the third bearing 242 in real time and is a key sensing element for achieving precise control. Common third sensors 243 are angle sensors, such as rotary transformers, magnetic encoders, or photoelectric encoders. Based on the principle of electromagnetic induction, rotary transformers measure angles by detecting changes in electromagnetic coupling between the rotor and stator, and have the characteristics of strong anti-interference ability and high reliability. Magnetic encoders use changes in the magnetic field of magnetic materials to sense angles and are suitable for harsh environments such as oil, dust, etc. Photoelectric encoders convert angles into digital signals through code disks and photoelectric detection elements, and have the advantages of high precision and fast response speed. These sensors can provide real-time feedback of the roll angle information of the third bearing 242 to the control system, providing accurate data basis for precise adjustment of joint posture.

[0082] By adopting the above technical solutions:

[0083] Enhanced spatial posture adjustment capabilities: The design of the distal roll joint 24 provides the hand manipulation device 20 with additional degrees of freedom for rotation around its axis, enabling more complex posture adjustments within three dimensions. During surgery, the surgeon can precisely adjust the rotation angle of surgical instruments using the distal roll joint 24 by manipulating the primary hand to adapt to the anatomical structure of the surgical site. For example, in orthopedic surgery, precise screw insertion angle control is required, and in minimally invasive surgery, surgical instruments can be positioned at a specific angle to avoid critical tissue and reach the lesion site, significantly improving the flexibility and precision of the surgical procedure.

[0084] In one embodiment, the proximal pitch joint 25 includes a fourth bearing seat 251, a fourth bearing 252 arranged on the fourth bearing seat 251, and a fourth sensor 253. The fourth bearing seat 251 is connected to the third bearing 242, the fourth bearing 252 is connected to the proximal yaw joint 26, and the fourth sensor 253 is used to obtain the pitch angle of the fourth bearing 252.

[0085] Specifically, the fourth bearing seat 251 serves as the basic support component of the proximal pitch joint 25, and one end is connected to the third bearing 242 to receive the motion transmission from the distal roll joint 24. In terms of materials, high-strength and corrosion-resistant metal materials are mostly selected, such as stainless steel or specially treated aluminum alloys, to meet the long-term use requirements in complex environments such as surgery and precision operations. Its structural design focuses on precise docking with the third bearing 242. Through precision-machined mounting surfaces and positioning pin holes, it ensures coaxiality and stability during connection to avoid motion deviations caused by connection errors. At the same time, the fourth bearing seat 251 provides a stable installation platform for the fourth bearing 252 and the fourth sensor 253. Its internal space layout is reasonable. While ensuring structural strength, it minimizes volume and weight as much as possible to optimize the overall flexibility of the device.

[0086] The fourth bearing 252 is mounted on the fourth bearing seat 251, and the other end is connected to the proximal yaw joint 26. It is the core component for realizing the pitch motion of the proximal pitch joint 25. Considering the need to bear a large torque and ensure high-precision pitch angle control, a cross roller bearing is usually used. The inner and outer rings of the fourth bearing 252 are tightly matched with the connecting shaft of the fourth bearing seat 251 and the proximal yaw joint 26 respectively. Through the relative sliding or rolling between the inner and outer rings of the bearing, the proximal yaw joint 26 and subsequent components are driven to pitch in the vertical plane. In detail, the fourth bearing 252 defines a second pitch axis R4, and the proximal yaw joint 26 can rotate around the second pitch axis R4.

[0087] The fourth sensor 253 is used to obtain the pitch angle of the fourth bearing 252 in real time and is a key sensing element for achieving precise control. Common types include potentiometer-type angle sensors, inclinometers, or high-precision photoelectric encoders. Potentiometer-type angle sensors reflect angle changes through changes in resistance. They are simple in structure and low in cost, making them suitable for applications where precision requirements are relatively low. Inclinometers can directly measure the tilt angle relative to the horizontal plane and are often used in scenarios where real-time monitoring of posture changes is required. Photoelectric encoders, with their high precision, high resolution, and fast response, play an important role in applications such as surgical operations or precision assembly that require extremely high angle control accuracy. These sensors convert the pitch angle information of the fourth bearing 252 into electrical signals in real time and transmit them to the control system, providing reliable data support for precise adjustment of joint posture.

[0088] By adopting the above technical solutions:

[0089] Expanded vertical range and flexibility: The proximal pitch joint 25 significantly enhances the vertical motion capabilities of the hand manipulation device 20. During surgery, particularly when dealing with deep lesions or complex anatomical structures, the surgeon can manipulate the proximal pitch joint 25 by manipulating the main hand to significantly adjust the vertical angle of the surgical instrument, allowing the surgeon to approach the lesion from different directions while avoiding vital organs and tissues. For example, during thoracic surgery, the instrument angle can be flexibly adjusted, allowing for precise manipulation without damaging surrounding heart and lung tissue, greatly improving the flexibility and feasibility of the surgical procedure.

[0090] In one embodiment, the proximal yaw joint 26 includes a fifth bearing seat 261, a fifth bearing 262 arranged on the fifth bearing seat 261, and a fifth sensor 263. The fifth bearing seat 261 is connected to the fourth bearing 252, the fifth bearing 262 is connected to the proximal roll joint 27, and the fifth sensor 263 is used to obtain the yaw angle of the fifth bearing 262.

[0091] Specifically, the fifth bearing seat 261 is the basic load-bearing component of the proximal yaw joint 26, one end of which is connected to the fourth bearing 252 to receive the motion transmission from the proximal pitch joint 25. In order to meet the long-term use requirements in complex scenarios such as surgery and precision operations, its material is usually selected from high-strength metal materials with excellent corrosion resistance, such as special stainless steel or titanium alloy. In terms of structural design, the fifth bearing seat 261 achieves high-precision docking with the fourth bearing 252 through precision-machined mounting surfaces, locating pins and bolt holes, ensuring coaxiality and stability after connection, and effectively avoiding motion misalignment caused by assembly errors. At the same time, the fifth bearing seat 261 provides a stable installation foundation for the fifth bearing 262 and the fifth sensor 263. Its internal space layout is compact and reasonable. While ensuring structural strength, it minimizes its own weight and volume, which helps to improve the overall flexibility and portability of the device.

[0092] The fifth bearing 262 is mounted on the fifth bearing seat 261, with its other end connected to the proximal roll joint 27. It is the core component that enables the yaw motion of the proximal roll joint 26. Given that this joint must withstand significant torque and lateral forces while ensuring high-precision yaw angle control, high-precision tapered roller bearings, angular contact ball bearings, or crossed roller bearings are commonly used. Tapered roller bearings can withstand significant radial and unidirectional axial loads and are suitable for applications requiring significant lateral forces. Angular contact ball bearings can simultaneously withstand radial and axial loads and offer high rotational accuracy, making them suitable for high-speed, high-precision yaw motion. Crossed roller bearings, with two rows of rollers arranged at 90°, can withstand significant radial, axial, and tipping moments with a compact cross-section, ensuring the joint's stability and precision during yaw. The inner and outer rings of the fifth bearing 262 mate tightly with the fifth bearing seat 261 and the connecting shaft of the proximal roll joint 27, respectively. The relative rolling motion between the inner and outer rings of the bearing drives the yaw motion of the proximal roll joint 27 and subsequent components within the horizontal plane. Specifically, the fifth bearing 262 defines a second yaw axis R5 , and the proximal roll joint 27 is capable of rotating around the second yaw axis R5 .

[0093] The fifth sensor 263 is used to obtain the yaw angle of the fifth bearing 262 in real time and is a key sensing component for achieving precise control. Common types include photoelectric angle sensors, magnetoelectric angle sensors, and resolvers. Photoelectric angle sensors convert the bearing's rotation angle into a digital pulse signal using a code disk and photoelectric detection elements. They offer high precision, fast response, and strong anti-interference capabilities. Magnetoelectric angle sensors utilize magnetic field changes to sense the bearing's rotation angle. They have a simple structure and high reliability, making them suitable for harsh environments such as oil and dust. Resolvers, based on the principle of electromagnetic induction, can accurately measure the bearing's yaw angle and exhibit excellent resistance to electromagnetic interference. These sensors convert the fifth bearing's yaw angle information into an electrical signal in real time and transmit it to the control system, providing reliable data for precise joint posture adjustment.

[0094] By adopting the above technical solutions:

[0095] Significantly improves operational flexibility and range in the horizontal plane

[0096] The provision of the proximal yaw joint 26 greatly enhances the steering capability of the hand-operated device 20 in the horizontal plane. In surgical scenarios, faced with complex lesion locations and anatomical structures, the doctor can manipulate the main hand and utilize the proximal yaw joint 26 to flexibly adjust the horizontal angle of the surgical instrument, allowing it to approach the lesion from different directions and avoid important blood vessels and nerve tissue. For example, in brain surgery, the instrument angle can be precisely adjusted to achieve minimally invasive treatment of the lesion, significantly improving the flexibility and feasibility of the surgical operation. In the field of industrial assembly, this joint enables the robotic arm to flexibly turn in a small space and complete complex parts installation tasks, effectively expanding the application range of the device.

[0097] In one embodiment, the proximal roll joint 27 includes a sixth bearing seat 271, a sixth bearing 272 provided on the sixth bearing seat 271, and a sixth sensor 273. The sixth bearing seat 271 is connected to the fifth bearing 262, and the sixth sensor 273 is used to obtain the roll angle of the sixth bearing 272.

[0098] Specifically, the sixth bearing seat 271 serves as the foundational support structure for the proximal roll joint 27. One end is connected to the fifth bearing 262, transmitting motion from the proximal yaw joint 26. To meet the high-strength and high-precision requirements of surgical and precision operations, it is typically constructed from high-strength, low-weight alloys, such as titanium alloys or specially treated aviation aluminum alloys. This material ensures structural stability during frequent rotational motion while reducing the overall weight of the device, facilitating flexible operation. In terms of structural design, the sixth bearing seat 271 achieves high-precision docking with the fifth bearing 262 through precision-machined mounting surfaces, positioning slots, and high-strength bolt connections. This ensures coaxiality and stability after connection, preventing motion deviations caused by loose connections or assembly errors. Furthermore, the sixth bearing seat 271 provides a stable mounting platform for the sixth bearing 272 and sixth sensor 273. Its rational internal layout optimizes structural dimensions while ensuring proper bearing operation and sensor installation, minimizing overall device space usage.

[0099] The sixth bearing 272, mounted on the sixth bearing seat 271, is the core component that enables the proximal roll joint 27 to roll. Because this joint must withstand high torque while ensuring high-precision rotation angle control during operation, high-precision angular contact ball bearings, tapered roller bearings, or crossed roller bearings are commonly used. Angular contact ball bearings can withstand both radial and axial loads, making them suitable for high-speed rotation applications that require a certain amount of axial load capacity. Tapered roller bearings can withstand large radial and unidirectional axial loads, making them suitable for heavy-duty rotation applications. Crossed roller bearings, with two rows of rollers arranged at 90°, can withstand large radial, axial, and tilting moments with a small cross-section, ensuring smooth and precise rotation of the joint. The inner and outer rings of the sixth bearing 272 mate tightly with the sixth bearing seat 271 and subsequent connecting components. The relative rolling between the inner and outer rings of the bearing drives the entire assembly to roll around its axis. Specifically, the sixth bearing 272 defines a second roll axis R6, around which the entire assembly can rotate.

[0100] The sixth sensor 273 is used to obtain the roll angle of the sixth bearing 272 in real time, and is a key sensing element for achieving precise control. Common types include magnetic encoders, photoelectric encoders, and rotary transformers. The magnetic encoder uses the magnetic field changes of magnetic materials to sense the angle, and has the characteristics of strong anti-interference ability and adaptability to harsh environments (such as oil, dust); the photoelectric encoder converts the angle into a digital signal through a code disk and a photoelectric detection element, and has the advantages of high precision, high resolution, and fast response; the rotary transformer is based on the principle of electromagnetic induction, and can accurately measure the roll angle of the bearing, and can still work stably in an electromagnetic interference environment. These sensors convert the roll angle information of the sixth bearing 272 into an electrical signal in real time, and transmit it to the control system, providing reliable data support for precise adjustment of the joint posture.

[0101] By adopting the above technical solutions:

[0102] The proximal roll joint 27 increases the freedom of rotation around the axis of the hand manipulation device 20, significantly enhancing the device's ability to adjust its posture in three-dimensional space. During surgery, the surgeon can precisely adjust the rotation angle of the surgical instrument using the proximal roll joint 27 by manipulating the main hand, ensuring it better conforms to the anatomical structure of the lesion.

[0103] In one embodiment, the first sensor 213 , the second sensor 223 , the third sensor 243 , the fourth sensor 253 , the fifth sensor 263 , the sixth sensor 273 , and the sliding sensor 233 are all in communication with the surgical system 10 .

[0104] By adopting the above technical solution, through the communication connection between each sensor and the surgical system 10, the doctor can obtain accurate posture information of each joint of the hand operation device 20 in real time. During surgery, especially when performing delicate operations such as vascular anastomosis and nerve repair, the doctor can use this real-time data to precisely control the position and angle of the surgical instruments, minimizing operational errors.

[0105] In a second aspect, a surgical robot 10 is provided, comprising a surgical system and the above-mentioned hand operating device 20 , wherein the hand operating device 20 is communicatively connected to the surgical system.

[0106] By adopting the above technical solution, on the basis of having the advantages of the hand operating device 20 of the above embodiment, the surgical robot 10 of this embodiment also has the advantage of high flexibility in surgical operation.

[0107] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A hand-operated device, characterized in that: include: The distal yaw joint is used for yaw motion in the horizontal plane; a distal pitch joint connected to the distal yaw joint, the distal pitch joint being used for performing pitch motion; a translation joint connected to the distal pitch joint, the translation joint being used for translational motion; a distal roll joint connected to the translation joint, the distal roll joint being used for rolling motion; a proximal pitch joint connected to the distal roll joint, the proximal pitch joint being used for pitching motion; a proximal yaw joint connected to the proximal pitch joint, the proximal yaw joint being used for yaw motion; The proximal roll joint is connected to the proximal yaw joint, and the proximal roll joint is used for performing a rolling motion.

2. The hand-operated device according to claim 1, wherein: The distal yaw joint includes a first bearing seat, a first bearing arranged on the first bearing seat, and a first sensor. The first bearing seat is used to be arranged at the bottom of the surgical robot. The first bearing is connected to the distal pitch joint. The first sensor is used to obtain the yaw angle of the first bearing.

3. The hand-operated device according to claim 2, wherein: The distal pitch joint includes a second bearing seat, a second bearing arranged on the second bearing seat, and a second sensor. The second bearing seat is connected to the first bearing, the second bearing is connected to the translation joint, and the second sensor is used to obtain the pitch angle of the second bearing.

4. The hand-operated device according to claim 3, wherein: The translation joint includes a slide rail seat, a sliding member slidably arranged on the slide rail seat, and a sliding sensor. The slide rail seat is connected to the second bearing, the sliding member is connected to the distal roll joint, and the sliding sensor is used to obtain the translation distance of the sliding member.

5. The hand-operated device according to claim 4, wherein: The distal roll joint includes a third bearing seat, a third bearing arranged on the third bearing seat, and a third sensor. The third bearing seat is connected to the sliding member, the third bearing is connected to the proximal pitch joint, and the third sensor is used to obtain the roll angle of the third bearing.

6. The hand-operated device according to claim 5, wherein: The proximal pitch joint includes a fourth bearing seat, a fourth bearing arranged on the fourth bearing seat, and a fourth sensor. The fourth bearing seat is connected to the third bearing, the fourth bearing is connected to the proximal yaw joint, and the fourth sensor is used to obtain the pitch angle of the fourth bearing.

7. The hand-operated device according to claim 6, wherein: The proximal yaw joint includes a fifth bearing seat, a fifth bearing arranged on the fifth bearing seat, and a fifth sensor. The fifth bearing seat is connected to the fourth bearing, the fifth bearing is connected to the proximal roll joint, and the fifth sensor is used to obtain the yaw angle of the fifth bearing.

8. The hand-operated device according to claim 7, wherein: The proximal roll joint includes a sixth bearing seat, a sixth bearing arranged on the sixth bearing seat, and a sixth sensor. The sixth bearing seat is connected to the fifth bearing. The sixth sensor is used to obtain the roll angle of the sixth bearing.

9. The hand-operated device according to claim 8, wherein: The first sensor, the second sensor, the third sensor, the fourth sensor, the fifth sensor, the sixth sensor, and the sliding sensor are all communicatively connected to the surgical system.

10. A surgical robot, characterized in that: The invention comprises a surgical system and the hand operating device according to any one of claims 1 to 9, wherein the hand operating device is communicatively connected to the surgical system.

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