Handle for doctor console, console and surgical robot system

Abstract

The invention discloses a handle for a doctor console, the console and a surgical robot system, and relates to the technical field of medical instruments, the handle comprises a handle head, a handle body and an operating mechanism for operating a surgical robot; the handle head and the handle body are connected through a posture switching device, the console comprises the handle, and the surgical robot system comprises the console or the handle. According to the handle for the doctor console, the posture between the handle head and the handle body is adjusted through the posture switching device, so that the requirement of a doctor for adjusting the holding posture of a surgical instrument is met, and the doctor console further has the capability of accurately controlling an end effector aiming at the action of a trigger on the basis of the handle capable of adjusting the posture; the surgical robot system disclosed by the invention has the advantages.

Description

[0001] Related applications

[0002] This application claims priority to Chinese patent application filed on July 1, 2025, with application number CN202510903161.X, entitled "Handle, Doctor's Control Panel and Surgical Robot System", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to the field of medical device technology, and in particular to a handle for a doctor's console, a console, and a surgical robot system. Background Technology

[0004] In a surgical robot system, the surgeon controls the robot and the end effector through a control panel to perform surgical operations. To facilitate manual operation by the surgeon, a handle is provided on the control panel, which the surgeon uses to control the robot and the end effector.

[0005] The drawback of the handle in the prior art is that the handle is a one-piece structure and does not have the function of posture adjustment. The doctor's hand holds the handle to operate, but in general, the doctor's habitual grip posture is not the same when dealing with different surgical instruments such as scalpels and forceps during ordinary surgical operations. When directly operating surgical instruments, the doctor can adjust his grip posture at any time according to the different surgical instruments. However, the one-piece handle cannot meet the doctor's needs for adjusting the grip posture of surgical instruments. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a handle for a doctor's control panel, as well as a control panel and 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 grip posture of surgical instruments.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] On one hand, the present invention provides a handle for a doctor's control panel, including 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 this invention, a split handle is used, and the doctor can switch the posture of the handle head and handle body by controlling the posture switching device between the handle head and handle body, so that the doctor can use a familiar and convenient gripping method for different surgical instruments.

[0010] In a further technical solution, the posture switching device comprises a first fixing member arranged at the handle head and a second fixing member arranged at 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 arranging the first fixing member, the connection strength with the handle head is improved, by arranging the second fixing member, the connection strength with the handle body is improved, and by arranging the connecting member for adjusting the angle between them, the relative angle between the handle head and the handle body is adjusted, so that the posture of the handle as a whole is adjusted.

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

[0013] On the basis of the connecting member that can adjust the angle, the relative rotation of the first fixing member and the second fixing member is realized by assembling the first rotating shaft, further improving the stability and smoothness of the posture switching.

[0014] In a further technical solution, the connecting member comprises a limiting member, the first fixing member / 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 communicated through a movement groove, the limiting member passes through the second fixing member / first fixing member, and the limiting member passes through the slot-shaped structure formed by the first limiting hole, the second limiting hole and the movement groove.

[0015] The limiting member comprises a passing shaft section and a limiting shaft section connected in an axial direction, 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 movement groove, and the diameter of the passing shaft section is less than or equal to the width of the movement groove.

[0016] During posture adjustment, first push the limiting member, so that the limiting shaft section exits the first limiting hole or the second limiting hole, at this time the passing shaft section enters the first limiting hole or the second limiting hole, because the diameter of the passing shaft section is small, it can pass through the movement groove from the first limiting hole to the second limiting hole or vice versa, because the limiting member passes through one of the first fixing member and the second fixing member, the movement of the limiting member in the slot-shaped structure is the relative displacement process of the first fixing member and the second fixing member, that is, the relative angle change process of the handle head and the handle body, that is, the posture adjustment process, after adjustment, move the limiting member to make the limiting shaft section in the slot-shaped structure, so as to realize the locking of the posture switching.

[0017] By arranging the limiting member and the slot-shaped structure on the first fixing member and the second fixing member respectively, the posture is adjusted by controlling the movement of the limiting member in the slot-shaped structure, which is simple to operate and has a locking function.

[0018] In a further aspect, the operating mechanism comprises a trigger for operation and a trigger mechanism for receiving the trigger action signal and transmitting the action signal outward.

[0019] For different surgical instruments, the implementation of the action is performed 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 instruction to the end effector.

[0020] In a further aspect, the trigger and the trigger mechanism are both arranged at the handle body.

[0021] The handle body has a posture conversion function. By arranging the trigger and the trigger mechanism at the handle body, the handle and the trigger mechanism can change with the handle body regardless of the change in the angle of the handle body, so that the doctor can always trigger the handle.

[0022] In a further aspect, the trigger mechanism comprises a trigger switch and a torsional spring, the trigger spring plate on the trigger switch faces the trigger, and the torsional spring is arranged between the shell of the handle body and the trigger.

[0023] The trigger switch is used to receive the trigger signal, and the torsional spring provides a counterforce for the trigger to enhance the hand feeling and reset the trigger in time.

[0024] In a further aspect, the trigger is provided with a first contact portion for contacting the trigger spring plate of the trigger switch and a second contact portion for contacting the torsional spring.

[0025] By arranging the first contact portion and the second contact portion, the sequence and interval of the contact between the trigger and the trigger switch and the contact between the trigger and the torsional spring can be more accurately controlled, and the control feeling is further improved.

[0026] On the other hand, the present application provides a doctor control console comprising the handle for the doctor control console according to any one of the above technical solutions.

[0027] In a further aspect, an electric motor is arranged outside the handle head, the output shaft of the electric motor is a connecting shaft, and the connecting shaft is connected with the trigger.

[0028] By arranging the output shaft of the electric motor to provide a torsional force, a pre-tension is provided for the trigger, so that the feeling of the doctor during the control of the trigger is more obvious. 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, so that more accurate control of the end effector is provided.

[0029] In a further aspect, the trigger is connected with the connecting shaft through 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 the handle head and the handle body are likely to switch the posture, the connecting line is arranged to ensure stable force transmission.

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

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

[0033] The reversing wheel and the connecting wheel are arranged to convert the movement of the connecting line caused by the trigger movement into the rotation of the connecting shaft.

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

[0035] The beneficial effects are:

[0036] 1、The handle for the doctor's console of the present application adjusts the posture between the handle head and the handle body through the posture switching device to meet the adjustment requirements of the doctor for the holding posture of the surgical instrument, and the doctor's console realizes the ability to accurately control the end effector for the trigger action on the basis of the handle with adjustable posture, and the surgical robot system of the present application has the above-mentioned advantages.

[0037] 2、The connection strength with the handle head is improved by arranging the first fixing member, the connection strength with the handle body is improved by arranging the second fixing member, and the relative angle between the handle head and the handle body is adjusted to realize the adjustment of the overall posture of the handle by arranging the connecting member for adjusting the angle therebetween.

[0038] 3、On the basis of the connection of the connecting member with adjustable angle, the relative rotation of the first fixing member and the second fixing member is realized by assembling the first rotating shaft, further improving the stability and smoothness of the posture switching.

[0039] 4、The limiting member and the slot-shaped structure are arranged on the first fixing member and the second fixing member respectively, and the adjustment of the posture is realized by controlling the movement of the limiting member in the slot-shaped structure, which is simple to operate and has the locking function.

[0040] 5、For different surgical instruments, the action is realized by the end effector of the surgical robot, and when the handle is operated, the trigger mechanism is triggered by the trigger action to transmit the action instruction to the end effector.

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

[0042] 7. The trigger switch is used to receive the trigger signal, while the torsion spring provides a reaction force to the trigger, enhancing the feel, and can also reset the trigger in time.

[0043] 8. By setting the first contact part and the second contact part, 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 controlled more precisely, further improving the handling feel.

[0044] 9. By setting the output shaft of the motor to provide torque, a pre-tension force is provided to the trigger, making the doctor's feel more obvious during the control of the trigger. At the same time, when the trigger action is fed back to the connecting shaft, the amplitude of the trigger action 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 up a connecting line can ensure stable force transmission.

[0046] 11. By setting up a reversing wheel and a connecting wheel, the motion of the connecting line caused by the trigger movement is converted into the rotation of the connecting shaft. Attached Figure Description

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

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

[0049] Figure 3 This is a simplified structural diagram of the internal structure of the handle of the doctor's control panel according to an embodiment of the present invention, specifically regarding the first and second fixing members.

[0050] Figure 4 This is a schematic diagram of the external structure of the handle head of the doctor's control panel handle according to an embodiment of the present invention.

[0051] Figure 5 This is a schematic diagram of the posture switching function of the handle on the doctor's control panel 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 on the doctor's control panel according to an embodiment of the present invention.

[0053] Figure 7 is a structural schematic view of a first posture of a handle for a surgeon console according to an embodiment of the present application;

[0054] Figure 8 is a structural schematic view of a second posture of a handle for a surgeon console according to an embodiment of the present application;

[0055] Figure 9 is a structural schematic view of an internal structure of a handle body of a handle for a surgeon console according to an embodiment of the present application;

[0056] Figure 10 is a simplified structural schematic view of a trigger and trigger mechanism of a handle for a surgeon console according to an embodiment of the present application;

[0057] Figure 11 is a simplified schematic view of a function principle of accurate detection of trigger action of a handle for a surgeon console according to an embodiment of the present application;

[0058] Figure 12 is a physical view of a handle for a surgeon console according to an embodiment of the present application.

[0059] The figure mark: 2, handle; 21, handle head; 211, head upper casing; 212, head lower casing; 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, movement groove; 215, connecting line; 216, connecting shaft; 22, handle body; 221, handle body upper casing; 222, handle body lower casing; 2221, third limiting hole; 223, posture switching device; 2231, first rotating shaft; 2232, second fixing member; 2233, spring; 2234, limiting member; 2235, passing shaft section; 2236, limiting shaft section; 2237, anti-falling shaft shoulder; 2238, pressing member; 224, trigger mechanism; 2241, trigger switch; 2242, torsional spring; 2243, third fixing member; 23, trigger; 231, first contact part; 232, second contact part; 233, second rotating shaft. DETAILED DESCRIPTION

[0060] The present application will be further described below in conjunction with the drawings:

[0061] Embodiment:

[0062] As shown in Figure 1 , Figure 2 and Figure 12 , a handle for a surgeon console comprises a handle head 21, a handle body 22 and an operating mechanism for operating a surgical robot; the handle head 21 and the handle body 22 are connected through a posture switching device 223.

[0063] In the present application, the handle 2 is split into two parts, and the surgeon can switch the posture of the handle 2 by controlling the posture switching device 223 between the handle head 21 and the handle body 22, so that the surgeon can hold the handle 2 in a convenient way when holding different surgical instruments.

[0064] In the present embodiment, the handle head 21 comprises an upper head shell 211 and a lower head shell 212 connected to each other, and the handle body 22 comprises an upper handle body shell 221 and a lower handle body shell 222 connected to each other. The handle head 21 and the handle body 22 are both divided into two shells, which facilitates the assembly of the handle 2 and the components inside the handle 2.

[0065] In another embodiment, as shown in Figure 2 and Figure 3 , the posture switching device 223 comprises a first fixing member 214 arranged on the handle head 21, 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.

[0066] In the present embodiment, the first fixing member 214 is fixedly connected to the lower head shell 212, and the second fixing member 2232 is fixedly connected to the lower handle body shell 222.

[0067] By arranging the first fixing member 214 to improve the connection strength with the handle head 21, arranging the second fixing member 2232 to improve the connection strength with the handle body 22, and arranging the connecting member between them to adjust the relative angle between the handle head 21 and the handle body 22, the posture of the handle 2 as a whole can be adjusted.

[0068] In another embodiment, as shown in Figure 3 and Figure 4 , the first fixing member 214 and the second fixing member 2232 are rotatably connected through a first rotating shaft 2231.

[0069] It can be understood that, in order to minimize the gap between the handle head 21 and the handle body 22, in the present embodiment, part of the first fixing member 214 extends into the interior of the handle head 21 and 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.

[0070] On the basis of the connecting member that can adjust the angle, the first rotating shaft 2231 is further assembled to realize the relative rotation of the first fixing member 214 and the second fixing member 2232, further improving the stability and smoothness of the posture switching.

[0071] In another embodiment, as shown in Figure 5 and Figure 6 The connecting piece comprises a limiting piece 2234, the first fixing piece 214 / second fixing piece 2232 is provided with a first limiting hole 2141 and a second limiting hole 2142, the first limiting hole 2141 and the second limiting hole 2142 are communicated through a movement slot 2143, the limiting piece 2234 passes through the second fixing piece 2232 / first fixing piece 214, and the limiting piece 2234 passes through the slot-shaped structure formed by the first limiting hole 2141, the second limiting hole 2142 and the movement slot 2143;

[0072] The limiting piece 2234 comprises an axial connecting through shaft section 2235 and limiting shaft section 2236, the diameter of the limiting shaft section 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 section 2236 is greater than the width of the movement slot 2143, and the diameter of the through shaft section 2235 is less than or equal to the width of the movement slot 2143.

[0073] In the embodiment, as shown in Figure 5 The second fixing piece 2232 comprises two second connecting ears, the part of the first fixing piece 214 extending into the handle body 22 is a first connecting ear located between the two second connecting ears of the second fixing piece 2232, and the first rotating shaft 2231 passes through the first connecting ear and the two second connecting ears.

[0074] In the embodiment, as shown in Figure 5 and Figure 6 The first limiting hole 2141, the second limiting hole 2142 and the movement slot 2143 are provided on the connecting ear of the first fixing piece 214, and the limiting piece 2234 is arranged through the connecting ear of the second fixing piece 2232.

[0075] When the posture is adjusted, for example, the posture of the handle 2 is first as shown in Figure 7As shown, the pushing limiting piece 2234 is pushed to make the limiting shaft segment 2236 exit the first limiting hole 2141 or the second limiting hole 2142, at this time, the shaft segment 2235 enters the first limiting hole 2141 or the second limiting hole 2142, since the diameter of the shaft segment 2235 is smaller, it can pass through the movement groove 2143 from the first limiting hole 2141 to the second limiting hole 2142, or it can pass through the movement groove 2143 from the second limiting hole 2142 to the first limiting hole 2141, since the limiting piece 2234 passes through the second fixed piece 2232, the movement of the limiting piece 2234 in the groove-shaped structure is the process of the relative displacement of the first fixed piece 214 and the second fixed piece 2232, that is, the process of the relative angle change of the handle head 21 and the handle body 22, that is, the process of the posture adjustment, after the adjustment is completed, the limiting piece 2234 is moved again to make the limiting shaft segment 2236 located in the groove-shaped structure, that is, the posture switching is locked, at this time, the posture of the switched handle 2 is as shown in Figure 8 .

[0076] When the surgical instrument on the mechanical arm of the surgical robot in the surgery is a surgical instrument such as a forceps, a separating forceps, or a scissors, the user uses the handle 2 in the posture of Figure 7 to perform the surgery; when the surgical instrument on the mechanical arm of the surgical robot in the surgery is a needle holder or the like, the user uses the handle 2 in the posture of Figure 8 to perform the surgery. Thus, the posture switching meets the holding requirements of different surgical instruments.

[0077] By arranging the limiting piece 2234 and the groove-shaped structure on the first fixed piece 214 and the second fixed piece 2232 respectively, the adjustment of the posture is realized by controlling the movement of the limiting piece 2234 in the groove-shaped structure, which is simple to operate and has a locking function.

[0078] In another embodiment, as shown in Figure 5 and Figure 6 , the posture switching device 223 further includes a spring 2233, the spring 2233 and the limiting piece 2234 are arranged in series along the axial direction, the spring 2233 is arranged between the end of the limiting piece 2234 passing through the first fixed piece 214 and the inner wall of the handle body lower shell 222, specifically, the spring 2233 is arranged on the side of the limiting shaft segment 2236 away from the shaft segment 2235.

[0079] In the embodiment, due to the presence of the spring 2233, the spring 2233 always applies 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-shaped structure of the first fixing part 214, and only when it is necessary to switch the posture, the doctor presses the limiting part 2234 to make the spring 2233 compressed, so that the shaft segment 2235 enters the groove-shaped structure of the first fixing part 214, at this time, the posture can be switched, and after the posture switching is completed, the limiting part 2234 is released, and the limiting shaft segment 2236 returns to the groove-shaped structure of the first fixing part 214 again due to the elastic force of the spring 2233, and the self-locking is completed.

[0080] In another embodiment, as shown in Figure 5 and Figure 6 , a pressing part 2238 is arranged at the end of the limiting part 2234, the cross-sectional area of the pressing part 2238 is greater than that of the limiting part 2234, and the pressing part 2238 plays a role in facilitating the doctor to press the limiting part 2234.

[0081] In another embodiment, as shown in Figure 1 and Figure 2 , the operating mechanism includes a trigger 23 for operation and a trigger mechanism 224 for receiving the action signal of the trigger 23 and transmitting the action signal outward.

[0082] For different surgical instruments, the implementation of the action is performed by the end effector of the surgical robot, and 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.

[0083] In another embodiment, as shown in Figure 1 and Figure 2 , the trigger 23 and the trigger mechanism 224 are both arranged at the handle body 22.

[0084] In the embodiment, the trigger switch 2241 is fixedly connected to the handle body shell 221, and the torsional spring 2242 is fixed to the handle body shell 221 through the third fixing part 2243.

[0085] The handle body 22 has the function of posture conversion, and the trigger 23 and the trigger mechanism 224 are both arranged at the handle body 22, so that no matter how the angle of the handle body 22 changes, the handle 2 and the trigger mechanism 224 can change accordingly, thereby ensuring that the doctor can always trigger through the handle 2.

[0086] In another embodiment, as shown in 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 is towards the trigger 23, and the torsion spring 2242 is arranged between the shell of the handle body 22 and the trigger 23.

[0087] The trigger switch 2241 is used to receive the trigger 23 signal, and the torsion spring 2242 serves to provide a counterforce for the trigger 23, enhancing the hand feeling, while being able to reset the trigger 23 in time.

[0088] In another embodiment, as shown in Figure 10 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.

[0089] By arranging the first contact portion 231 and the second contact portion 232, the sequence and interval of the trigger 23 contacting the trigger switch 2241 and the trigger 23 contacting the torsion spring 2242 can be more accurately controlled, further improving the control feeling.

[0090] In another embodiment, as shown in Figure 9 and Figure 10 The trigger 23 is provided with a second pivot shaft 233, and the trigger 23 is rotatably connected to the lower handle body shell 222 through the second pivot shaft 233, and the trigger 23 is rotated by the doctor's hand, and the trigger 23 moves towards the trigger switch 2241.

[0091] In another embodiment, as shown in Figure 9 The lower handle body shell 222 is provided with a third limiting hole 2221, as shown in Figure 6 and Figure 9 The anti-disengagement shaft shoulder 2237 is further provided on the pressing piece 2238, and the diameter of the anti-disengagement shaft shoulder 2237 is greater than the diameter of the third limiting hole 2221, the limiting piece 2234 is arranged in the third limiting hole 2221, and the third limiting hole 2221 limits the anti-disengagement shaft shoulder 2237 from being disengaged from the lower handle body shell 222.

[0092] A doctor's console includes the handle 2 of any one of the above embodiments.

[0093] In another embodiment, as shown in Figure 11 The handle head 21 is provided with a motor, the output shaft of the motor is a connecting shaft 216, and the connecting shaft 216 is connected to the trigger 23.

[0094] By setting the output shaft of the motor to provide torque, a pre-tension force is provided for the trigger 23, making the doctor's feel more obvious during the control of the trigger 23. At the same time, when the action of the trigger 23 is fed back to the connecting shaft 216, the range of action 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.

[0095] Specifically, regarding the rotation angle of the connecting shaft 216, in this embodiment, it is achieved by setting an encoder outside the connecting shaft 216.

[0096] Meanwhile, the motor installed on the outside of the handle head 21 provides a hardware basis for force feedback between the trigger 23 and the surgical end effector. Specifically, the stroke of the trigger 23 is divided into two segments: the first segment is the normal force stage, and the second segment is the strong force stage. The dividing point is when the trigger 23 moves to contact the torsion spring 2242. It can be understood that the torsion spring 2242 is not in contact with the second contact part 232 of the trigger 23 throughout the entire stroke. Therefore, in the normal force stage of the trigger 23, which 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 head) is controlled by detecting the amplitude of the trigger 23's movement. The amplitude of the trigger 23's movement 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's movement in the normal force stage. That is to say, during the doctor's operation, in the first segment of the trigger 23's movement, the surgical end effector can only apply a maximum value to the human body. This upper limit is set to avoid damage to human tissue caused by the doctor's misoperation. At the upper limit, the force is small and will not damage the patient's tissue.

[0097] When trigger 23 is actuated to contact torsion spring 2242, torsion spring 2242 begins to provide a reaction force to trigger 23, essentially acting as a reminder to the doctor. Further, as trigger 23 reaches the end of its stroke, it reaches a mechanical limit, at which point trigger 23 stops deflecting. Simultaneously, just before reaching the limit, trigger switch 2241 is activated, and the surgical end effector applies a greater clamping force. This design is intended to address scenarios requiring significant clamping force, such as those involving clamps or needle holders. The system not only provides greater clamping force but also allows the doctor to clearly feel the second stage of the trigger force, preventing accidental activation of the second stage.

[0098] Furthermore, regarding the force feedback of trigger 23, throughout the entire process described above, the force applied by the surgical end effector (such as detecting the current of the end effector motor) can be detected and applied in reverse to trigger 23 via the motor outside the handle head 21, allowing the doctor to have a more accurate grip.

[0099] In another embodiment, such as 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.

[0100] Since the force transmission between the trigger 23 and the connecting shaft 216 needs to pass through the handle head 21, and the handle head 21 and the handle body 22 are likely to switch the posture, the connecting line 215 is arranged to ensure stable force transmission.

[0101] In another embodiment, as shown in the figure, the handle head 21 is provided with a reversing wheel mechanism 213. Figure 11

[0102] The reversing wheel mechanism 213 at least includes a reversing wheel connected to the posture switching device 223 and a connecting wheel connected to the end of the connecting shaft 216.

[0103] In this embodiment, the reversing wheel has three in total, specifically, the first reversing wheel 2131 is arranged on the first fixing member 214, and the second reversing wheel 2132 and the 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 the distance between the first fixing member 214 and the handle body 22 is short, and the distance between the first fixing member 214 and the handle body 22 is short, and the subsequent second reversing wheel 2132 and third reversing wheel 2133 change the direction of the connecting line 215 to the tangential direction of the circumferential direction of the connecting wheel on the connecting shaft 216, so that the connecting line 215 can be connected to the connecting wheel.

[0104] By arranging the reversing wheel and the 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.

[0105] More specifically, an encoder is further arranged on the connecting shaft 216, the encoder is used to detect the rotation angle of the connecting shaft 216, and the action of the trigger 23 drives the rotation of the connecting shaft 216, so that the action amplitude of the trigger 23 can be obtained by detecting the rotation angle of the connecting shaft 216, thereby providing a technical basis for further controlling the surgical end effector based on the action amplitude of the trigger 23.

[0106] A surgical robot system includes the above-mentioned control console or the above-mentioned doctor control console handle 2 of any one embodiment.

[0107] The doctor control console handle 2 of the application adjusts the posture between the handle head 21 and the handle body 22 through the posture switching device 223 to meet the adjustment needs of the doctor for the holding posture of the surgical instrument, and the doctor control console also realizes the ability to accurately control the end effector according to the action of the trigger 23 on the basis of the handle 2 with adjustable posture, and the surgical robot system of the application has the above-mentioned advantages.

[0108] ​The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application.

Claims

1. A handle for a doctor's control panel, characterized in that, It 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 by a posture switching device.

2. The handle for a doctor's control panel according to claim 1, characterized in that, The posture switching device includes a first fixing member disposed at the head of the handle and a second fixing member disposed at the body of the handle, as well as a connecting member disposed 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.

3. The handle for a doctor's control panel according to claim 2, characterized in that, The first fixing member and the second fixing member are rotatably connected by a first rotating shaft.

4. The handle for a doctor's control panel according to claim 2, characterized in that, The connector includes a limiting member. The first fixing member / second fixing member has a first limiting hole and a second limiting hole. The first limiting hole and the second limiting hole are connected through a moving groove. The limiting member passes through the second fixing member / first fixing member and passes through the groove-shaped structure formed by the first limiting hole, the second limiting hole and the moving groove. The limiting component includes an axially connected through 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 moving groove. The diameter of the through shaft section is less than or equal to the width of the moving groove.

5. The handle for a doctor's control panel according to claim 1 or 4, characterized in that, The operating mechanism includes a trigger for operation and a triggering mechanism, wherein the triggering mechanism is used to receive the trigger action signal and transmit the action signal outward.

6. The handle for a doctor's control panel according to claim 5, characterized in that, Both the trigger and the triggering mechanism are located on the handle body.

7. The handle for a doctor's control panel according to claim 6, characterized in that, The triggering mechanism includes a trigger switch and a torsion spring. The trigger switch has a trigger spring facing the trigger, and the torsion spring is disposed between the handle body housing and the trigger.

8. The handle for a doctor's control panel according to claim 7, characterized in that, The trigger is provided with a first contact portion for contacting the trigger spring of the trigger switch and a second contact portion for contacting the torsion spring.

9. A doctor's control panel, characterized in that, Including a doctor's console handle as described in any one of claims 1-8.

10. The doctor's control panel according to claim 9, characterized in that, A motor is provided on the outside of the handle head, and the output shaft of the motor is a connecting shaft, which is connected to the trigger.

11. The doctor's control panel according to claim 10, characterized in that, The trigger is connected to the connecting shaft via a connecting wire passing through the handle head.

12. The doctor's control panel according to claim 11, characterized in that, A reversing wheel mechanism is provided inside the handle head; The reversing wheel mechanism includes at least one reversing wheel connected to the attitude switching device and a connecting wheel connected to the end of the connecting shaft.

13. A surgical robot system, characterized in that, Includes a control panel as claimed in any one of claims 9 to 12 or a handle for a doctor's control panel as claimed in any one of claims 1 to 8.

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