Input device and surgical robot

Abstract

The invention relates to an input device and a surgical robot. The input device comprises a rack, an opening and closing assembly, a rotating part, a transmission assembly and a first angle measuring assembly. The opening and closing assembly is connected with the rack, and the opening and closing assembly is configured to operably execute opening and closing actions relative to the rack; the rotating part is rotationally connected to the rack around a first rotating axis; the transmission assembly is arranged on the rack and comprises a sliding part and a traction part, the traction part is wound on the peripheral wall of the rotating part, and the two ends of the traction part are in tensioning connection with two connecting points on the sliding part respectively; the sliding part is in sliding connection with the rack in the first direction and is in transmission connection with the opening and closing assembly. Under the condition that the opening and closing assembly executes the opening and closing action, the opening and closing assembly drives the sliding part to move in the first direction, so that the sliding part pulls the traction part to drive the rotating part to rotate around the first rotating axis; the first angle measuring assembly is arranged on the rack and used for measuring the rotating angle of the rotating part around the first rotating axis relative to the rack.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to input devices and surgical robots. Background Technology

[0002] Most surgical robots employ a master-slave control structure. The surgeon operates the master hand, which controls input devices, while the slave hand, which controls the end effector, via remote communication and a computer. For example, the surgeon controls the end effector, such as forceps, scissors, or clamps, by opening and closing the grippers of the input device.

[0003] The measurement of the rotation angle of a known input device's rotating unit typically involves converting the rotation of the unit through a bevel gear, and then measuring the angle of the bevel gear using an encoder. However, due to the backlash between the bevel gears, there is a certain difference between the angle detected by the encoder and the actual rotation angle of the rotating unit, resulting in poor angle detection accuracy. Summary of the Invention

[0004] Therefore, it is necessary to provide an input device to address the technical problem of poor measurement accuracy of the rotation angle of the rotation unit in existing input devices.

[0005] An input device, comprising:

[0006] frame;

[0007] An opening and closing assembly is connected to the frame and configured to perform an opening and closing action relative to the frame.

[0008] A rotating part, which is rotatably connected to the frame about a first rotation axis;

[0009] A transmission assembly, disposed on the frame, includes a sliding portion and a traction portion. The traction portion is wound around the peripheral wall of the rotating portion, and its two ends are tensionedly connected to two connection points on the sliding portion. The sliding portion is slidably connected to the frame along a first direction and is drively connected to the opening and closing assembly. When the opening and closing assembly performs the opening and closing action, the opening and closing assembly drives the sliding portion to move along the first direction, so that the sliding portion pulls the traction portion to drive the rotating portion to rotate around a first rotation axis, wherein the first direction intersects the first rotation axis.

[0010] A first angle measuring component is disposed on the frame and is used to measure the rotation angle of the rotating part relative to the frame about the first rotation axis.

[0011] In one embodiment, the extension direction of the portion of the traction part located between the connection point and the rotating part is perpendicular to a first rotation axis, wherein the first rotation axis is perpendicular to the first direction.

[0012] In one embodiment, the peripheral wall of the rotating part is provided with a first guide groove and a second guide groove. The extension directions of the first guide groove and the second guide groove are both perpendicular to the first rotation axis, and the first guide groove and the second guide groove are staggered in the direction perpendicular to the first rotation axis. The first end of the traction part passes through the first guide groove and is connected to the corresponding connection point. The second end of the traction part, which is opposite to the first end, passes through the second guide groove and is connected to the corresponding connection point.

[0013] In one embodiment, the portion of the traction part located between the connection point and the rotating part extends along the first direction.

[0014] In one embodiment, the transmission assembly further includes an adjusting member connected to the traction part and rotatably connected to the sliding part. The adjusting member is configured to move the traction part when it rotates about its own axis, so as to tension the traction part.

[0015] In one embodiment, the input device further includes a first force feedback component connected to the frame and drivenly connected to the rotating part. When the opening and closing component performs the opening and closing action, the first force feedback component can at least provide a reverse torque to the rotating part to resist the rotation of the rotating part, so as to provide a feedback force to the opening and closing component through the transmission component.

[0016] In one embodiment, the input device further includes an elastic element sleeved on the sliding portion, with one end of the elastic element abutting against the frame and the other end of the elastic element abutting against the sliding portion. The elastic element is used to provide feedback force to the opening and closing assembly through the sliding portion.

[0017] In one embodiment, the frame includes a rotating arm and a base, the rotating arm being rotatably connected to the base about a second rotation axis and connected to the opening and closing assembly, wherein the second rotation axis is parallel to the first direction;

[0018] The sliding part includes a sliding rod and a sliding seat. The connection point is located on the sliding seat. The sliding seat is slidably connected to the base along the first direction. The sliding rod is connected to the sliding seat and can rotate relative to the sliding seat around the second rotation axis. The sliding rod is drively connected to the opening and closing assembly.

[0019] When the opening and closing assembly is configured to operably rotate relative to the base about the second rotation axis, it drives the rotating arm and the slide rod to rotate synchronously.

[0020] In one embodiment, the input device further includes a second force feedback component connected to the base and drivenly connected to the rotating arm. When the opening / closing component is operated to rotate about the second rotation axis, the second force feedback component can at least provide a reverse torque to the rotating arm to resist the rotation of the rotating arm, so as to provide a feedback force to the opening / closing component.

[0021] This application also provides a surgical robot capable of solving at least one of the above-mentioned technical problems.

[0022] A surgical robot, including the aforementioned input device.

[0023] Beneficial effects:

[0024] The input device provided in this application includes a frame, an opening and closing assembly, a rotating part, a transmission assembly, and a first angle measuring assembly. The opening and closing assembly is connected to the frame and configured to perform an opening and closing action relative to the frame. The rotating part is rotatably connected to the frame around a first rotation axis. The transmission assembly is disposed on the frame and includes a sliding part and a traction part. The traction part is wound around the peripheral wall of the rotating part, and its two ends are tensioned and connected to two connection points on the sliding part, respectively. The sliding part is slidably connected to the frame along a first direction and is transmissionally connected to the opening and closing assembly. When the opening and closing assembly performs an opening and closing action, the opening and closing assembly drives the sliding part to move along the first direction, so that the sliding part pulls the traction part to drive the rotating part to rotate around the first rotation axis, wherein the first direction intersects the first rotation axis. The first angle measuring assembly is disposed on the frame and is used to measure the rotation angle of the rotating part relative to the frame around the first rotation axis. In this application, the sliding part can move with the opening and closing action of the opening and closing assembly, and drives the rotating part to rotate relative to the frame around the first rotation axis via the traction part. Therefore, the rotation angle of the rotating part relative to the frame can be measured by the first angle measuring component, and the opening and closing angle of the opening and closing assembly can be obtained through data calculation. Thus, the measurement of the opening and closing angle of the opening and closing assembly can be achieved without additional angle calibration. Furthermore, in this application, the transmission is achieved through the traction part, so that the conversion of the movement of the sliding part into the rotation of the rotating part, and the conversion of power from the rotation of the rotating part into the movement of the sliding part, are not limited by backlash, thus improving the accuracy of the transmission.

[0025] This application also provides a surgical robot, including the above-described input device, which is capable of achieving at least one of the above-described technical effects. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of an input device provided in an embodiment of this application.

[0027] Figure 2 Cross-section of an input device provided in an embodiment of this application Figure 1 .

[0028] Figure 3 This is a partial schematic diagram of an input device provided in an embodiment of this application.

[0029] Figure 4 This is a partial exploded view of an input device provided in an embodiment of this application.

[0030] Figure 5 Cross-section of an input device provided in an embodiment of this application Figure 2 .

[0031] Icon labels:

[0032] 100-Frame; 110-Rotating arm; 111-Assembly hole; 120-Base; 121-Allowing hole; 200-Opening and closing assembly; 210-Clamping arm; 300-Transmission assembly; 310-Rotating part; 311-First guide groove; 312-Second guide groove; 320-Sliding part; 321-Sliding rod; 322-Sliding seat; 323-Sliding block; 324-Fixing block; 325-Adapter rod; 326-Matching hole; 327-Opening; 328-Mounting hole; 329-Boss; 330-Traction part; 331-Pull rope; 332-First rope cap; 333-Second rope cap; 340-Adjusting component; 341-Through hole; 400-First angle measuring assembly; 500-Second angle measuring assembly; 600-First force feedback assembly; 700-Second force feedback assembly; 800-Elastic component. Detailed Implementation

[0033] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0034] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0035] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0036] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0037] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0038] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0039] See Figure 1 , Figure 2 and Figure 3 , Figure 1 This is a schematic diagram of an input device provided in an embodiment of this application. Figure 2 Cross-section of an input device provided in an embodiment of this application Figure 1 . Figure 3 This is a partial schematic diagram of an input device provided in one embodiment of this application. The input device provided in one embodiment of this application includes a frame 100, an opening / closing assembly 200, a rotating part 310, a transmission assembly 300, and a first angle measuring assembly 400. The opening / closing assembly 200 is connected to the frame 100 and is configured to perform an opening / closing action relative to the frame 100. The rotating part 310 is rotatably connected to the frame 100 about a first rotation axis. The transmission assembly 300 is disposed on the frame 100 and includes a sliding part 320 and a traction part 330. The traction part 330 is wound around the peripheral wall of the rotating part 310, and both ends of the traction part 330 are respectively connected to the sliding part 320. The two connection points on the frame are tensioned together; the sliding part 320 is slidably connected to the frame 100 along the first direction and is connected to the opening and closing assembly 200 in a transmission manner; when the opening and closing assembly 200 performs the opening and closing action, the opening and closing assembly 200 drives the sliding part 320 to move along the first direction, so that the sliding part 320 pulls the traction part 330 to drive the rotating part 310 to rotate around the first rotation axis, wherein the first direction intersects the first rotation axis; the first angle measuring assembly 400 is provided on the frame 100 and is used to measure the rotation angle of the rotating part 310 relative to the frame 100 around the first rotation axis.

[0040] Specifically, in this application, the sliding part 320 can move with the opening and closing action of the opening and closing assembly 200, and drives the rotating part 310 to rotate relative to the frame 100 around the first rotation axis through the traction part 330. Thus, the rotation angle of the rotating part 310 relative to the frame 100 can be measured by the first angle measuring assembly 400, and the opening and closing angle of the opening and closing assembly 200 can be obtained through data calculation. Therefore, the measurement of the opening and closing angle of the opening and closing assembly 200 can be achieved without additional angle calibration. Furthermore, in this application, the transmission is carried out through the traction part 330, so that in the process of converting the movement of the sliding part 320 into the rotation of the rotating part 310, and in the process of operating the rotating part 310 to convert power into the movement of the sliding part 320, there is no limitation due to backlash, thus improving transmission accuracy.

[0041] It should be noted that when using worm gears or gears for transmission, there is backlash and viscous friction. Specifically, taking gears as an example, when power is transmitted to the gear, the rotation of the main gear is too small to overcome the backlash, so the driven gear will not rotate. In other words, the measurement of the opening angle and the transmission of feedback force are limited by the backlash, resulting in low transmission accuracy.

[0042] Furthermore, the first angle measuring component 400 includes a first code disk and a first reading head, one of which is connected to the frame 100, and the other of which is connected to the rotating part 310.

[0043] See Figure 2 , Figure 3 and Figure 4 , Figure 4 This is a partial exploded view of an input device provided in one embodiment of this application. In one embodiment, the extension direction of the portion of the traction unit 330 located between the connection point and the rotating unit 310 is perpendicular to the first rotation axis, wherein the first rotation axis is perpendicular to a first direction. Therefore, during the movement of the traction unit 330 driven by the sliding unit 320, the portion of the traction unit 330 located between the connection point and the rotating unit 310 always maintains movement in a direction perpendicular to the first rotation axis, i.e., movement within a plane perpendicular to the first rotation axis. This avoids introducing the amount of movement of the traction unit 330 along the first rotation axis when calculating the rotation angle of the rotating unit 310 relative to the frame 100 about the first rotation axis, thereby improving the simplicity and accuracy of the angle calculation.

[0044] See Figure 2 , Figure 3 and Figure 4In one embodiment, the peripheral wall of the rotating part 310 is provided with a first guide groove 311 and a second guide groove 312. The extension directions of the first guide groove 311 and the second guide groove 312 are both perpendicular to the first rotation axis, and the first guide groove 311 and the second guide groove 312 are staggered in the direction perpendicular to the first rotation axis. The first end of the traction part 330 passes through the first guide groove 311 and is connected to the corresponding connection point. The second end of the traction part 330, which is opposite to the first end, passes through the second guide groove 312 and is connected to the corresponding connection point.

[0045] Specifically, a portion of the traction part 330 near its first end passes through the first guide groove 311, and a portion of the traction part 330 near its second end passes through the second guide groove 312. Thus, during the process of the traction part 330 driving the rotating part 310 to rotate around the first rotation axis, the portion of the traction part 330 wrapped around the rotating part 310 will continue to wrap around the peripheral wall of the rotating part 310 along the extending direction of the first guide groove 311 or the second guide groove 312, or will be released relative to the peripheral wall of the rotating part 310. This guides the movement of the traction part 330, ensuring that the area of ​​the traction part 330 between the connection point and the rotating part 310 remains perpendicular to the first rotation axis. Preferably, the first guide groove 311 and the second guide groove 312 are spaced apart on the first rotation axis.

[0046] See Figure 2 , Figure 3 and Figure 4 In one embodiment, the traction unit 330 includes two pull ropes 331. The two pull ropes 331 are wound around the rotating unit 310 along the extending directions of the first guide groove 311 and the second guide groove 312, respectively. The first end and the second end are respectively located at the ends of the two pull ropes 331 away from the rotating unit 310. By setting the two pull ropes 331, the extending directions of the two pull ropes 331 are both perpendicular to the first rotation axis. Thus, during the process of the sliding unit 320 driving the pull ropes 331 to move and relative to the rotating unit 310, the pull ropes 331 always move in a plane perpendicular to the first rotation axis.

[0047] Furthermore, the traction unit 330 also includes two first rope caps 332. The ends of the two pull ropes 331 away from the connection point are each connected to a first rope cap 332. The first rope cap 332 abuts against the groove end face of the first guide groove 311 or the second guide groove 312, so that when the pull rope 331 is in a tensioned state, the pull rope 331 can be stably fixed on the rotating part 310.

[0048] In another embodiment, the traction part 330 includes a pull rope 331, the middle region of which is wound around the peripheral wall of the rotating part 310, with the first end and the second end located at opposite ends of the pull rope 331.

[0049] See Figure 2 , Figure 3 and Figure 4 In one embodiment, the peripheral wall of the rotating part 310 is circular, so that when the traction part 330 drives the rotating part 310 to rotate, the opening and closing angle of the opening and closing assembly 200 can be known by measuring the rotation angle of the rotating part 310 relative to the frame 100.

[0050] In one embodiment, the portion of the traction unit 330 located between the connection point and the rotating unit 310 extends along a first direction, thereby avoiding the introduction of movement of the traction unit 330 in other directions when calculating the rotation angle of the rotating unit 310 relative to the frame 100 about the first rotation axis, thus improving the simplicity and accuracy of the angle calculation.

[0051] See Figure 2 , Figure 3 and Figure 4 In one embodiment, the transmission assembly 300 further includes an adjusting member 340, which is connected to the traction part 330 and rotatably connected to the sliding part 320. The adjusting member 340 is configured such that when it rotates about its own axial direction, it drives the traction part 330 to move, thereby tensioning the traction part 330. This ensures that the sliding part 320 can accurately transmit power through the traction part 330 when it moves. When the traction part 330 includes two pull ropes 331, there are two adjusting members 340, each connected to one of the two pull ropes 331 to achieve tensioning of the two pull ropes 331. The adjusting member 340 is rotatably connected to the sliding part 320 about a first direction.

[0052] Furthermore, the sliding part 320 is provided with a mating hole 326, and the rotating part 310 passes through the mating hole 326. The wall of the mating hole 326 is provided with a mounting hole 328, and the adjusting member 340 is threadedly connected to the wall of the mounting hole 328. The mounting hole 328 extends along a first direction. An opening 327 is provided on one side of the mating hole 326 to facilitate the insertion of the rotating part 310.

[0053] See Figure 2 , Figure 3 and Figure 4 In one embodiment, the traction part 330 further includes two second rope caps 333. The adjusting member 340 is provided with a through hole 341. The pull rope 331 passes through the through hole 341 and is connected to the second rope caps 333. The rope caps abut against the end of the adjusting member 340 away from the rotating part 310, so that when the pull rope 331 is tensioned, the pull rope 331 can be stably fixed on the adjusting member 340.

[0054] See Figure 2 , Figure 3 and Figure 4In one embodiment, the input device further includes a first force feedback component 600, which is connected to the frame 100 and is drivenly connected to the rotating part 310. When the opening and closing component 200 performs an opening and closing action, the first force feedback component 600 can at least provide a reverse torque to the rotating part 310 to resist the rotation of the rotating part 310, so as to provide a feedback force to the opening and closing component 200 through the transmission component 300.

[0055] Specifically, during surgical procedures, the operator needs to control the opening and closing assembly 200 to perform opening and closing actions to achieve purposes such as clamping, lifting, and cutting tissue. At this time, the first force feedback assembly 600 can provide resistance to the operator's control of the opening and closing assembly 200 to perform the opening and closing actions through the transmission assembly 300. This resistance (i.e., feedback force) is equivalent to the resistance of the surgical instrument actuator on the control arm being blocked from opening and closing by surgical tissue or other objects. In this way, the operator can perceive the magnitude of their operating force (the reaction force is the resistance of other objects to the instrument actuator), enabling precise operation, especially in some complex and delicate surgeries (such as prostate cancer surgery), ensuring surgical results. That is, in this application, the opening and closing force of the opening and closing assembly 200 is precisely adjusted by the first force feedback assembly 600 and transmitted to the opening and closing assembly 200 through the traction unit 330, thereby accurately and in real time feeding back the clamping force of the opening and closing assembly 200.

[0056] Furthermore, the first force feedback component 600 includes a first motor, which includes a first stator and a first rotor. The first stator is connected to the frame 100, and the first rotor is connected to the rotating part 310.

[0057] See Figure 2 , Figure 3 and Figure 4 In one embodiment, the first force feedback component 600 drives the rotating part 310 to rotate around a first direction, and can also provide a continuous auxiliary force to the opening and closing component 200 in the opening and closing direction, or a continuous reset force to the opening and closing component 200 in the closing direction.

[0058] See Figure 2 , Figure 3 and Figure 4In one embodiment, the input device further includes an elastic element 800, which is sleeved on the sliding portion 320. One end of the elastic element 800 abuts against the frame 100, and the other end abuts against the sliding portion 320. The elastic element 800 provides a feedback force to the opening and closing assembly 200 through the sliding portion 320, thereby enabling the elastic element 800 to cooperate with the first force feedback assembly 600 to jointly provide a feedback force to the opening and closing assembly 200. The inclusion of the elastic element 800 reduces the feedback force output by the first force feedback assembly 600, thus reducing the work done by the first force feedback assembly 600 and improving its service life. Preferably, the elastic element 800 is a spring.

[0059] See Figure 2 and Figure 3 In one embodiment, the frame 100 includes a rotating arm 110 and a base 120. The rotating arm 110 is rotatably connected to the base 120 about a second rotation axis and is connected to the opening and closing assembly 200, wherein the second rotation axis is parallel to a first direction. The sliding part 320 includes a sliding rod 321 and a sliding seat 322. The connection point is located on the sliding seat 322. The sliding seat 322 is slidably connected to the base 120 along the first direction. The sliding rod 321 is connected to the sliding seat 322 and can rotate relative to the sliding seat 322 about the second rotation axis. The sliding rod 321 is drively connected to the opening and closing assembly 200. When the opening and closing assembly 200 is configured to operably rotate relative to the base 120 about the second rotation axis, it drives the rotating arm 110 and the sliding rod 321 to rotate synchronously.

[0060] Specifically, the rotating arm 110 is rotatably connected to the base 120 around the second rotation axis and is also connected to the opening and closing assembly 200, allowing the opening and closing assembly 200 to rotate relative to the base 120 around the second rotation axis. This makes the operating posture of the opening and closing assembly 200 unrestricted, improving the adaptability of the input device. Furthermore, the feature that the slide rod 321 can rotate relative to the sliding seat 322 around the second rotation axis ensures that the connection between the slide rod 321 and the sliding seat 322 will not be interfered with during the rotation of the slide rod 321 by the opening and closing assembly 200.

[0061] Furthermore, the slide rod 321 is provided with a boss 329, and the elastic element 800 is sleeved on the slide rod 321, with one end of the elastic element 800 near the opening and closing assembly 200 abutting against the boss 329. The boss 329 is arranged around the circumference of the slide rod 321.

[0062] See Figure 2 and Figure 3In one embodiment, the rotating arm 110 is provided with an assembly hole 111, and the slide rod 321 passes through the assembly hole 111. The sliding seat 322 includes a slider 323 and a fixing block 324. The connection point is located on the slider 323. The slider 323 is slidably connected to the base 120 along a first direction. The fixing block 324 is connected to the slider 323 and is located at one end of the rotating arm 110 away from the coupling assembly 200. The fixing block 324 is rotatably connected to the slide rod 321 about the first direction.

[0063] Specifically, by setting the fixing block 324 at one end of the rotating arm 110 away from the opening and closing assembly 200, this application can reasonably arrange the position of the first force feedback assembly 600, thereby ensuring the miniaturization of the input device and avoiding interference with the opening and closing of the opening and closing assembly 200.

[0064] See Figure 2 In one embodiment, the input device further includes a second angle measuring component 500, which is disposed on the base 120. The second angle measuring component 500 is used to measure the rotation angle of the rotating part 310 relative to the base 120 about the second rotation axis, so as to know the rotation angle of the opening and closing component 200 relative to the base 120 about the second rotation axis, thereby accurately feeding back the attitude of the opening and closing component 200.

[0065] Furthermore, the second angle measuring component 500 includes a second code disk and a second reading head, one of which is connected to a base 120, and the other of which is connected to a rotating arm 110.

[0066] See Figure 2 In one embodiment, the input device further includes a second force feedback component 700, which is connected to the base 120 and drivenly connected to the rotating arm 110. When the opening and closing component 200 is operated to rotate about the second rotation axis, the second force feedback component 700 can at least provide a reverse torque to the rotating arm 110 to resist the rotation of the rotating arm 110, so as to provide a feedback force to the opening and closing component 200.

[0067] Specifically, during surgical procedures, the operator frequently needs to control the opening / closing assembly 200 to rotate to achieve the optimal operating angle. At this time, the second force feedback assembly 700 provides resistance to the operator's control of the opening / closing assembly 200's rotation via the rotating arm 110. This resistance (i.e., feedback force) is equivalent to the resistance encountered by surgical tissue or other objects preventing the rotation of the surgical instrument actuator on the control arm. In this way, the operator can perceive the magnitude of their operating force (the reaction force being the resistance exerted on the instrument actuator by other objects), enabling precise operation, especially in complex and delicate surgeries, ensuring surgical outcomes.

[0068] Furthermore, the second force feedback assembly 700 includes a second motor, which includes a second stator and a second rotor. The second stator is connected to the base 120, and the second rotor is connected to the rotating arm 110. The second rotor has a clearance hole 121, and a fixing block 324 is located at one end of the second force feedback assembly 700 away from the coupling assembly 200. A sliding rod 321 passes through the clearance hole 121.

[0069] See Figure 2 In one embodiment, the second force feedback component 700 can also provide an auxiliary force that continuously rotates the opening and closing component 200 about the first direction, or a reset force that continuously rotates the opening and closing component 200 about the first direction to the zero position.

[0070] See Figure 1 and Figure 5 , Figure 5 Cross-section of an input device provided in an embodiment of this application Figure 2 In one embodiment, the opening / closing assembly 200 includes two clamping arms 210, which are rotatably connected to the frame 100 about a second direction. The input device also includes two adapter rods 325, one end of which is rotatably connected to the sliding part 320, and the other end of which is rotatably connected to the two clamping arms 210 respectively. The adapter rods 325 are configured to rotate relative to the sliding part 320 and the clamping arms 210 when the sliding part 320 moves along the first direction, so as to drive the corresponding clamping arms 210 to rotate about the second direction to perform an opening / closing action, wherein the second direction is perpendicular to the first direction.

[0071] Furthermore, the adapter rod 325 is rotatably connected to the drive rod around the third axis and connected to the clamping arm 210 around the fourth axis, with both the second and third axes parallel to the second direction.

[0072] See Figures 1-5 This application also provides a surgical robot, including the aforementioned input device. In this application, the sliding part 320 can move with the opening and closing action of the opening and closing component 200, and the traction part 330 drives the rotating part 310 to rotate relative to the frame 100 around a first rotation axis. Thus, the rotation angle of the rotating part 310 relative to the frame 100 can be measured by the first angle measuring component 400, and the opening and closing angle of the opening and closing component 200 can be obtained through data calculation. Therefore, the measurement of the opening and closing angle of the opening and closing component 200 can be achieved without additional angle calibration. In this application, the transmission is carried out through the traction part 330, so that in the process of converting the movement of the sliding part 320 into the rotation of the rotating part 310, and in the process of operating the rotating part 310 to convert power into the movement of the sliding part 320, there is no backlash limitation, improving the accuracy of transmission.

[0073] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0074] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An input device, characterized in that, The input device includes: frame; An opening and closing assembly is connected to the frame and configured to perform an opening and closing action relative to the frame. A rotating part, which is rotatably connected to the frame about a first rotation axis; A transmission assembly, disposed on the frame, includes a sliding portion and a traction portion. The traction portion is wound around the peripheral wall of the rotating portion, and its two ends are tensionedly connected to two connection points on the sliding portion. The sliding portion is slidably connected to the frame along a first direction and is drively connected to the opening and closing assembly. When the opening and closing assembly performs the opening and closing action, the opening and closing assembly drives the sliding portion to move along the first direction, so that the sliding portion pulls the traction portion to drive the rotating portion to rotate around a first rotation axis, wherein the first direction intersects the first rotation axis. A first angle measuring component is disposed on the frame and is used to measure the rotation angle of the rotating part relative to the frame about the first rotation axis.

2. The input device according to claim 1, characterized in that, The extension direction of the portion of the traction part located between the connection point and the rotating part is perpendicular to the first rotation axis, wherein the first rotation axis is perpendicular to the first direction.

3. The input device according to claim 2, characterized in that, The circumferential wall of the rotating part is provided with a first guide groove and a second guide groove. The extension directions of the first guide groove and the second guide groove are both perpendicular to the first rotation axis, and the first guide groove and the second guide groove are staggered in the direction perpendicular to the first rotation axis. The first end of the traction part passes through the first guide groove and is connected to the corresponding connection point. The second end of the traction part, which is opposite to the first end, passes through the second guide groove and is connected to the corresponding connection point.

4. The input device according to claim 2, characterized in that, The portion of the traction part located between the connection point and the rotating part extends along the first direction.

5. The input device according to claim 1, characterized in that, The transmission assembly further includes an adjusting member, which is connected to the traction part and rotatably connected to the sliding part. The adjusting member is configured to drive the traction part to move when it rotates about its own axis, so as to tension the traction part.

6. The input device according to any one of claims 1-5, characterized in that, The input device further includes a first force feedback component, which is connected to the frame and drivenly connected to the rotating part. When the opening and closing component performs the opening and closing action, the first force feedback component can at least provide a reverse torque to the rotating part to resist the rotation of the rotating part, so as to provide a feedback force to the opening and closing component through the transmission component.

7. The input device according to claim 6, characterized in that, The input device further includes an elastic element, which is sleeved on the sliding part, with one end of the elastic element abutting against the frame and the other end of the elastic element abutting against the sliding part. The elastic element is used to provide feedback force to the opening and closing assembly through the sliding part.

8. The input device according to any one of claims 1-5, characterized in that, The frame includes a rotating arm and a base, the rotating arm is rotatably connected to the base about a second rotation axis and is connected to the opening and closing assembly, wherein the second rotation axis is parallel to the first direction; The sliding part includes a sliding rod and a sliding seat. The connection point is located on the sliding seat. The sliding seat is slidably connected to the base along the first direction. The sliding rod is connected to the sliding seat and can rotate relative to the sliding seat around the second rotation axis. The sliding rod is drively connected to the opening and closing assembly. When the opening and closing assembly is configured to operably rotate relative to the base about the second rotation axis, it drives the rotating arm and the slide rod to rotate synchronously.

9. The input device according to claim 8, characterized in that, The input device further includes a second force feedback component, which is connected to the base and drivenly connected to the rotating arm. When the opening and closing component is operated to rotate about the second rotation axis, the second force feedback component can at least provide a reverse torque to the rotating arm to resist the rotation of the rotating arm, so as to provide a feedback force to the opening and closing component.

10. A surgical robot, characterized in that, Includes the input device as described in any one of claims 1-9.

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