A master wrist mechanism of a surgical robot with separate roll and grip force feedback

Abstract

This invention discloses a separate rolling and clamping force feedback mechanism for the main hand of a surgical robot, applied to the main control end of a surgical robot. It enables independent master-slave control and force feedback for the two degrees of freedom—rolling and clamping—at the end of the surgical instrument. The mechanism includes a rolling motion control and feedback module and a clamping motion control and feedback module, integrated through a motion decoupling interface to decouple the rolling and clamping motions at the mechanical transmission level. This invention achieves separate and independent control of the two degrees of freedom—rolling and clamping—in terms of structure and force feedback path, improving the main hand's control accuracy, the realism of force feedback, and the system integration, making it suitable for minimally invasive surgical robot systems.

Description

Technical Field

[0001] This invention relates to the field of minimally invasive surgical robot technology, and more particularly to a master wrist control mechanism applied to the master control end of a surgical robot. Specifically, it relates to a split wrist mechanism capable of independent master-slave control of two degrees of freedom—rolling and gripping—of the end effector of the slave hand instrument, and integrating corresponding force feedback functions. Background Technology

[0002] Master-slave surgical robots enable complex and delicate minimally invasive procedures by precisely mapping the surgeon's movements at the master end to the slave instruments. A high-performance master end not only needs to transmit the operator's intentions with high fidelity but also needs to provide real-time and accurate feedback of the interaction forces between the instruments and tissues to the operator, thereby improving surgical safety and operational stability.

[0003] The existing master wrist mechanism has the following main problems in realizing force feedback for the rolling and clamping degrees of freedom: 1) In the roll degree of freedom, the input detection and force feedback drive are often handled by the same execution unit, and the detection accuracy is easily affected by motor output, electromagnetic interference and structural vibration; 2) The clamping degrees of freedom mostly achieve position mapping or simulate tactile sensation through springs. Force feedback and sensing are difficult to construct a linear and reversible mapping relationship between clamping input and output forces, making it difficult to truly reflect the changes in clamping force between the instrument and tissue.

[0004] 3) Within the limited wrist space, it is difficult to achieve both high integration and low coupling in multi-degree-of-freedom mechanisms.

[0005] Therefore, it is necessary to propose a compact, clear transmission path, and decoupled detection and feedback dual-degree-of-freedom master wrist mechanism for rolling and clamping. Summary of the Invention

[0006] The purpose of this invention is to provide a surgical robot master wrist mechanism with separate rolling and clamping force feedback. Through innovative design of structure and transmission path, it achieves independent master-slave control of two key degrees of freedom and highly realistic force feedback.

[0007] To achieve the above-mentioned objectives, the present invention adopts the following technical solution: A surgical robot master wrist mechanism with separate rolling and clamping force feedback includes: a housing assembly, a four-bar linkage, a clamping motion module, and a rolling motion module; The four-bar linkage includes: a handle, a central shaft, a trigger rod, and an output linkage; One end of the trigger lever is hinged to the handle head; The center column is fitted inside the handle; the center column and the handle are coaxially aligned. One end of the output link is hinged to the middle position of the firing rod, and the other end of the output link is hinged to the central shaft. The hinge point between the output link and the central shaft is close to the handle side. A damping device is provided at one end of the central shaft and on the inside of the handle head. The damping device is used to apply a damping force to the central shaft that moves away from the handle head. When the trigger rod is clamped to the axis of the central shaft under force, the central shaft moves axially toward the handle head side, and the damping device is pressed by force; The handle has a cylindrical structure with notches machined on it to provide space for the movement of the output linkage. The other end of the central shaft is connected to the clamping motion module, thereby driving the clamping motion module to move axially; The handle is mounted on the housing assembly. When the handle is rotated under force, it drives the rolling motion module to rotate. The clamping motion module and the rolling motion module are respectively fixedly connected to the housing assembly.

[0008] Preferably, the clamping motion module includes: a slider, a bearing, a retaining ring, a linear guide rail, a first drive wire, a winding wheel, a second drive wire, a guide wheel, a second coaxial connector, and a second torque motor; The slider is fixedly connected to the other end of the central shaft via a retaining ring and a bearing. The slider can slide along the linear guide rail, which is fixedly connected to the housing assembly. The second coaxial connector, the winding wheel, and the second torque motor are arranged sequentially from top to bottom along the axial direction, with the winding wheel mounted on the output shaft of the second torque motor; The second torque motor is used to drive the winding wheel to rotate; The first drive wire is wound on the winding wheel; one end of the first drive wire is fixedly connected to the winding wheel, and the other end of the first drive wire is fixedly connected to the slider. The second drive wire is wound on the winding wheel; the second drive wire is located below the first drive wire, one end of the second drive wire is fixedly connected to the winding wheel, and the other end of the second drive wire is fixedly connected to the guide wheel; the guide wheel is fixedly mounted on the housing assembly; When the central shaft moves toward the head of the handle, the slider pulls the first drive ribbon to rotate the winding wheel in the forward direction; conversely, the winding wheel rotates in the reverse direction.

[0009] Preferably, it further includes: a third rotary encoder; The third rotary encoder is used to detect the rotational movement of the second coaxial connector, thereby obtaining the degree of clamping of the trigger rod towards the axis of the central shaft.

[0010] Preferably, it further includes: a fourth rotary encoder; The fourth rotary encoder is used to detect the rotor position and motion state of the second torque motor.

[0011] Preferably, the rolling motion module includes: a main bevel gear, an upper bevel gear, a first coaxial connector, a lower bevel gear, and a first torque motor; The lower bevel gear is fixedly mounted on the output shaft of the first torque motor; The lower bevel gear, the main bevel gear, and the upper bevel gear mesh in sequence; The handle can drive the main bevel gear to rotate; The upper bevel gear is fixedly mounted on the housing assembly; The first torque motor is used to drive the lower bevel gear, thereby outputting rolling direction force feedback or performing active reset of the central shaft.

[0012] Preferably, it further includes: a first rotary encoder; The first rotary encoder is used to detect the rotational motion of the first coaxial connector.

[0013] Preferably, it further includes: a second rotary encoder; The second rotary encoder is used to detect the rotor position and motion state of the first torque motor.

[0014] Preferably, the two trigger rods are arranged symmetrically about the central axis rod.

[0015] Preferably, the axes of the lower bevel gear and the upper bevel gear are coaxial; The handle and the main bevel gear are set coaxially.

[0016] Compared with the prior art, the present invention has at least the following beneficial effects: 1) By separating the upper and lower bevel gears in the rolling module, physical isolation between rolling input detection and force feedback drive is achieved, thereby improving detection accuracy and feedback stability; 2) By using symmetrical traction components and linear guide structures, a bidirectional and linear force transmission and feedback mechanism for clamping freedom is constructed, so that the clamping force mapping relationship is accurate and the feel is realistic; 3) The decoupling of the two degrees of freedom of rolling and clamping in the mechanical structure is achieved through the motion decoupling interface composed of the central shaft, bearing and slider. This is the core of the "split-type" structural design of this invention. 4) Independent drive and force feedback of rolling and clamping dual degrees of freedom are achieved within the limited space of the master wrist, which improves the system integration while avoiding coupling between degrees of freedom, and is suitable for minimally invasive surgical robot systems. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall appearance of the main wrist of the surgical robot described in this invention; Figure 2 This is a schematic diagram of the core structure of the rolling and clamping dual-degree-of-freedom module in the wrist mechanism of the present invention. Figure 3 For along Figure 2 Vertical cross-sectional view of the rotation axis of AA; Figure 4 This is a detailed exploded view of the roll motion control and feedback module of the present invention; Figure 5 This is a detailed exploded view of the clamping motion control and feedback module of the present invention; Figure 6 This is a block diagram illustrating the working principle of the wrist mechanism of the present invention for achieving master-slave control and force feedback.

[0018] In the picture, 1. Outer shell; 2. Handle; 3. Central shaft; 4. Main bevel gear; 5. Upper bevel gear; 6. First coaxial connector; 7. First rotary encoder; 8. Lower bevel gear; 9. First torque motor; 10. First support base; 11. Second rotary encoder; 12. Trigger rod; 13. Four-bar linkage; 14. Output link; 15. Slider; 16. Bearing; 17. Retaining ring; 18. Linear guide rail; 19. First drive wire; 20. Winding wheel; 21. Second drive wire; 22. Wire wheel; 23. Second coaxial connector; 24. Second torque motor; 25. Third rotary encoder; 26. Second support base; 27. Fourth rotary encoder; 28. Base; 29. ​​Third support base. The first rotary encoder 7 includes: a rotating component 71 and a first stator 72; The third rotary encoder 25 includes: a rotor 251 and a third stator 252. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] The present invention provides a surgical robot main wrist mechanism with separate rolling and clamping force feedback, comprising: a housing assembly, a four-bar linkage 13, a clamping motion module, a rolling motion module, and a detection unit; The four-bar linkage 13 includes: a handle 2, a central shaft 3, a trigger rod 12, and an output linkage 14.

[0021] One end of the trigger rod 12 is hinged to the head of the handle 2, and the two trigger rods 12 are symmetrically arranged about the central shaft rod 3; The central shaft 3 is fitted inside the handle 2; the central shaft 3 and the handle 2 are coaxially arranged. One end of the output link 14 is hinged to the middle position of the trigger rod 12, and the other end of the output link 14 is hinged to the central shaft rod 3. The hinge point between the output link 14 and the central shaft rod 3 is close to the handle 2. A damping device (such as a spring) is provided at one end of the central shaft 3 and on the inner side of the head of the handle 2. When the two trigger rods 12 are clamped inward by force, the central shaft rod 3 moves axially toward the head of the handle 2, and the damping device is pressed by force. The handle 2 is a cylindrical structure with a notch machined on it to serve as the movement space for the output linkage 14. The other end of the central shaft 3 is connected to the clamping motion module, thereby driving the clamping motion module to move axially; The handle 2 is mounted on the base 28 of the housing assembly, and the handle 2 drives the rolling motion module to rotate.

[0022] The detection unit includes: a first rotary encoder 7, a second rotary encoder 11, a third rotary encoder 25, and a fourth rotary encoder 27.

[0023] Housing assembly: outer shell 1, first support 10, second support 26, base 28 and third support 29; The first support base 10 is fixedly installed on the inner side of the base 28; the first support base 10 is used to fix the first rotary encoder 7 of the detection unit and the first coaxial connector 6 of the rolling motion module. The third support 29 is fixedly installed inside the outer casing 1. The third support 29 is used to fix the first torque motor 9, the guide wheel 22, and the second torque motor 24. The second support 26 is fixedly installed on the base 28, and the second support 26 is used to fix the third rotary encoder 25. The base 28 is fixedly installed on the housing 1. The base 28 is used to allow the central shaft 3 of the clamping motion module to pass through and to support the central shaft 3.

[0024] The clamping motion module includes: slider 15, bearing 16, retaining ring 17, linear guide rail 18, first drive wire 19, winding wheel 20, second drive wire 21, guide wheel 22, second coaxial connector 23, and second torque motor 24. The other end of the central shaft 3 is fixedly connected to a slider 15 via a retaining ring 17 and a bearing 16; The slider 15 can slide along the linear guide rail 18, which is fixedly connected to the third support seat 29 of the housing assembly; The third rotary encoder 25, the second coaxial connector 23, the winding wheel 20, and the second torque motor 24 are arranged sequentially from top to bottom along the axial direction, with the winding wheel 20 mounted on the output shaft of the second torque motor 24; The second torque motor 24 is used to drive the winding wheel 20 to rotate, thereby providing clamping force feedback so that the operator's fingers can obtain the corresponding clamping force. The third rotary encoder 25 is used to detect the rotational movement of the second coaxial connector 23, thereby obtaining the degree of opening and closing input by the operator in the clamping degree of freedom; The fourth rotary encoder 27 is used to detect the rotor position and motion state of the second torque motor 24, thereby detecting the execution state of the second torque motor 24; like Figure 5 As shown, the first drive wire 19 is wound on the winding wheel 20; one end of the first drive wire 19 is fixedly connected to the winding wheel 20, and the other end of the first drive wire 19 is fixedly connected to the slider 15. The second drive wire 21 is wound on the winding wheel 20; the second drive wire 21 is located below the first drive wire 19, one end of the second drive wire 21 is fixedly connected to the winding wheel 20, and the other end of the second drive wire 21 is fixedly connected to the guide wheel 22; the guide wheel 22 is fixedly installed on the third support seat 29 of the housing assembly; When the central shaft 3 moves toward the head of the handle 2, the slider 15 pulls the first drive wire 19, causing the winding wheel 20 to rotate clockwise (from... Figure 5 (as shown in the top view direction); conversely, the winding wheel 20 rotates counterclockwise (from...) Figure 5 (As shown in the top view direction).

[0025] The rolling motion module includes: a main bevel gear 4, an upper bevel gear 5, a first coaxial connector 6, a lower bevel gear 8, and a first torque motor 9; The lower bevel gear 8 is fixedly mounted on the output shaft of the first torque motor 9; The lower bevel gear 8, the main bevel gear 4, and the upper bevel gear 5 mesh in sequence; Handle 2 drives the main bevel gear 4 to rotate; The upper bevel gear 5 is fixedly mounted on the first coaxial connector 6, and the first coaxial connector 6 is mounted on the first support base 10 via bearings; The first torque motor 9 is used to drive the lower bevel gear 8, thereby outputting rolling direction force feedback or performing active reset; The first rotary encoder 7 is used to detect the rotational movement of the first coaxial connector 6, thereby detecting the operator's roll input position; The second rotary encoder 11 is used to detect the rotor position and motion state of the first torque motor 9, thereby detecting the execution state of the first torque motor 9.

[0026] Example A separate wrist force feedback mechanism for the rolling and gripping motions of a surgical robot's master hand is disclosed. The mechanism is integrally located at the end of the master hand and includes a rolling motion control and feedback module and a gripping motion control and feedback module. The two modules are spatially integrated and decoupled from each other in mechanical transmission via a motion decoupling interface.

[0027] The rolling motion control and feedback module includes: 1) Input transmission assembly: It has a central shaft 3 that can be driven to rotate by the operator, and a main bevel gear 4 is fixedly mounted on the central shaft 3. The central shaft 3 constitutes the input shaft for rolling motion; 2) The motion detection unit includes: an upper bevel gear 5 and a first rotary encoder 7. The upper bevel gear 5 meshes with the main bevel gear 4 and is coaxially connected to the rotating component of the first rotary encoder 7, used to detect the operator's roll input angle; 3) The force feedback and drive unit includes: a lower bevel gear 8 meshing with the main bevel gear 4 and a first torque motor 9. The lower bevel gear 8 is coaxially connected to the output shaft of the first torque motor 9 and is used to output a driving force or feedback force in the rolling direction. In a preferred embodiment, a rotary encoder may also be provided at the tail end of the torque motor to detect the motor's motion state.

[0028] With the above structure, the input detection path for the roll degree of freedom and the force feedback driving path are spatially and functionally independent, thereby avoiding mutual interference.

[0029] The clamping motion control and feedback module and the rolling module share the central shaft 3 as their structural foundation, and achieve functional integration and independence through a motion decoupling interface. Specifically: 1) Motion decoupling interface: The central shaft 3 is connected to the slider 15 via a bearing assembly. This connection allows relative rotation between the central shaft 3 and the slider 15, while simultaneously forcing them to move synchronously in the axial direction. This forms a motion decoupling interface structure that can rotate freely and follow axial movement, thus decoupling the rolling degree of freedom from the clamping degree of freedom in mechanical transmission.

[0030] 2) Symmetrical bidirectional traction assembly: including first and second traction points, winding wheel 20, guide wheel 22, first drive wire 19, and second drive wire 21 disposed on slider 15, used to convert the linear motion of slider 15 into forward and reverse rotation of winding wheel 20. This symmetrical bidirectional traction structure ensures that the clamping force maintains good linearity and symmetry throughout the opening and closing process.

[0031] 3) Clamping detection unit: including a third rotary encoder 25 disposed on the coaxial upper side of the winding wheel 20. The third rotary encoder 25 is used to detect the rotation angle of the winding wheel 20 during the clamping operation, thereby characterizing the degree of clamping opening and closing.

[0032] 4) Clamping force feedback unit: includes a second torque motor 24 coaxially connected to the winding wheel 20, used to output corresponding feedback torque according to the clamping force information of the slave device, and transmit it to the operator in the reverse direction through the symmetrical bidirectional traction component and motion decoupling interface.

[0033] In a preferred embodiment, a fourth rotary encoder 27 is also coaxially provided at the tail end of the second torque motor 24 for detecting the rotor motion state of the clamping force feedback motor.

[0034] Through the above structural design, the present invention enables the two degrees of freedom of rolling and clamping to work independently in the mechanical transmission and force feedback path. The specific working process will be further explained in conjunction with the accompanying drawings in the specific implementation.

[0035] See Figure 1 and Figure 2 This invention provides a split-type rolling and clamping force feedback surgical robot main hand wrist mechanism, which is entirely encapsulated within an ergonomically designed shell 1 and positioned at the end of the main hand. The mechanism mainly comprises two functional modules: a rolling motion control and feedback module and a clamping motion control and feedback module. While the two modules share some core transmission components structurally, they are completely independent in their motion transmission paths.

[0036] 1) Specific implementation of the roll motion control and feedback module See Figure 3 and Figure 4 The roll motion control and feedback module is used to realize the input detection, active drive and force feedback of the master hand in the roll degree of freedom. Its structure includes an input transmission component, a motion detection unit and a force feedback and drive unit.

[0037] Input and main drive: The operator applies a rolling motion by operating handle 2, which is fixedly connected to the end of the central shaft 3, thereby driving the central shaft 3 to rotate around its axis. A main bevel gear 4 is fixedly mounted on the central shaft 3, and the central shaft 3 constitutes the input shaft for the rolling motion.

[0038] Motion detection unit: An upper bevel gear 5 is disposed vertically above the main bevel gear 4, meshing with it. The upper bevel gear 5 is coaxially connected to the rotating component 71 of the first rotary encoder 7 via a first coaxial connector 6. The first stator 72 of the first rotary encoder 7 is fixed on the first support base 10. When the operator rotates the handle 2, the central shaft 3 drives the main bevel gear 4 to rotate, thereby driving the upper bevel gear 5 and the rotating component 71 of the first rotary encoder 7 to rotate. The first rotary encoder 7 detects the roll input angle and angular velocity signals in real time and sends them to the main controller.

[0039] Force feedback and drive unit: A lower bevel gear 8 is provided vertically below the main bevel gear 4, meshing with it. The lower bevel gear 8 is coaxially connected to the output shaft of the first torque motor 9, which is fixedly mounted on the third support 29. When it is necessary to output roll direction force feedback or perform active reset, the main controller drives the first torque motor 9 to output torque. This torque is transmitted through the lower bevel gear 8 and the main bevel gear 4 to the central shaft 3 and the handle 2, thereby applying resistance or auxiliary force to the operator.

[0040] In a preferred embodiment, a second rotary encoder 11 is coaxially provided at the tail end of the first torque motor 9. The second rotary encoder 11 is preferably an incremental rotary encoder that is directly connected to the motor rotor, and is used to detect the rotor position and motion state of the first torque motor 9 in real time.

[0041] Therefore, a coaxial dual-encoder structure is formed in the roll degree of freedom: the first rotary encoder 7 is used to detect the operator's roll input position; the second rotary encoder 11 is used to detect the execution state of the torque motor. This structure is beneficial to distinguish between input detection and actuator state detection at the sensing level, thereby improving the stability and accuracy of roll master-slave control and force feedback.

[0042] 2) Specific implementation of the clamping motion control and feedback module See Figure 3 and Figure 5 The clamping motion control and feedback module is used to detect, drive and force feedback the clamping opening and closing action of the master hand. Its structure includes a proximal operation input mechanism, a motion decoupling interface, a traction and conversion mechanism and a clamping detection and feedback unit.

[0043] Proximal operation input and motion conversion: The operator inputs a clamping action by pinching or releasing the trigger lever 12, which drives a proximal four-bar linkage 13. The output link 14 of the four-bar linkage 13 is fixedly connected to the central shaft 3 in the axial direction, thereby converting the operator's clamping operation into linear reciprocating motion of the central shaft 3 along its axial direction.

[0044] Motion decoupling interface and axial motion transmission: The central shaft 3 passes through the slider 15 and is connected to the slider 15 via a bearing 16. The inner ring of the bearing 16 is fixed to the central shaft 3 via a shoulder and a retaining ring 17, while its outer ring is fixed to the slider 15. This structure is configured to allow the central shaft 3 to rotate freely relative to the slider 15, while forcing the central shaft 3 and the slider 15 to move synchronously in the axial direction, thereby achieving essential decoupling of the rolling degree of freedom and the clamping degree of freedom in the mechanical structure. The slider 15 is constrained to the linear guide rail 18 and can only slide along the axis of the central shaft. This forms a motion decoupling interface structure that allows free rotation and axial following, enabling essential decoupling of the rolling degree of freedom and the clamping degree of freedom at the mechanical transmission level.

[0045] Symmetrical bidirectional traction and winding wheel drive: To convert the linear motion of slider 15 into rotational motion, a symmetrical bidirectional traction assembly is provided. One side of slider 15 is connected to winding wheel 20 via first drive wire 19, and the other side is fixed to winding wheel 20 in the opposite winding direction via second drive wire 21 after being changed in direction by guide wheel 22. When the central shaft 3 moves axially, slider 15 moves synchronously, tightening one side of the drive wire and loosening the other side, thereby driving winding wheel 20 to rotate in the forward or reverse direction.

[0046] Clamping Input Detection: A third rotary encoder 25 is provided on the coaxial upper side of the winding reel 20. The rotor 251 of the third rotary encoder 25 is coaxially connected to the winding reel 20 via a second coaxial connector 23 and can rotate synchronously with the winding reel 20; the third stator 252 of the third rotary encoder 25 is fixed to the base 28 via a second support 26 and arranged on the upper side of the rotor 251, so that the third stator 252 and the rotor 251 maintain a predetermined distance and are coaxially arranged. Thus, the third rotary encoder 25 can detect the rotation angle of the winding reel 20 in real time and accurately, thereby obtaining the operator's input opening and closing degree in clamping freedom.

[0047] Clamping force feedback and execution status detection: The other end of the winding wheel 20 is coaxially connected to the second torque motor 24, which is used to output the driving force or feedback force in the clamping direction. In a preferred embodiment, the tail end of the second torque motor 24 is also coaxially provided with a fourth rotary encoder 27. The fourth rotary encoder 27 is preferably an incremental rotary encoder directly connected to the motor rotor, which is used to detect the rotor motion state of the second torque motor 24. When clamping force feedback is required, the second torque motor 24 outputs a corresponding torque, which is transmitted in the reverse direction through the winding wheel 20, the first drive wire 19, the second drive wire 21, the slider 15, the bearing 16, and the central shaft 3 to the four-bar linkage 13 and the trigger rod 12, so that the operator's fingers can obtain the corresponding clamping force.

[0048] In one embodiment, the first torque motor 9 and the second torque motor 24 are jointly mounted on the third support 29, which is fixed to the base 28 to ensure the relative positional stability of the two torque motors and the overall structural compactness.

[0049] 3) Control system connection and workflow See Figure 6 In this embodiment, the electrical connection and workflow of master-slave control and force feedback are as follows: Signal Acquisition: The first rotary encoder 7 and the third rotary encoder 25 acquire roll angle signals and clamping opening / closing degree signals in real time, respectively, and send them to the main controller; Master-Slave Mapping and Control: A master-slave mapping command is generated based on the input signals and sent to the slave hand system to drive the slave hand instrument to complete the corresponding roll and clamping actions; Force Feedback Calculation: Interactive force information is acquired from the force sensor at the end of the hand instrument or at the joint and fed back to the main controller; Force Application: The main controller generates a force feedback control command based on the force feedback signal and drives the first torque motor 9 and the second torque motor 24 to output corresponding torques; The force feedback torque is applied to the operator through their respective independent mechanical transmission paths, forming a stable, closed-loop force interaction.

[0050] Since the rolling and clamping degrees of freedom are physically decoupled in both the mechanical structure and the transmission path, the main controller can perform independent closed-loop control on the two degrees of freedom, thereby simplifying the control algorithm and improving system stability.

[0051] 4) Other implementation considerations The encoder is preferably a non-contact magnetic encoder or a photoelectric encoder; The winding wheel 20 may be equipped with a tension adjustment mechanism to maintain appropriate tension of the drive wire; All precision components should be sealed within a housing, and the transmission parts can be designed with a dustproof structure to meet the cleanliness and safety requirements of a medical environment.

[0052] The rolling module transmits the operator's rolling input through the central shaft and bevel gear set, and the input position is detected by a rotary encoder, with the torque motor outputting rolling force feedback. The clamping module converts the clamping operation into forward and reverse rotation of the winding wheel through the axial movement of the central shaft, the slider, and the symmetrical bidirectional traction assembly, with the torque motor outputting clamping force feedback.

[0053] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any person skilled in the art can make possible variations and modifications to the technical solutions of the present invention using the disclosed methods and techniques without departing from the spirit and scope of the invention. Therefore, any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention, without departing from the content of the technical solutions of the present invention, shall fall within the protection scope of the present invention. Where there is no conflict, the embodiments of this application and the technical features thereof can be combined with each other.

[0054] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A surgical robot main hand wrist mechanism with separate rolling and clamping force feedback, characterized in that, include: The housing assembly, the four-bar linkage (13), the clamping motion module, and the rolling motion module; The four-bar linkage (13) includes: handle (2), central shaft (3), trigger rod (12) and output linkage (14). One end of the trigger rod (12) is hinged to the head of the handle (2); The central shaft (3) is fitted inside the handle (2); the central shaft (3) and the handle (2) are coaxially arranged; One end of the output link (14) is hinged to the middle position of the firing rod (12), and the other end of the output link (14) is hinged to the central shaft (3). The hinge point between the output link (14) and the central shaft (3) is close to the handle (2). A damping device is provided at one end of the central shaft (3) and inside the head of the handle (2). The damping device is used to apply a damping force to the central shaft (3) to move away from the head of the handle (2). When the trigger rod (12) is clamped to the axis of the central shaft (3) by force, the central shaft (3) moves axially toward the head of the handle (2), and the damping device is pressed by force; The handle (2) is a cylindrical structure with a notch machined on it to serve as the movement space for the output link (14); The other end of the central shaft (3) is connected to the clamping motion module, thereby driving the clamping motion module to move along the axial direction; The handle (2) is mounted on the housing assembly. The handle (2) rotates under force, thereby driving the rolling motion module to rotate. The clamping motion module and the rolling motion module are respectively fixedly connected to the housing assembly.

2. The surgical robot main wrist mechanism with split rolling and clamping force feedback according to claim 1, characterized in that, The clamping motion module includes: a slider (15), a bearing (16), a retaining ring (17), a linear guide rail (18), a first drive wire (19), a winding wheel (20), a second drive wire (21), a guide wheel (22), a second coaxial connector (23), and a second torque motor (24). The slider (15) is fixedly connected to the other end of the central shaft (3) through the retaining ring (17) and the bearing (16); The slider (15) can slide along the linear guide (18), which is fixedly connected to the housing assembly; The second coaxial connector (23), the winding wheel (20), and the second torque motor (24) are arranged sequentially from top to bottom along the axial direction, with the winding wheel (20) mounted on the output shaft of the second torque motor (24); The second torque motor (24) is used to drive the winding wheel (20) to rotate; The first drive wire (19) is wound on the winding wheel (20); one end of the first drive wire (19) is fixedly connected to the winding wheel (20), and the other end of the first drive wire (19) is fixedly connected to the slider (15). The second drive wire (21) is wound on the winding wheel (20); the second drive wire (21) is located below the first drive wire (19), one end of the second drive wire (21) is fixedly connected to the winding wheel (20), and the other end of the second drive wire (21) is fixedly connected to the guide wheel (22); the guide wheel (22) is fixedly installed on the housing assembly; When the central shaft (3) moves toward the head of the handle (2), the slider (15) pulls the first drive wire (19) to drive the winding wheel (20) to rotate in the forward direction; otherwise, the winding wheel (20) rotates in the reverse direction.

3. The surgical robot main wrist mechanism with split rolling and clamping force feedback according to claim 2, characterized in that, The main wrist mechanism also includes: a third rotary encoder (25); The third rotary encoder (25) is used to detect the rotational movement of the second coaxial connector (23) to obtain the degree of clamping of the trigger rod (12) toward the axis of the central shaft (3).

4. The surgical robot main wrist mechanism with split-type rolling and clamping force feedback according to claim 3, characterized in that, The main wrist mechanism also includes: a fourth rotary encoder (27); The fourth rotary encoder (27) is used to detect the rotor position and motion state of the second torque motor (24).

5. A surgical robot main wrist mechanism with split rolling and clamping force feedback according to any one of claims 2-4, characterized in that, The rolling motion module includes: a main bevel gear (4), an upper bevel gear (5), a first coaxial connector (6), a lower bevel gear (8), and a first torque motor (9); The lower bevel gear (8) is fixedly mounted on the output shaft of the first torque motor (9); The lower bevel gear (8), the main bevel gear (4), and the upper bevel gear (5) mesh in sequence; The handle (2) can drive the main bevel gear (4) to rotate; The upper bevel gear (5) is fixedly mounted on the housing assembly; The first torque motor (9) is used to drive the lower bevel gear (8), thereby outputting rolling direction force feedback or performing active reset of the central shaft (3).

6. The surgical robot main wrist mechanism with split rolling and clamping force feedback according to claim 5, characterized in that, The main wrist mechanism also includes: a first rotary encoder (7); The first rotary encoder (7) is used to detect the rotational motion of the first coaxial connector (6).

7. The surgical robot main wrist mechanism with split rolling and clamping force feedback according to claim 6, characterized in that, The main wrist mechanism also includes: a second rotary encoder (11); The second rotary encoder (11) is used to detect the rotor position and motion state of the first torque motor (9).

8. The surgical robot main wrist mechanism with split rolling and clamping force feedback according to claim 7, characterized in that, The two trigger rods (12) are symmetrical about the central rod (3).

9. The surgical robot main wrist mechanism with split rolling and clamping force feedback according to claim 7, characterized in that, The lower bevel gear (8) and the upper bevel gear (5) are coaxially arranged; The handle (2) and the main bevel gear (4) are set coaxially.

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