Surgeon console with master hand, console, and surgical robot system

Abstract

The application discloses a master hand for a doctor console, the console and a surgical robot system, the master hand comprises position adjusting devices, attitude adjusting devices and holding parts connected in sequence, the position adjusting devices comprise first, second and third follow-up mechanisms and a parallel mechanism, the parallel mechanism is connected with the attitude adjusting devices; the first follow-up mechanism is used for driving the parallel mechanism to swing around a first direction, the second follow-up mechanism is used for driving the parallel mechanism to swing around a second direction, the third follow-up mechanism is used for driving the parallel mechanism to move in a vertical direction, the first direction is perpendicular to the second direction, and the first direction and the second direction are both perpendicular to the vertical direction. The master hand adjusts the position through the parallel mechanism and the three follow-up mechanisms, so that a larger movement range of a user's hand is realized.

Description

[0001] Related applications

[0002] This application claims priority to Chinese patent application filed on April 30, 2026, with application number CN202610592119.5, entitled "A Doctor's Control Panel Master Hand, 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 main hand for a doctor's control panel, a control panel, and a surgical robot system. Background Technology

[0004] In existing technologies, the doctor's control panel, such as Figure 1 As shown, the operating handle 1 of the main hand of the control panel is connected to the control panel body 3 via a parallel mechanism 2. The parallel mechanism 2 enables three degrees of freedom of movement along the coordinate axes, allowing the surgeon to move the operating handle 1 and control the movement of surgical instruments to perform surgical operations. The drawback of this main hand structure is that the existing parallel mechanism 2 has a relatively small stroke. If a larger range of movement of the surgical instruments is required, the surgeon needs to frequently use the clutch. Increasing the size of the parallel mechanism 2 would improve its stroke, but it would also increase the size of the surgeon's control panel. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a main hand for a doctor's control panel, a control panel, and a surgical robot system. The main hand uses a parallel mechanism in conjunction with three follower mechanisms to adjust its position, thereby enabling a greater range of motion for the user's hand.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] On one hand, the present invention provides a main hand for a doctor's control panel, comprising a position adjustment device, a posture adjustment device and a gripping part connected in sequence. The position adjustment device includes a first follower mechanism, a second follower mechanism, a third follower mechanism and a parallel mechanism, wherein the parallel mechanism is connected to the posture adjustment device.

[0008] The first follower mechanism is used to drive the parallel mechanism to yaw about a first direction, the second follower mechanism is used to drive the parallel mechanism to yaw about a second direction, and the third follower mechanism is used to drive the parallel mechanism to move in the vertical direction. The first direction and the second direction are perpendicular to each other, and both the first direction and the second direction are perpendicular to the vertical direction.

[0009] When the doctor performs surgical movements by holding the grip, the posture adjustment device is used to adjust the posture of the grip in accordance with the doctor's hand movements, while the position adjustment device is used to adjust the position of the grip in accordance with the doctor's hand movements. The parallel mechanism provides the grip with three degrees of freedom in three directions. When the doctor changes the position of the grip, the parallel mechanism moves first, and the first follower mechanism, the second follower mechanism, and the third follower mechanism follow to compensate for the movement of the parallel mechanism, so that the grip gains a greater range of motion.

[0010] On the other hand, the present invention provides a doctor's control panel, including the aforementioned main hand for the doctor's control panel.

[0011] On the other hand, the present invention also provides a surgical robot system including the aforementioned control panel.

[0012] The beneficial effects are:

[0013] When the main hand of the doctor's control panel of the present invention moves, the multiple degrees of freedom provided by the parallel mechanism ensure the flexibility of the gripping part. Among the first follower mechanism, the second follower mechanism and the third follower mechanism, the first follower mechanism and the second follower mechanism swing around the first direction and the second direction that are perpendicular to each other in the horizontal direction, respectively. With the vertical movement of the third follower mechanism, the gripping part is allowed to reach any position within a large range, and the gripping part obtains a larger range of motion. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of a doctor's control panel in the existing technology;

[0015] Figure 2 This is a schematic diagram of the main hand for the doctor's control panel according to Embodiment 1 of the present invention;

[0016] Figure 3 This is a schematic diagram of the first and second follower mechanisms of the main hand for the doctor's control panel in Embodiment 1 of the present invention;

[0017] Figure 4 This is a schematic diagram of the transmission structure of the first and fifth connecting parts of the main hand for the doctor's control panel in Embodiment 1 of the present invention;

[0018] Figure 5 This is a schematic diagram of the first follower mechanism of the main hand for the doctor's control panel in Embodiment 1 of the present invention;

[0019] Figure 6 This is a schematic diagram of the first parallelogram mechanism of the first follow-up mechanism of the main hand of the doctor's control panel in Embodiment 1 of the present invention;

[0020] Figure 7This is a schematic diagram of the second follower mechanism of the main hand for the doctor's control panel in Embodiment 1 of the present invention;

[0021] Figure 8 This is a schematic diagram of the second parallelogram mechanism of the second follower mechanism of the main hand of the doctor's control panel in Embodiment 1 of the present invention;

[0022] Figure 9 This is a schematic diagram of the structure of the third and seventh connectors of the main hand for the doctor's control panel in Embodiment 1 of the present invention;

[0023] Figure 10 This is a schematic diagram of the parallel mechanism of the main hand for the doctor's control panel according to Embodiment 1 of the present invention;

[0024] Figure 11 A schematic diagram of a single branch of the parallel mechanism of the main hand for the doctor's control panel in Embodiment 1 of the present invention;

[0025] Figure 12 This is a schematic diagram of the posture adjustment device for the main hand of the doctor's control panel according to Embodiment 1 of the present invention.

[0026] Figure 13 This is a schematic diagram comparing the movement of the main hand on the doctor's control panel before and after the operation of the device according to Embodiment 1 of the present invention.

[0027] Figure 14 This is a schematic diagram of the linkage fitting of the parallel mechanism of the main hand for the doctor's control panel in Embodiment 1 of the present invention.

[0028] Reference numerals: 10. Position adjustment device; 101. Lead screw; 102. Third motor; 103. Guide rail; 104. Support component; 105. Second motor; 106. First connecting component; 107. First motor; 108. Fifth connecting component; 109. Second connecting component; 110. Fourth connecting component; 111. Third connecting component; 112. Connecting seat; 113. First connecting shaft; 114. Second connecting shaft; 115. Third connecting shaft; 116. Fourth connecting shaft; 117. Sixth connecting component; 118. Eighth connecting component; 119. Seventh connecting component; 120. Fifth connecting shaft; 121. Sixth connecting shaft; 122. Seventh connecting shaft; 123. Eighth connecting shaft ; 124. First connecting part; 125. Second connecting part; 126. Third connecting part; 127. Fourth connecting part; 128. First follower mechanism; 129. Second follower mechanism; 130. Third follower mechanism; 200. Parallel mechanism; 201. Static platform; 202. Connecting plate; 203. Fourth motor; 204. Fifth link; 205. Sixth link; 206. Seventh link; 207. Eighth link; 208. Moving platform; 209. Limiting component; 210. Limiting groove; 30. Attitude adjustment device; 301. First orthogonal link; 302. Second orthogonal link; 303. First orthogonal rotating shaft; 304. Second orthogonal rotating shaft; 305. Third orthogonal rotating shaft; 40. Grip part. Detailed Implementation

[0029] The present invention will be further described below with reference to the accompanying drawings:

[0030] Example 1:

[0031] like Figure 2 As shown, the present invention provides a main hand for a doctor's control panel, including a position adjustment device 10, a posture adjustment device 30 and a gripping part 40 connected in sequence. The position adjustment device 10 includes a first follower mechanism 128, a second follower mechanism 129, a third follower mechanism 130 and a parallel mechanism 200, and the parallel mechanism 200 is connected to the posture adjustment device 30.

[0032] The first follower mechanism 128 is used to drive the parallel mechanism 200 to yaw about a first direction, the second follower mechanism 129 is used to drive the parallel mechanism 200 to yaw about a second direction, and the third follower mechanism 130 is used to drive the parallel mechanism 200 to move in the vertical direction. The first direction and the second direction are perpendicular to each other, and both the first direction and the second direction are perpendicular to the vertical direction.

[0033] In this embodiment, as Figure 2 As shown, the first direction is the X-axis direction, the second direction is the Y-axis direction, and the vertical direction is the Z-axis direction.

[0034] In this embodiment, when the doctor holds the grip part 40 to perform surgical actions, the posture adjustment device 30 is used to adjust the posture of the grip part 40 in coordination with the doctor's hand movements, while the position adjustment device 10 is used to adjust the position of the grip part 40 in coordination with the doctor's hand movements. The parallel mechanism 200 provides the grip part 40 with three degrees of freedom of movement in three directions (i.e., the first direction, the second direction, and the vertical direction). When the doctor moves the grip part 40 to change its position, the parallel mechanism 200 first changes position, and the first follower mechanism 128, the second follower mechanism 129, and the third follower mechanism 130 follow up to compensate for the movement of the parallel mechanism 200, so that the grip part 40 obtains a larger range of movement.

[0035] Specifically, the attitude of the gripping part 40 refers to the angle between the gripping part 40 and the X-axis, Y-axis, and Z-axis in a spatial coordinate system with the center of the gripping part 40 as the origin. Changes in attitude refer to the rotation of the gripping part 40 around the X-axis, Y-axis, and Z-axis, i.e., pitch, yaw, or rotation. The position of the gripping part 40 refers to its coordinates on the X-axis, Y-axis, and Z-axis in the spatial coordinate system.

[0036] In this embodiment, as Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the position adjustment device 10 includes a support member 104, and the first follower mechanism 128 includes a first motor 107 and a first parallelogram mechanism. The first motor 107 is mounted on the support member 104. The first parallelogram mechanism includes a first connector 106, a second connector 109, a third connector 111, and a fourth connector 110 that are rotatably connected end to end to form a parallelogram. The third connector 111 is located above the first connector 106, and the rotation axis J3 of the third connector 111 is parallel to the rotation axis J1 of the first connector 106. The second connecting member 109 and the fourth connecting member 110 are both located between the first connecting member 106 and the third connecting member 111, and the second connecting member 109 and the fourth connecting member 110 are arranged parallel to each other. The second connecting member 109 is rotatably connected to the first connecting member 106 via the first connecting shaft 113, the fourth connecting member 110 is rotatably connected to the first connecting member 106 via the second connecting shaft 114, the second connecting member 109 is rotatably connected to the third connecting member 111 via the third connecting shaft 115, and the fourth connecting member 110 is rotatably connected to the third connecting member 111 via the fourth connecting shaft 116. Thus, the first connecting member 106, the second connecting member 109, the third connecting member 111, and the fourth connecting member 110 are connected end to end to form a first parallelogram mechanism. Among them, the first connecting shaft 113, the second connecting shaft 114, the third connecting shaft 115, and the fourth connecting shaft 116 are parallel to each other.

[0037] The two ends of the first connecting member 106 are rotatably connected to the support member 104, and the axis of rotation of the first connecting member 106 on the support member 104 is the axis of rotation J1. The axis of rotation of the first connecting member on the support member is parallel to the second direction. The third connecting member 111 is connected to the parallel mechanism 200. The first motor 107 is used to drive the second connecting member 109 and the fourth connecting member 110 to swing, so as to drive the third connecting member 111 to drive the parallel mechanism 200 to swing around the first direction.

[0038] In this embodiment, as Figure 3 , Figure 4 , Figure 7 and Figure 8 As shown, the second follower mechanism 129 includes a second motor 105 and a second parallelogram mechanism. The second motor 105 is mounted on the support member 104. The second parallelogram mechanism includes a fifth connecting member 108, a sixth connecting member 117, a seventh connecting member 119, and an eighth connecting member 118 that are rotatably connected end-to-end to form a parallelogram. The seventh connecting member 119 is located above the fifth connecting member 108, and the rotation axis J4 of the seventh connecting member 119 is parallel to the rotation axis J2 of the fifth connecting member 108. The sixth connecting member 117 and the eighth connecting member 118 are both located between the fifth connecting member 108 and the seventh connecting member 119, and are arranged parallel to each other. The sixth connector 117 is rotatably connected to the fifth connector 108 via the fifth connecting shaft 120. The eighth connector 118 is rotatably connected to the fifth connector 108 via the sixth connecting shaft 121. The sixth connector 117 is rotatably connected to the seventh connector 119 via the seventh connecting shaft 122. The eighth connector 118 is rotatably connected to the seventh connector 119 via the eighth connecting shaft 123. Thus, the fifth connector 108, the sixth connector 117, the seventh connector 119, and the eighth connector 118 are connected end to end in sequence to form a second parallelogram mechanism. The fifth connecting shaft 120, the sixth connecting shaft 121, the seventh connecting shaft 122, and the eighth connecting shaft 123 are parallel to each other.

[0039] Combined with, for example Figure 7 and Figure 8 As shown, the pivot J1 of the first connecting member 106 is parallel to the fifth connecting pivot 120, and the pivot J1 of the first connecting member 106 is located at the midpoint of the line connecting the fifth connecting pivot 120 and the sixth connecting pivot 121. The pivot J3 of the third connecting member 111 is parallel to the seventh connecting pivot 122, and the pivot J3 of the third connecting member 111 is located at the midpoint of the line connecting the seventh connecting pivot 122 and the eighth connecting pivot 123. Furthermore, in conjunction with... Figure 5 and Figure 6As shown, the pivot J2 of the fifth connector 108 is parallel to the first connecting pivot 113, and the pivot J2 of the fifth connector 108 is located at the midpoint of the line connecting the first connecting pivot 113 and the second connecting pivot 114. The pivot J4 of the seventh connector 119 is parallel to the third connecting pivot 115, and the pivot J4 of the seventh connector 119 is located at the midpoint of the line connecting the third connecting pivot 115 and the fourth connecting pivot 116.

[0040] The two ends of the fifth connector 108 are rotatably connected to the support 104, and the pivot of the fifth connector 108 on the support 104 is pivot J2. The pivot of the fifth connector on the support is parallel to the first direction. The seventh connector 119 is connected to the parallel mechanism 200. The second motor 105 is used to drive the sixth connector 117 and the eighth connector 118 to swing, so as to drive the seventh connector 119 to drive the parallel mechanism 200 to swing around the second direction.

[0041] In this embodiment, as Figure 2 As shown, the third follower mechanism 130 includes a third motor 102, a lead screw 101, and a guide rail 103. In this embodiment, two guide rails are provided. The lead screw 101 is arranged parallel to the vertical direction. The output shaft of the third motor 102 is connected to the lead screw 101, and the lead screw 101 is driven to rotate by the output shaft of the third motor 102. A lead screw nut is provided on the support member 104, and the lead screw nut is connected to the lead screw 101 in a rolling spiral connection (the spiral connection includes: sliding spiral, rolling spiral, and hydrostatic spiral connection). The guide rail 103 is arranged in the vertical direction, and sliders are provided on the two guide rails 103 respectively. The two sliders are connected to the support member 104 respectively. The support member 104 is connected to the position adjustment device 10. Thus, by rotating the output shaft of the third motor 102, the support member 104 can be driven to slide in the vertical direction on the guide rail 103, thereby driving the first follower mechanism, the second follower mechanism, the parallel mechanism 200, the posture adjustment device 30, and the gripping part 40 on it to move in the vertical direction.

[0042] In this embodiment, as Figure 4 and Figure 9 As shown, the first connector 106 and the fifth connector 108 are arranged intersectingly. Specifically, the pivot J1 of the first connector 106 intersects and is perpendicular to the pivot J2 of the fifth connector 108. The third connector 111 and the seventh connector 119 are arranged intersectingly. Specifically, the pivot J3 of the third connector 111 intersects and is perpendicular to the pivot J4 of the seventh connector 119. Figure 5 and Figure 6 As shown, the parallel mechanism 200 includes a connecting seat 112; the connecting seat 112 is rotatably connected to both ends of the third connecting member 111, and as... Figure 7 and Figure 8 As shown, the connecting seat 112 is rotatably connected to both ends of the seventh connecting member 119.

[0043] Specifically, the connector 112 is located above the third connector 111, as shown below. Figure 6 As shown, the connecting seat 112 is provided with a first connecting part 124 and a second connecting part 125, and the first connecting part 124 and the second connecting part 125 are respectively located on opposite sides of the connecting seat 112. The first connecting part 124 and the second connecting part 125 are rotatably connected to the third connecting member 111.

[0044] Specifically, the connector 112 is also located above the seventh connector 119, such as... Figure 8 As shown, the connecting base 112 is also provided with a third connecting part 126 and a fourth connecting part 127, and the third connecting part 126 and the fourth connecting part 127 are respectively located on opposite sides of the connecting base 112; specifically in Figure 8 In the connection, the third connecting part 126 and the fourth connecting part 127 are located on the left and right opposite sides of the connecting seat 112, respectively, and the first connecting part 124 and the second connecting part 125 are located on the front and rear opposite sides of the connecting seat 112, respectively. The third connecting part 126 and the fourth connecting part 127 are rotatably connected to the seventh connecting member 119.

[0045] In this embodiment, as Figure 4 , Figure 6 , Figure 8 and Figure 9 As shown, the first connector 106, the fifth connector 108, the third connector 111 and the seventh connector 119 are all crankshafts. The first connector 106 and the fifth connector 108 are located on the same horizontal plane, and the third connector 111 and the seventh connector 119 are located on the same horizontal plane.

[0046] The connecting seat 112 is integrally formed with the first connecting part 124, the second connecting part 125, the third connecting part 126, and the fourth connecting part 127. Therefore, the third connecting member 111 and the seventh connecting member 119 are rotatably connected to the connecting seat 112. Thus, during the movement, the connecting seat 112 can ensure that the rotation axis J3 of the third connecting member 111 is always intersecting and perpendicular to the rotation axis J4 of the seventh connecting member 119, and can ensure that the rotation axis J3 of the third connecting member 111 and the rotation axis J4 of the seventh connecting member 119 are always in the horizontal plane. Therefore, the position of the connecting seat 112 will change during the movement, but the connecting seat 112 will not wobble relative to the horizontal plane.

[0047] Using the above structure, the first connector 106, the second connector 109, the third connector 111, and the fourth connector 110 are connected end-to-end to form a first parallelogram mechanism, and the plane containing the first parallelogram mechanism is the first plane; the fifth connector 108, the sixth connector 117, the seventh connector 119, and the eighth connector 118 are connected end-to-end to form a second parallelogram mechanism, and the plane containing the second parallelogram mechanism is the second plane. Since the rotation axis J1 of the first connector 106 intersects and is perpendicular to the rotation axis J2 of the fifth connector 108, the first plane and the second plane are perpendicular. Figure 13 As shown, during the movement of the first parallelogram, the connecting seat 112 can drive the second parallelogram mechanism to follow the movement of the first parallelogram, and during the movement of the second parallelogram, the connecting seat 112 can drive the first parallelogram mechanism to follow the movement of the second parallelogram. Therefore, the two parallelogram mechanisms will not interfere with each other during the movement.

[0048] The first motor 107 drives the fifth connector 108 to rotate via a synchronous belt, which in turn drives the second parallelogram mechanism to rotate around the pivot J2 of the fifth connector 108. This, in turn, drives the first parallelogram mechanism to deform via the connecting seat 112, causing the second connector 109 and the fourth connector 110 to swing. This, in turn, drives the third connector 111 to cause the parallel mechanism 200 to oscillate around the first direction. The second motor 105 drives the first connector 106 to rotate via a synchronous belt, which in turn drives the first parallelogram mechanism to rotate around the pivot J1 of the first connector 106. This, in turn, drives the second parallelogram mechanism to deform via the connecting seat 112, causing the sixth connector 117 and the eighth connector 118 to swing. This, in turn, drives the seventh connector 119 to cause the parallel mechanism 200 to oscillate around the second direction.

[0049] It is understandable that in this embodiment, the overall rotation process of the first parallelogram mechanism is also the deformation and swaying process of the second parallelogram mechanism. When the first parallelogram mechanism rotates as a whole around the pivot J1 of the first connector 106, in the second parallelogram mechanism, the fifth connector 108 remains stationary, while the sixth connector 117 and the eighth connector 118 sway around the fifth connecting pivot 120 and the sixth connecting pivot 121, respectively. Due to the characteristics of the parallelogram structure, the seventh connector 119 remains horizontal throughout this process, thus ensuring that the connecting seat 112 remains horizontal.

[0050] Conversely, the overall rotation process of the second parallelogram mechanism is also the deformation and yaw process of the first parallelogram mechanism. When the second parallelogram mechanism rotates around the pivot J2 of the fifth connector 108, in the first parallelogram mechanism, the first connector 106 remains stationary, while the second connector 109 and the fourth connector 110 yaw around the first connecting pivot 113 and the second connecting pivot 114, respectively. Due to the characteristics of the parallelogram structure, the third connector 111 remains horizontal throughout this process, thus ensuring that the connecting seat 112 remains horizontal. In other words, when either of the two parallelogram mechanisms rotates as a whole, the other parallelogram mechanism will deform and yaw to adapt to its rotation. Since the bases of both parallelograms remain horizontal, the other parallelogram mechanism will deform and yaw during the deformation process. The top edges remain horizontal, so the connecting seat 112 can always remain horizontal. Therefore, the yaw motion of the first follower mechanism 128 and the second follower mechanism 129 will not change the posture of the connecting seat 112, but only change its position. The third follower mechanism 130 drives the connecting seat 112 to move in the vertical direction, which will not change the posture of the connecting seat 112. The parallel mechanism 200 will also not change the posture of the connecting seat 112. Therefore, the position adjustment device of the present invention uses three follower mechanisms in conjunction with the parallel mechanism to greatly increase its range of motion while ensuring the flexibility of the master hand. At the same time, none of the three follower mechanisms will change the posture of the connecting seat 112, but only change its position. Therefore, there is no need to set up a motion fitting structure in the subsequent structure to ensure the position of the master hand, which greatly simplifies the control process.

[0051] In this embodiment, as Figure 10 and Figure 11As shown, the parallel mechanism 200 is an optimization of the existing delta mechanism. The delta mechanism is an existing parallel motion mechanism, mainly addressing the problems of the existing delta mechanism's rope pulley structure, large size, and the deformation of the steel wire rope under tension. The parallel mechanism 200 includes a static platform 201, a moving platform 208, and three sets of branches located between the static platform 201 and the moving platform 208. The static platform 201 and the connecting seat 112 are integrally formed. The attitude adjustment device 30 is connected to the moving platform 208, which is cylindrical. Each set of branches includes a connecting plate 202, a fourth motor 203, a fifth link 204, a sixth link 205, a seventh link 206, and an eighth link 207. The connecting plate 202 is fixed to the static platform 201. The fifth link 204 and the seventh link 206 are rotatably connected to the connecting plate 202. The fifth link 204 and the seventh link 206 are rotatably connected to each other through the sixth link 205. The fourth motor 203 is mounted on the connecting plate 202, and its output shaft is connected to the fifth link 204. Therefore, the rotation of the fourth motor 203's output shaft drives the fifth link 204 to rotate on the connecting plate 202, which in turn drives the seventh link 206 to rotate on the connecting plate 202 via the sixth link 205. The seventh link 206 is rotatably connected to the moving platform 208 via the eighth link 207, which is located at the middle of the seventh link 206.

[0052] like Figure 11 As shown, a limiting member 209 is also provided on the connecting plate 202. The limiting member has a limiting protrusion. A limiting groove 210 is provided on the fifth link 204 opposite to the limiting protrusion. The limiting protrusion is located in the limiting groove 210, thereby limiting the rotation angle of the fifth link 204.

[0053] like Figure 14 As shown, Figure 14 The fifth link 204 is simplified to link A, the sixth link 205 to link B, the seventh link 206 to link C, and the point from the rotation point of the seventh link 206 to the rotation point of the fifth link 204 is simplified to link D; therefore, links A, B, C, and D are connected to form the first quadrilateral. Meanwhile, in... Figure 14 In the diagram, the connection point between the seventh link 206 and the eighth link 207 and the connection point between the seventh link 206 and the connecting plate 202 is simplified to link E. The eighth link 207 is simplified to link F. The connection point between the eighth link 207 and the rotation point of the moving platform 208 and the center point of the moving platform 208 is simplified to link G. The connection point between the center point of the moving platform 208 and the connection point between the seventh link 206 and the connecting plate 202 is simplified to link H. Therefore, links E, F, G, and H are also connected to form a second quadrilateral.

[0054] In the first quadrilateral, rod A is the active rod, and rod C is the passive rod; the movement of rod C also drives the movement of rod E. In the second quadrilateral, rod E is the active rod, and rod G is the passive rod. Since the length of rod C is much greater than the length of rod A, that is, rod C amplifies the lever arm at rod A. Therefore, during the process of rod A driving rod G through rods C and E, rod C amplifies the torque on rod A. Thus, the fourth motor 203 can be selected with a lower power motor model to reduce its size and make the structure lighter.

[0055] In the parallel mechanism 200, the three fourth motors 203 are all encoder-equipped motors. The user's hand drives the grip 40 to move, and the grip 40, via the posture adjustment device 30, causes the moving platform 208 to move relative to the stationary platform 201. The system processes the data collected by the encoders of the three fourth motors 203 to determine the displacement of the moving platform 208 relative to the stationary platform 201. Based on the calculated displacement, the system drives the output shafts of each fourth motor 203 to rotate, thereby driving the moving platform 208, the posture adjustment device 30, and the grip 40 to follow the user's hand movements. It should be emphasized that the displacement of the moving platform 208 relative to the stationary platform 201 in this parallel mechanism 200 is relatively small. Therefore, when the user's hand has a larger range of motion, the system will also drive the first motor 107, the second motor 105, and the third motor 102 to move, causing each follower mechanism to drive the parallel mechanism 200, the posture adjustment device 30, and the grip 40 to move, thus achieving a larger range of motion for the user's hand.

[0056] In this embodiment, as Figure 12 As shown, in this embodiment, the attitude adjustment device 30 includes a first orthogonal link 301, a second orthogonal link 302, a first orthogonal rotating shaft 303, a second orthogonal rotating shaft 304, and a third orthogonal rotating shaft 305. One end of the first orthogonal link 301 is rotatably connected to the first orthogonal rotating shaft 303, and the other end of the first orthogonal link 301 is fixedly connected to the second orthogonal rotating shaft 304. The first orthogonal rotating shaft 303 is rotatably connected to the moving platform 208. One end of the second orthogonal link 302 is rotatably connected to the second orthogonal rotating shaft 304, and the other end of the second orthogonal link 302 is fixedly connected to the third orthogonal rotating shaft 305. The third orthogonal rotating shaft 305 is rotatably connected to the gripping part 40. The axis A of the first orthogonal rotation axis 303 intersects the axis B of the second orthogonal rotation axis 304 at point O, and axes A and B are perpendicular. The axis A of the first orthogonal rotation axis 303 intersects the axis C of the third orthogonal rotation axis 305 at point O, and axes A and C are perpendicular. The axis B of the second orthogonal rotation axis 304 intersects the axis C of the third orthogonal rotation axis 305 at point O, and axes B and C are perpendicular. Therefore, no matter how the posture of the gripping part 40 changes, the relative position of point O with respect to the moving platform 208 will not change.

[0057] This embodiment also discloses a doctor's control panel, which includes any of the main hands described in the above embodiments.

[0058] This embodiment also discloses a surgical robot system, which includes the aforementioned doctor's console.

[0059] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A master hand for a surgeon's console, characterized by, It includes a position adjustment device, an attitude adjustment device, and a gripping part connected in sequence. The position adjustment device includes a first follower mechanism, a second follower mechanism, a third follower mechanism, and a parallel mechanism. The parallel mechanism is connected to the attitude adjustment device. The first follower mechanism is used to drive the parallel mechanism to yaw about a first direction, the second follower mechanism is used to drive the parallel mechanism to yaw about a second direction, and the third follower mechanism is used to drive the parallel mechanism to move in the vertical direction. The first direction and the second direction are perpendicular to each other, and both the first direction and the second direction are perpendicular to the vertical direction.

2. The master hand for a surgeon's console according to claim 1, wherein The position adjustment device includes a support member, and the first follow-up mechanism includes a first motor and a first parallelogram mechanism. The first parallelogram mechanism includes a first connector, a second connector, a third connector, and a fourth connector that are sequentially rotatably connected to form a parallelogram. The two ends of the first connector are rotatably connected to the support member, the third connector is connected to the parallel mechanism, and the first motor is used to drive the second and fourth connectors to swing, so as to drive the third connector to drive the parallel mechanism to swing around the first direction.

3. The master hand for a surgeon's console according to claim 2, wherein The second follower mechanism includes a second motor and a second parallelogram mechanism. The second parallelogram mechanism includes a fifth connector, a sixth connector, a seventh connector, and an eighth connector that are sequentially rotatably connected to form a parallelogram. The two ends of the fifth connector are rotatably connected to the support member, the seventh connector is connected to the parallel mechanism, and the second motor is used to drive the sixth and eighth connectors to swing, so as to drive the seventh connector to drive the parallel mechanism to swing around the second direction.

4. The main hand for a doctor's control panel according to claim 3, characterized in that, The parallel mechanism includes a connecting seat; the connecting seat is rotatably connected to both ends of the third connecting member, and the connecting seat is rotatably connected to both ends of the seventh connecting member; the rotation axis of the first connecting member and the rotation axis of the fifth connecting member intersect and are perpendicular, and the rotation axis of the third connecting member and the rotation axis of the seventh connecting member intersect and are perpendicular.

5. The main hand for a doctor's control panel according to claim 4, characterized in that, The first connector, the fifth connector, the third connector, and the seventh connector are all crankshafts. The first connector and the fifth connector are located on the same horizontal plane, and the third connector and the seventh connector are located on the same horizontal plane.

6. The main hand for a doctor's control panel according to claim 5, characterized in that, The fifth connector's rotation axis on the support is parallel to the first direction, and the first motor is connected to the fifth connector to drive the fifth connector to rotate.

7. The main hand for a doctor's control panel according to claim 6, characterized in that, The sixth connector is rotatably connected to the fifth connector via a fifth connecting shaft, and the eighth connector is rotatably connected to the fifth connector via a sixth connecting shaft; The first connector's pivot is parallel to the fifth connector's pivot, and the pivot of the first connector is located at the midpoint of the line connecting the fifth and sixth connectors.

8. The main hand for a doctor's control panel according to claim 7, characterized in that, The first connector's axis of rotation on the support is parallel to the second direction, and the second motor is connected to the first connector to drive the first connector to rotate.

9. The main hand for a doctor's control panel according to claim 8, characterized in that, The second connector is rotatably connected to the first connector via a first connecting shaft, and the fourth connector is rotatably connected to the first connector via a second connecting shaft; The pivot of the fifth connector is parallel to the pivot of the first connector, and the pivot of the fifth connector is located at the midpoint of the line connecting the first and second connectors.

10. The main hand for a doctor's control panel according to claim 9, characterized in that, The parallel mechanism includes a static platform, a moving platform, and three sets of branches located between the static platform and the moving platform. The attitude adjustment device is connected to the moving platform.

11. The main hand for a doctor's control panel according to claim 10, characterized in that, Each set of branches includes a connecting plate, a fourth motor, a fifth link, a sixth link, a seventh link, and an eighth link. The connecting plate is fixed on the stationary platform. The fifth and seventh links are rotatably connected to the connecting plate, and the fifth and seventh links are rotatably connected to each other through the sixth link. The fourth motor is mounted on the connecting plate, and the output shaft of the fourth motor is connected to the fifth link. The seventh link is rotatably connected to the moving platform through the eighth link.

12. The main hand for a doctor's control panel according to claim 9, characterized in that, The third follower mechanism includes a third motor, a lead screw, and a guide rail. The lead screw is arranged parallel to the vertical direction. The output shaft of the third motor is connected to the lead screw. A lead screw nut is provided on the support member. The lead screw nut is connected to the lead screw in a rolling spiral. The guide rail is arranged vertically. A slider is provided on the guide rail. The slider is connected to the support member. The support member is connected to the position adjustment device.

13. A doctor's control panel, characterized in that, Including the main hand for a doctor's control panel as described in any one of claims 1 to 12.

14. A surgical robot system, characterized in that, Including the doctor's control panel as described in claim 13.

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