Input device, master operating device, and surgical robot

Abstract

The embodiment of the present application provides an input device, a main operating device and a surgical robot, wherein the input device comprises a support part, a handle, a clamp and a feedback motor; the handle is configured to be rotationally connected with the support part; the clamp is installed on the handle; the feedback motor is used for providing force feedback to an operator through the handle; the clamp and the feedback motor are connected through a connecting part; the connecting part comprises a driven part and a driving part; the driven part is rotationally connected with the driving part; the driven part is arranged in the handle and is linked with the clamp through a clamp transmission structure; the driving part is arranged in the handle and is transmissionally connected with the feedback motor through a force feedback transmission mechanism; a controller controls the feedback motor to output force feedback to the driving part, the driving part transmits the force feedback to the driven part, and the force feedback is further transmitted to the handle to provide force feedback to the operator.

Description

Technical Field

[0001] This application relates to the field of medical devices, and in particular to an input device, a master operating device having the input device, and a surgical robot having the master operating device. Background Technology

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery.

[0003] With advancements in technology, minimally invasive surgical robot technology has matured and is widely used. A minimally invasive surgical robot typically includes a master control panel and slave control devices. The master control panel sends control commands to the slave control devices based on the surgeon's instructions, controlling the slave control devices. The slave control devices respond to these control commands and perform the corresponding surgical procedures. Surgical instruments are connected to the drive mechanisms of the slave control devices to perform the surgical procedures. The end effectors of the surgical instruments include end effectors for performing surgical operations and joints connected to the end effectors that can move with multiple degrees of freedom.

[0004] The main operating device is connected to an input device, which establishes a mapping relationship with the end effector. The operator controls the movement of the end effector by operating the input device. Among the various movements of the end effector controlled by the input device, the rolling movement of the end effector is controlled by rotating the handle of the input device. Opening or rotating the input device serves as an input operation signal to the end effector to perform clamping or rotation, etc. The force feedback function needs to transmit the information parameters of the actuation force and rotation angle of the instrument end to the input device so that the operator can feel the actuation force or rotation angle of the end.

[0005] Currently, the handles of input devices all use two springs to simulate the different reaction forces experienced by the instrument before and after clamping an object. The disadvantage is that regardless of the size and hardness of the object clamped by the instrument, the main operator's hand always feeds back the same amount of force to the operator from the same position. The operating experience cannot feel the real-time changes in clamping force and / or clamping rotation angle. Some handles have feedback functions, but they are single-acting, meaning that when the fingers make a pinching motion, only one side of the device is movable, while the other side is fixed. The operating experience is not intuitive and the device is bulky, which is not conducive to the miniaturization and precision of the operating device. As for the methods of collecting the actuation force and rotation angle at the instrument end, there are currently methods including: ① obtaining the end clamping force by detecting one of the current, voltage, or speed of the drive box motor; ② obtaining the clamping force by detecting the opening and closing angle of the end clamping flap and the opening and closing angle of the handle; ③ setting sensors at the wrist or end to directly detect the end clamping force, etc. In some existing handles with feedback functions, the force feedback mechanism and the clamp opening and closing transmission mechanism are coupled, which increases the friction and damping when the clamp opens and closes, affecting the user experience and the lifespan of the main operating device. Summary of the Invention

[0006] In view of this, and to solve the above problems, the first aspect of this application provides an input device, which includes:

[0007] Support section;

[0008] A handle, configured to be rotatably connected to the support portion;

[0009] A clamp, which is mounted on the handle;

[0010] A feedback motor is used to provide force feedback to the operator via the handle;

[0011] The clamp and the feedback motor are connected by a connecting part; the connecting part includes a driven member and a driving member; the driven member and the driving member are rotatably connected.

[0012] The driven member is disposed inside the handle and is linked to the clamp through the clamp transmission structure;

[0013] The active component is disposed inside the handle and is connected to the feedback motor via a force feedback transmission mechanism.

[0014] The controller controls the feedback motor to output force feedback, which is transmitted to the driving member through the force feedback transmission mechanism. The driving member then transmits the force feedback to the driven member, which in turn transmits it to the handle through the clamp transmission structure to provide force feedback to the operator.

[0015] In one specific implementation, the force feedback transmission mechanism includes a drive screw and a transmission assembly, wherein the drive screw is connected to the output shaft of the feedback motor via the transmission assembly.

[0016] In one specific implementation, the input device further includes:

[0017] A rotary motor is disposed within the support portion and configured to drive the handle to rotate.

[0018] The controller controls the rotary motor to perform gravity compensation, master-slave alignment, and / or provides the operator with rotary feedback of the end effector via the handle.

[0019] In one specific implementation, the feedback motor is disposed within the support portion and is configured to drive the drive screw to move axially, thereby moving the driving member to the target position and providing opening and closing force feedback to the clamp through the driven member.

[0020] In one specific implementation, the driven member and the driving member are rotatably connected via bearings; when the end effector side is not clamped to an object, the controller controls the rotary motor to provide rotational feedback of the end effector to the fixture; when the end effector side clamps to an object, the controller controls the rotary motor to provide rotational feedback of the end effector to the fixture; the feedback motor drives the drive screw to move axially to move the driving member to the target position and provides opening and closing force feedback to the fixture through the driven member.

[0021] In one specific implementation, the driven member and the driving member are configured as a fixed flange and a moving flange assembly that can rotate relative to each other;

[0022] The movable flange is disposed inside the handle and is linked to the clamp through the clamp transmission structure;

[0023] The fixed flange is fixedly connected to the near end of the drive screw;

[0024] The transmission assembly includes a bevel gear set, one bevel gear in which is connected to the far end of the drive screw via a threaded pair, and the other bevel gear is fixed to the output shaft of the feedback motor.

[0025] The clamp can drive the moving flange and the fixed flange to move axially through the clamp transmission structure;

[0026] The feedback motor can drive the fixed flange and the moving flange to move axially through the drive screw, so as to provide force feedback to the operator through the handle.

[0027] In one specific implementation, the clamp transmission structure includes a linkage structure and a slide bar; the clamp is rotatably connected to one end of the linkage structure via a pivot, and the other end of the linkage structure is connected to the driven member via the slide bar.

[0028] In another specific embodiment, the input device further includes:

[0029] An opening / closing sensor is used to detect the opening and closing degrees of freedom of the clamp.

[0030] The opening / closing sensor is connected to the clamp, and a first magnet corresponding to the opening / closing sensor is disposed on the handle; the movement of the clamp relative to the handle causes the opening / closing sensor to move relative to the first magnet, thereby enabling the opening / closing sensor to detect changes in magnetic field strength to detect the opening / closing degree of freedom movement of the clamp.

[0031] In another specific embodiment, the input device further includes:

[0032] A rotation sensor is used to detect the rotational degrees of freedom of the fixture.

[0033] The rotation sensor is connected to the drive rod. When the handle rotates, the rotation motor rotates simultaneously to perform gravity compensation. The rotation sensor detects the rotational degree of freedom of the clamp by detecting the rotation of the rotation motor.

[0034] In another specific embodiment, the input device further includes:

[0035] A pressure sensor is disposed on the outside of the clamp, forming a closed loop with the feedback motor. The pressure sensor detects whether the force fed back to the clamp is the same as the force output by the feedback motor, thereby realizing a closed loop of force feedback and providing more accurate force feedback.

[0036] A second aspect of this application also provides a main operating device, the main operating device including a main console and the input device, the main console being used to process signals input by the input device.

[0037] A third aspect of this application also provides a surgical robot, which includes a slave operating device and a master operating device, wherein the slave operating device performs corresponding operations according to the instructions of the master operating device.

[0038] This application embodiment is a single-slider mechanical decoupling structure, which structurally avoids the positional coupling and force coupling of the feedback motor and the rotary motor when the handle rotates. The input device handle is rotatably mounted on the support. The driven component linked to the clamp and the driving component connected to the feedback motor within the handle are rotatably connected, thus forming a single-slider mechanical decoupling structure. When the end clamp is empty, the feedback motor provides power, driving the lead screw to move axially as the clamp opens and closes. At this time, the feedback motor does not provide feedback force to the operator, only compensating for the friction of the moving parts. If the clamp also rotates, the driven component and the driving component will rotate relative to each other. When the end clamps an object, the feedback motor provides power, driving the lead screw to move to the position corresponding to the current opening angle of the instrument, and then provides feedback force to the clamp through the driven component. The rotary motor outputs torque to provide rotational feedback to the clamp. The input device of this application has a simple single slider structure and a simple control method. The feedback motor is directly connected to the fixture, and the torque output by the feedback motor directly corresponds to the feedback force of the fixture. The structural design avoids the coupling of the handle rotation and the opening and closing force feedback, so that they do not interfere with each other. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the operating device of the surgical robot in this application;

[0040] Figure 2 This is a schematic diagram of the main operating device of the surgical robot in this application;

[0041] Figure 3a This is a schematic diagram of the surgical instruments used in this application;

[0042] Figure 3b for Figure 3a A schematic diagram of an end effector in surgical instruments;

[0043] Figure 4 This is a schematic diagram of the input device structure according to an embodiment of this application;

[0044] Figure 5a This is a schematic diagram of an input device according to an embodiment of this application;

[0045] Figure 5b for Figure 5a Schematic diagram of the input device;

[0046] Figure 5c for Figure 5a A cross-sectional view of the central connecting part along the vertical direction of the rotation axis Y. Detailed Implementation

[0047] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application.

[0048] It should be noted that when an element is referred to as being "set" or "mounted" on another element, it can be directly on the other element or there may be an intervening element. When 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. When an element is considered to be "coupled" to another element, it can be directly coupled to the other element or there may be an intervening element. The terms "vertical," "horizontal," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or operation, in addition to those depicted in the accompanying drawings.

[0049] The terms "distal" and "proximal" used in this article are directional terms commonly used in the field of interventional medical devices. "Distal" refers to the end furthest from the operator during surgery, while "proximal" refers to the end closest to the operator. The term "coupling" as used in this article can be broadly understood as two or more objects being connected to any event in a way that allows absolutely coupled objects to operate together without relative movement in at least one direction. For example, the coupling of a protrusion and a groove allows for radial relative movement but not axial relative movement. A motion requiring the output responses of two motors is called positional coupling; a force feedback from one motor requiring the combination of two or more input or output forces is called force coupling.

[0050] The term "instrument" is used herein to describe a medical device for insertion into a patient's body and for performing surgical or diagnostic procedures. This instrument includes an end effector, which can be a surgical tool used to perform surgical procedures, such as an electrocautery device, clamp, stapler, scissor, imaging device (e.g., an endoscope or ultrasound probe), and the like. Some instruments used in embodiments of this application further include an articulated component (e.g., a joint assembly) for the end effector, allowing the position and orientation of the end effector to be manipulated with one or more mechanical degrees of freedom relative to an instrument axis. Further, the end effector includes functional mechanical degrees of freedom, such as opening and closing clamps. The instrument may also include stored information that can be updated by a surgical system, whereby the storage system can provide one-way or two-way communication between the instrument and one or more system components.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The terms “and / or” and “and / or” as used herein include any and all combinations of one or more of the associated listed items.

[0052] One embodiment of the surgical robot in this application is as follows: Figure 1 and Figure 2 As shown, the surgical robot includes a slave manipulator 2000 and a master manipulator 1000. The slave manipulator 2000 is located on the patient's side for performing surgical procedures. The slave manipulator 2000 includes multiple robotic arms 2100 and instruments 2200 mounted on the robotic arms 2100. The instruments 2200 can be electrocautery devices, clamps, staplers, scissors, etc., used to perform surgical operations, or cameras or other surgical instruments for acquiring images. Multiple instruments 2200 are inserted into the patient's body through different incisions. The robotic arms are configured to be supported by struts via multiple large arms. In other embodiments, the robotic arms of the slave manipulator may also be mounted on a wall or ceiling.

[0053] The robotic arm 2100 further includes a parallelogram linkage mechanism, with the instrument 2200 detachably mounted on the distal end of the parallelogram linkage mechanism. The parallelogram linkage mechanism allows the instrument 2200 to move or move multiple mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). The parallelogram linkage mechanism is used to restrain movement of the instrument 2200 near a remote center of motion (RCM) on a surgical instrument that remains stationary relative to the patient. This remote center of motion is typically located where the instrument enters the patient's body. In some other embodiments, a different configuration exists for the upper arm of the manipulator, in which multiple instruments are detachably mounted on a power mechanism at the distal end of the upper arm. Multiple instruments enter the body through an incision, and multiple upper arms control and restrain the movement of the instruments near the remote center of motion, as detailed in Chinese patent application CN201810664598.2.

[0054] Surgical robots typically also include an imaging system (not shown) that allows the operator to view the surgical site from outside the patient's body. This imaging system typically includes a video image acquisition function (e.g., an instrument 2200 with image acquisition capabilities) and one or more video display devices for displaying the acquired images. Generally, the instrument 2200 with image acquisition capabilities includes optics of one or more imaging sensors (e.g., CCD or CMOS sensors) that acquire images of the patient's body. These one or more imaging sensors may be positioned distal to the instrument 2200 with image acquisition capabilities, and the signals generated by these sensors may be transmitted via cable or wirelessly for processing and display on the video display devices.

[0055] The main operating device 1000 is located on the operator's side. The main operating device 1000 sends control commands to the secondary operating device 2000 and displays images acquired by the secondary operating device 2000 based on the operator's actions. The operator can observe three-dimensional images of the patient's body provided by the imaging system through the main operating device 1000. By observing these three-dimensional images, the operator can immerse themselves in the experience and control the secondary operating device 2000 to perform related operations (e.g., performing surgery or acquiring images of the patient's body). The main operating device 1000 includes a main console 1100 and an input device 1200. The main console 1100 includes a display device, armrests, a control signal processing system, and an observation device. The display device displays the images acquired by the imaging system. The armrests provide support for the operator's arms and / or hands, allowing for more comfortable operation of the input device. The observation device allows for viewing the images displayed on the display device. Depending on the needs, the armrests or observation device can be omitted, allowing for direct observation. The operator controls the movement of the slave operating device 2000 through the operation input device 1200. After the control signal processing system of the main console 1100 processes the input signal of the input device 1200, it sends control commands to the slave operating device. The slave operating device 2000 responds to the control commands sent by the main console 1100 and performs corresponding operations.

[0056] As shown in Figure 3, the instrument 2200 includes an end effector 2210, a long shaft 2220, and a drive unit 2230. The drive unit 2230 contains multiple transmission units. These transmission units are coupled to the drive unit within the robotic arm 2100 and can be driven by the drive unit. The drive unit, based on control commands from the main control console 1100, drives the movement of the end effector 2210 through the transmission units. The transmission units can be multiple flexible cables and a winch. The proximal ends of the cables are wound around the winch, and the distal ends are connected to the end effector. The drive unit 2230 controls the end effector by rotating the winch to retract / pull the flexible cables. The end effector 2210 has joint components that allow it to perform multiple Cartesian degrees of freedom movements, such as pitch and yaw. The end instrument 2210 is used to perform surgical operations. Depending on the needs of the surgical operation, the end effector 2210 can be an electrocautery device, clamp, stapler, scissors, camera, etc.

[0057] like Figure 4 As shown, the input device 1200 includes a handle 1, a clamp 11, multiple L-shaped links L1 / L2 / L3, and multiple rotary joints J1 / J2 / J3. The clamp 11 is movably mounted on the handle 1 and can move relative to the handle 1. The handle 1 is rotatably connected to the first L-shaped link L1 via the first rotary joint J1, so that the handle 1 and the clamp 11 can rotate around the rotation axis Y of the rotary joint J1. The first L-shaped link L1 is rotatably connected to the second L-shaped link L2 via the second rotary joint J2, so that the first L-shaped link L1 can rotate around the rotation axis Z1 of the second rotary joint J2. The second L-shaped link L2 is rotatably connected to the third L-shaped link L3 via the third rotary joint J3, so that the second L-shaped link L2 can rotate around the rotation axis X of the third rotary joint J3. The third L-shaped link L3 is rotatably connected to the third L-shaped link L3 via the fourth rotary joint (…). Figure 4 (Not shown) is rotatably connected to the main control console 1100, so that the third L-shaped link L3 can rotate around the rotation axis Z2 of the fourth rotary joint.

[0058] The fixture 11 can perform multiple degrees of freedom of movement via the handle 1, multiple L-shaped links L1 / L2 / L3 and multiple rotary joints J1 / J2 / J3. In other embodiments, the number of L-shaped links and rotary joints can be set according to the actual needs of the fixture 11.

[0059] The input device 1200 and the end effector 2210 establish a pose mapping control through the main operating device 1000. This mapping can be a positional correspondence, such as a proportional distance or a corresponding distance trend. Alternatively, it can be a motion correspondence, such as a motion posture or a motion trend. This allows the operator to control the instrument 2200 to perform corresponding actions (e.g., pitch, yaw, roll, clamping, etc.) by operating the input device 1200. The input device 1200 can be located on the main control console 1100; in other embodiments, the input device 1200 can also be located separately from the main control console 2.

[0060] The opening and closing motion of the clamp 11 relative to the handle 1 is mapped to the device 2200, which can control the opening and closing action of the end effector 2210 (such as clamping or shearing). The rotational motion of the clamp 11 and / or the handle 1 around the rotation axis Y of the first rotary joint J1 is mapped to the device 2200, which can control the rolling motion of the end effector 2210.

[0061] A first aspect of this application provides an input device, one embodiment of which is, for example... Figure 5a As shown, the input device includes: a handle 1 configured to be rotatably connected to a support 2 of a first L-shaped connecting rod L1 via a pivot, allowing the handle 1, including the handle body and the clamp 11, to rotate along the rotation axis Y of the pivot, i.e., the rotational freedom of the clamp 11 / or the handle 1; the clamp 11 is mounted on the handle 1, and the two clamping arms 111 and the second clamping arm 112 of the clamp 11 are respectively pivotally connected to the handle body, and the first clamping arm 111 and the second clamping arm 112 can rotate about the pivot in directions Ha and Hb, respectively, i.e., the opening and closing freedom of the clamp 11; an elastic element is provided between the first clamping arm 111 and the second clamping arm 112, and the elastic element is in a stretched state to maintain the state of the clamp 11 and provide the operator with a tactile feel; the clamping arm can be moved between opening 40° and closing 0° by pressing it. The input device 1200 also includes a feedback motor 7, which is disposed within the support portion 2 of the first L-shaped connecting rod L1. The feedback motor 7 is output via a drive screw 4, i.e., a rotating shaft. The handle 1 is configured to be rotatably connected to the support portion 2 of the first L-shaped connecting rod L1 via a rotating shaft, and the handle 1 is rotatably connected to the support portion 2 via the drive screw 4. Figure 5a , 5c As shown, the rotating shaft of the feedback motor 7 is connected to the drive screw 4 via a gear set. The gear set is configured as a first bevel gear set 71, and its connecting part consists of a driving member 5 and a driven member 6 that rotate relative to each other via bearings. The driving member 5 and the driven member 6 are axially fixed and coaxially arranged, and the driving member 5 is further configured as a fixed flange 5' and the driven member 6 is configured as a moving flange 6'. The clamp 11 is connected to the moving flange 6' via a connecting rod assembly. The opening and closing movement of the clamp 11 will drive the moving flange 6' to move along the Y-axis, as shown. Figure 5cAs shown, the fixed flange 5' and the moving flange 6' are connected by bearings and fixed in the axial direction, but can rotate relative to each other in the circumferential direction; the distal end of the drive screw 4 is set as a splined shaft, and the distal end of the splined shaft is fixed to the frame inside the support part 2 by a splined nut; the proximal end of the drive screw 4 is fixed to the fixed flange 5', and the distal end of the drive screw 4 is connected to the second bevel gear 71b of the first bevel gear set 71 through the splined shaft. The second bevel gear 71b meshes with the first bevel gear 71a, and the first bevel gear 71a is fixedly connected to the rotating shaft of the feedback motor 7; that is, the feedback motor 7 drives the second bevel gear through the first bevel gear 71a. The rotation of 71b causes the drive screw 4 to move linearly along the Y-axis; furthermore, the input device 1200 also includes a rotary motor 3, which is connected to the far end of the handle through a second bevel gear set 31; that is, the rotary motor 3 drives the handle 1 to rotate around the Y-axis through the second bevel gear set 31, realizing the self-rotation function of the clamp 11; the third bevel gear 31a of the second bevel gear set 31 is fixedly installed on the rotating shaft of the rotary motor 3, and the fourth bevel gear 31b is fixedly connected to the far end of the handle. A bearing is provided between the far end of the handle 1 and the support part 2, that is, the rotary motor 3 applies torque through the second bevel gear set 31 to drive the handle to rotate.

[0062] The movable flange 6' is fixedly connected to the distal end of the slide bar 13 of the connecting rod assembly. A slide bar on the outer wall of the movable flange 6' is slidably positioned within the axial groove inside the handle to achieve circumferential limiting of the movable flange 6'. Specifically, when the clamp 11 rotates, the handle 1 drives the movable flange 6' to rotate. The handle's rotation only tends to drive the rotary motor 3. The rotation of the handle 1 drives the rotary motor 3 through the fourth bevel gear 31b, increasing the resistance and / or friction when the clamp or handle rotates. Therefore, by controlling the rotary motor 3 to rotate in a corresponding manner through the controller, the aforementioned resistance and / or friction can be eliminated. At this time, the rotation of the handle will not feel obstructed, and the rotary motor 3 can even be controlled to provide rotational assistance to the handle through the second bevel gear set 31, making its rotation easier and smoother. Figure 5c As shown, the moving flange 6' and the fixed flange 5' can rotate relative to each other via bearings. This means the moving flange 6' does not drive the fixed flange 5' or the drive screw 4 to rotate. In terms of structural design, the rotation of the clamp 11 only requires the operation of a single rotary motor 3 to counteract its resistance and / or friction, eliminating positional coupling. When the clamp 11 opens and closes, the feedback motor 7 drives the drive screw 4 to move axially, thereby driving the moving flange 6' to move axially via the fixed flange 5'. At this time, the feedback motor 7 provides force feedback to the clamp 11 through the drive screw 4. The rotation of the clamp 11 does not tend to drive the feedback motor 7 via the moving flange 6'. The force feedback output by the feedback motor 7 only needs to be processed by the controller to obtain the actual execution force parameters of the end effector, without considering the influence of the handle rotation, thus avoiding force coupling. Therefore, this embodiment avoids positional coupling between the feedback motor and the rotary motor, as well as force coupling of the feedback motor, during handle rotation.

[0063] like Figure 5b The diagram shown illustrates the working principle of the input device.

[0064] The feedback motor 7 applies force feedback to the drive screw 4 through the gear set 71, and then applies the force feedback to the handle, so that the feedback motor 7 can apply force feedback to the clamp 11.

[0065] Furthermore, the rotary motor 3 also provides gravity compensation and active alignment functions. Additionally, the rotary motor 3 can simultaneously provide gravity compensation for the handle 1 and clamp 11, preventing the handle 1 and clamp 11 from rotating around the rotation axis Y due to gravity after the operator leaves the handle 1. The rotary motor 3 can also simultaneously achieve active alignment between the clamp 11 and the instrument. Master-slave alignment refers to aligning the input device with the medical instrument when the posture of the medical instrument on the master operating device is inconsistent with that on the slave operating device, or aligning the end effector with the input device. This includes ensuring consistency in parameters such as angle, rotation speed, and parameters that follow the operator's control posture. After master-slave alignment, the movement of the medical instrument and its end effector can be controlled in real-time and accurately through the input device of the master operating device.

[0066] Furthermore, the rotary motor 3 is also equipped with a rotary feedback mechanism, which feeds back the rotation angle parameter of the end effector of the instrument to the handle 1 through the second bevel gear set, thereby providing a rotary feedback force to the clamp 11.

[0067] Furthermore, such as Figure 5a , 5c As shown, the linkage assembly includes slide rods 13. The proximal ends of the two slide rods 13 are slidably connected to the first clamping arm 111 and the second clamping arm 112 of the clamp 11 via pivots. The distal ends of the slide rods 13 are fixedly connected to the moving flange 6'. The linkage assembly or other synchronous motion mechanisms (such as cams, gear sets, etc.) can make the first clamping arm 111 and the second clamping arm 112 move together. The joint motion means that when the operator operates only one of the clamping arms 111 and the second clamping arm 112 to perform the opening and closing degree of freedom movement, the other clamping arm is also driven by the synchronous motion mechanism (such as the linkage assembly) to perform the opening and closing degree of freedom movement at the same angular velocity.

[0068] Furthermore, such as Figure 5aAs shown, the input device 1200 also includes an opening / closing sensor 101 and a rotation sensor 102. The opening / closing sensor 101 is installed inside the handle 1 and is used to detect the opening / closing degree of freedom movement of the clamp 11. Specifically, the opening / closing sensor 101 is located between two slide bars 13, close to the driven member and indirectly fixedly connected to the driven member. The first magnet (not shown) is fixedly installed inside the near end of the handle. When the clamp 11 performs the opening / closing degree of freedom movement, the slide bar 13 drives the moving flange 6' to move linearly along the Y-axis, thereby changing the relative distance between the first magnet and the opening / closing sensor 101. The opening / closing sensor 101 detects the opening / closing degree of freedom movement of the first clamping arm 111 and the second clamping arm 112 of the clamp 11 by detecting the change in the magnetic field strength of the first magnet on it, such as the opening / closing angle. The main control console 1100 issues an opening / closing movement command to the end effector 2210 based on the detection result of the opening / closing sensor 101. Alternatively, the opening / closing sensor 101 and the first magnet can be swapped to achieve the same technical effect; or the opening / closing sensor 101 can be placed on the inner side of the first clamping arm 111 and the second clamping arm 112, and the first magnet can be fixed on the handle. Similarly, the opening / closing degree of freedom can be detected by detecting the change in the magnetic field strength of the first magnet on the opening / closing sensor.

[0069] Meanwhile, pressure sensors can also be set on the outer sides of the first clamping arm 111 and the second clamping arm 112 to form a closed loop with the feedback motor 7. The pressure sensors detect whether the force fed back to the clamping arm is the same as the force output by the feedback motor 7, so as to realize the closure of the force feedback and provide more accurate force feedback. Alternatively, a pressure sensor can be set at the proximal end of the handle 1 to detect the opening and closing motion. In this case, only the rotation sensor at the far end of the handle needs to be set, because the pressure sensor can detect the opening and closing freedom motion and the feedback force at the same time.

[0070] Additionally, a rotation sensor 102 is installed inside the support portion 2 to detect the rotational degree of freedom movement of the clamp 11. Specifically, the rotation sensor 102 is disposed on the inner wall of the support portion corresponding to the distal end of the handle, or on the inner wall of the support portion corresponding to the electronic device 10 fixed to the distal end of the handle. The electronic device 10 is a slip ring, and a second magnet (not shown) is fixedly disposed on the corresponding distal end of the handle or on the electronic device 10. When the operator operates the first clamping arm 111 and the second clamping arm 112 of the clamp 11 to make the handle 1 rotate freely, the first magnet fixed to the distal end will rotate relative to the rotation sensor 102 fixed to the support portion 2, causing the magnetic field strength of the second magnet to change on the rotation sensor 102. The rotation sensor 102 detects the rotational degree of freedom movement of the clamp 11 by detecting the change in the magnetic field strength of the second magnet on it. Alternatively, the rotation sensor 101 and the first magnet can be swapped to achieve the same technical effect; or the rotation sensor 102 can be placed at the bottom of the rotation motor 3, since the rotation motor 3 will output a corresponding rotation when the clamp 11 rotates to achieve decoupling, that is, the rotational freedom of the clamp 11 can also be detected by detecting the rotation of the rotation motor 3.

[0071] Since both the opening / closing sensor 101 and the rotation sensor 102 in this embodiment are magnetic sensors (e.g., Hall sensors), the first magnet and the second magnet are set separately. That is, the first magnet is set inside the handle 1 and the second magnet is set inside the support 2. This can avoid the magnetic fields of the first magnet and the second magnet from interfering with each other and improve the detection accuracy.

[0072] In this embodiment, the input device 1200, when performing the force feedback function, exhibits the following specific internal motion relationships under different scenarios:

[0073] The general operating steps of the input device are as follows: activated by the main operating device 1000, the controller controls the input device to perform master-slave alignment with the medical device, and the end effector enters the attitude following state.

[0074] When the end effector is not holding an object: the rotation of the clamp 11 only tends to drive the rotary motor 3, and does not drive the fixed flange 5' to rotate or drive the feedback motor 7. At this time, the rotary motor 3 only needs to output torque to overcome the resistance and / or friction of the second bevel gear set 31, or to provide rotational feedback to the end effector. The opening and closing movement of the clamp 11 drives the fixed flange 5' through the moving flange 6' and drives the lead screw 4 to move axially. The controller controls the feedback motor 7 to make the second bevel gear 71b rotate at the same speed to adapt to the axial movement of the lead screw 4, thereby eliminating the resistance of the feedback motor 7 and the first bevel gear set 71. At this time, no feedback force is provided to the operator through the clamp 1, and the feedback motor 7 only compensates for the friction and / or resistance of the first bevel gear set, etc.

[0075] When the end effector grips an object: as above, the rotation of the clamp 11 only tends to drive the rotary motor 3, and does not drive the fixed flange 5' to rotate or drive the feedback motor 7. That is, there is no position coupling phenomenon when the handle rotates. Only the rotary motor 3 needs to output torque to overcome the resistance and / or friction of the second bevel gear set 31, or to provide rotational feedback to the end effector. For the opening and closing movement of the clamp 11, the controller controls the feedback motor 7 to provide driving force. After the drive screw 4 moves axially to the position of the current opening and closing angle on the corresponding end effector side, it provides opening and closing force feedback to the clamp through the moving flange 6'. The magnitude of the force is determined by the actual clamping force collected on the end effector side. The force feedback output by the feedback motor 7 only needs the controller to process the actual execution force parameters of the end effector force. There is no need to consider the influence of the handle rotation. That is, there is no force coupling phenomenon when the clamp opens and closes. Therefore, the single slider mechanical decoupling structure of this embodiment avoids position coupling and force coupling from the structural design.

[0076] Furthermore, such as Figure 5a As shown, the input device 1200 also includes an opening / closing sensor 101 and a rotation sensor 102, which can be configured in the same way as in this embodiment. Additionally, pressure sensors can be disposed on the opposite outer sides of the first clamping arm 111 and the second clamping arm 112, forming a closed loop with the feedback motor 7. The pressure sensors detect whether the force fed back to the clamping arm is the same as the force output by the feedback motor 7, thereby achieving closed-loop force feedback and providing more accurate force feedback.

[0077] The beneficial effects of this embodiment are: the single slider structure is simple, the control method is simple, the feedback motor is directly connected to the fixture, and the torque output by the feedback motor directly corresponds to the feedback force of the fixture; the rotation of the handle and the opening and closing force feedback are decoupled and do not interfere with each other.

[0078] 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 invention patent. 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: Support section; A handle, configured to be rotatably connected to the support portion; A clamp, which is mounted on the handle; A feedback motor is used to provide force feedback to the operator via the handle; The clamp and the feedback motor are connected by a connecting part; the connecting part includes a driven member and a driving member; the driven member and the driving member are rotatably connected. The driven member is disposed inside the handle and is linked to the clamp through the clamp transmission structure; The active component is disposed inside the handle and is connected to the feedback motor via a force feedback transmission mechanism. The controller controls the feedback motor to output force feedback, which is transmitted to the driving member through the force feedback transmission mechanism. The driving member then transmits the force feedback to the driven member, which in turn transmits it to the handle through the clamp transmission structure to provide force feedback to the operator.

2. The input device as claimed in claim 1, characterized in that, The force feedback transmission mechanism includes a drive screw and a transmission assembly, wherein the drive screw is connected to the output shaft of the feedback motor via the transmission assembly.

3. The input device as described in claim 2, characterized in that, The input device further includes: A rotary motor is disposed within the support and configured to drive the handle to rotate; the controller controls the rotary motor to perform gravity compensation, master-slave alignment and / or provide rotational feedback of the end effector to the operator via the handle.

4. The input device as claimed in claim 3, characterized in that, The feedback motor is disposed within the support portion and is configured to drive the drive screw to move axially, thereby moving the driving member to the target position and providing opening and closing force feedback to the clamp through the driven member.

5. The input device as described in claim 3 or 4, characterized in that, The driven member and the driving member are rotatably connected by a bearing; When the end effector is not gripping an object, the controller controls the rotary motor to provide rotational feedback from the end effector to the fixture; When the end effector grips an object, the controller controls the rotary motor to provide rotational feedback from the end effector to the gripper; The feedback motor drives the drive screw to move axially, thereby moving the driving member to the target position and providing opening and closing force feedback to the clamp through the driven member.

6. The input device as described in claim 3 or 4, characterized in that, The driven member and the driving member are configured as a fixed flange and a moving flange assembly that can rotate relative to each other; The moving flange is disposed inside the handle and linked to the clamp through the clamp transmission structure; the fixed flange is fixedly connected to the proximal end of the drive screw. The transmission assembly includes a bevel gear set, one bevel gear in which is connected to the far end of the drive screw via a threaded pair, and the other bevel gear is fixed to the output shaft of the feedback motor. The clamp can drive the moving flange and the fixed flange to move axially through the clamp transmission structure; The feedback motor can drive the fixed flange and the moving flange to move axially through the drive screw, so as to provide force feedback to the operator through the handle.

7. The input device as claimed in claim 6, characterized in that, The clamp transmission structure includes a connecting rod structure and a slide rod; the clamp is rotatably connected to one end of the connecting rod structure via a pivot, and the other end of the connecting rod structure is connected to the driven member via the slide rod.

8. The input device as claimed in claim 3 or 4, characterized in that, The input device further includes an opening / closing sensor, which is used to detect the opening / closing degree of freedom movement of the clamp; The opening / closing sensor is connected to the clamp, and a first magnet corresponding to the opening / closing sensor is disposed on the handle; the movement of the clamp relative to the handle causes the opening / closing sensor to move relative to the first magnet, thereby enabling the opening / closing sensor to detect changes in magnetic field strength to detect the opening / closing degree of freedom movement of the clamp.

9. The input device as claimed in claim 8, characterized in that, The input device further includes: A rotation sensor is used to detect the rotational degrees of freedom of the fixture. The rotation sensor is connected to the drive rod. When the handle rotates, the rotation motor rotates simultaneously to perform gravity compensation. The rotation sensor detects the rotational degree of freedom of the clamp by detecting the rotation of the rotation motor.

10. The input device as claimed in claim 3, 4, or 9, characterized in that, The input device further includes: A pressure sensor is disposed on the outside of the clamp, forming a closed loop with the feedback motor. The pressure sensor detects whether the force fed back to the clamp is the same as the force output by the feedback motor, thereby realizing a closed loop of force feedback and providing more accurate force feedback.

11. A master operating device, characterized in that, The main operating device includes a main console and an input device as described in any one of claims 1-10, wherein the main console is used to process signals input by the input device.

12. A surgical robot, characterized in that, The surgical robot includes a slave operating device and a master operating device as described in claim 11, wherein the slave operating device performs corresponding operations according to the instructions of the master operating device.

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