Input device, master operating device, and surgical robot

Abstract

The embodiment of the 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 clamp is kept connected with the feedback motor through a connecting part, the connecting part is fixedly arranged in the handle along the handle axial direction; the clamp and the feedback motor are kept connected through the connecting part, the connecting part is a relatively slidable assembly; a pulley set transmission mechanism is further arranged between the clamp and the handle, an opening and closing reset assembly is arranged between the pulley set transmission mechanism and the connecting part; a moving end of a transmission rope of the pulley set transmission mechanism is connected through the connecting part to realize connection with an output shaft of the feedback motor; axial movement of the output shaft of the feedback motor drives the pulley set transmission mechanism, so that force feedback is provided to an operator through the handle.

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, in order to solve the above problems, the first aspect of this application provides an input device, which includes: a support portion;

[0007] A handle, configured to be rotatably connected to the support portion;

[0008] A clamp, which is mounted on the handle;

[0009] A feedback motor, the output shaft of which can move along the axial direction of the feedback motor, is coaxially arranged with the handle and is used to provide force feedback to the operator through the handle;

[0010] The clamp and the feedback motor are connected by a connecting part, which is a relatively sliding component, and the connecting part is fixedly disposed inside the handle along the handle axis;

[0011] A pulley drive mechanism is also provided between the clamp and the handle, and an opening and closing reset assembly is provided between the pulley drive mechanism and the connecting part; the moving end of the drive rope of the pulley drive mechanism is connected to the output shaft of the feedback motor through the connecting part.

[0012] The axial movement of the output shaft of the feedback motor drives the pulley block transmission mechanism to provide force feedback to the operator through the handle.

[0013] In one specific implementation, the feedback motor is configured as a voice coil motor; the connecting part is connected to the moving iron of the voice coil motor.

[0014] In one specific implementation, the connecting part consists of a fixed part and a sliding part that can slide relative to each other. The fixed part of the connecting part is fixedly disposed inside the handle along the handle axis, and the moving end of the transmission rope of the pulley group transmission mechanism is fixedly connected to the sliding part of the connecting part to achieve connection with the moving iron of the voice coil motor.

[0015] In one specific implementation, the pulley block transmission mechanism includes a variable speed pulley and / or a movable pulley, which can amplify the output stroke of the voice coil motor.

[0016] In one specific implementation, the opening and closing reset assembly is an opening and closing reset spring.

[0017] In one specific implementation, the fixing part of the connecting part is a spline nut, the sliding part of the connecting part is a spline shaft mechanism, the spline shaft is fixedly connected to the output shaft of the voice coil motor, i.e., the moving iron, and the spline nut is axially fixedly installed inside the handle; the opening and closing reset assembly is disposed between the spline nut and the pulley group transmission mechanism.

[0018] In one specific implementation, the input device further includes:

[0019] A rotary motor is disposed within the support portion and mounted within the support portion in a direction perpendicular to the handle's rotation axis. The rotary motor is configured to drive the handle to rotate. The rotary motor is connected to the distal end of the handle via a gear set. A controller controls the rotary motor to perform gravity compensation, master-slave alignment, and / or to provide rotational feedback of the end effector to the operator via the handle.

[0020] In another specific embodiment, the input device further includes:

[0021] An opening / closing sensor is used to detect the opening and closing degrees of freedom of the clamp.

[0022] 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.

[0023] In another specific embodiment, the input device further includes:

[0024] A rotation sensor is used to detect the rotational degrees of freedom of the fixture.

[0025] 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.

[0026] In another specific embodiment, the input device further includes:

[0027] 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.

[0028] 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.

[0029] A third aspect of this application also provides a surgical robot, which includes a slave operating device and a master operating device as described above, wherein the slave operating device performs corresponding operations according to the instructions of the master operating device.

[0030] This application embodiment uses a voice coil motor as the feedback motor. Its structural design avoids the coupling between handle rotation and opening / closing force feedback. The input device, the handle, is rotatably mounted on a support. The clamping linkage mechanism within the handle is a pulley system transmission mechanism. The connecting part is a relatively sliding structure composed of a spline nut and a spline shaft. The moving iron of the voice coil motor is directly connected to the spline shaft. The moving end of the transmission rope of the pulley system transmission mechanism is directly fixedly connected to the spline shaft, achieving connection with the moving iron of the voice coil motor. Furthermore, the axial movement of the moving iron of the voice coil motor can drive the slide of the pulley system transmission mechanism to move axially along the handle via the spline shaft, providing force feedback to the operator through the handle's clamp. This application embodiment uses a pulley system transmission mechanism with a moving pulley to amplify the driving force of the voice coil motor, thereby using a smaller voice coil motor and reducing the overall size. Moreover, the handle rotation and opening / closing force feedback are decoupled and do not interfere with each other. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the operating device of the surgical robot in this application;

[0032] Figure 2 This is a schematic diagram of the main operating device of the surgical robot in this application;

[0033] Figure 3a This is a schematic diagram of the surgical instruments used in this application;

[0034] Figure 3bfor Figure 3a A schematic diagram of an end effector in surgical instruments;

[0035] Figure 4 This is a schematic diagram of the input device structure according to an embodiment of this application;

[0036] Figure 5a This is a schematic diagram of the input device according to the fifth embodiment of this application;

[0037] Figure 5b for Figure 5a Schematic diagram of the working principle of the input device. Detailed Implementation

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] like Figure 4As 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] A first aspect of this application provides an input device, a first embodiment of which includes, for example... Figure 5aAs 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 clamp 11 / or the handle 1 has a rotational degree of freedom; 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 clamp 11 has an opening and closing degree of freedom; Figure 5b As shown in the working principle diagram of the input device, the input device 1200 also includes a feedback motor 7, which is disposed inside the support part 2 of the first L-shaped connecting rod L1. The output shaft of the feedback motor 7, i.e., the moving iron, is coaxially arranged with the handle. The clamp 11 is directly connected to the output shaft of the feedback motor 7 through the connecting part; and the clamp transmission structure between the clamp 11 and the connecting part is a pulley transmission mechanism; the feedback motor 7 is a voice coil motor, the coil of the voice coil motor is fixed on the bracket inside the support part 2, and the moving iron magnet of the voice coil motor is coaxially fixed on the handle. The moving iron and the coil can rotate relative to each other along the Y-axis. The rotational motion does not change the output force of the motor, and its output shaft, the internal moving iron, can move linearly along the Y-axis.

[0053] The connecting part includes a fixed part and a sliding part. The fixed part of the connecting part is fixedly installed inside the handle along the handle axis. The moving end of the transmission rope of the pulley group transmission mechanism is fixedly connected to the sliding part of the connecting part to achieve connection with the moving iron of the voice coil motor. Further, the fixed part of the connecting part is a spline nut 9, and the sliding part of the connecting part is a spline shaft 91. The spline shaft is fixedly connected to the output shaft of the voice coil motor, i.e., the moving iron. The spline nut shaft 9 is fixedly installed inside the handle. The spline shaft 91 inside the spline nut shaft 9 is slidably connected to it through a spline. The distal end of the spline shaft 91 is coaxially fixedly connected to the moving iron of the voice coil motor. The spline shaft 91 is arranged coaxially with the Y-axis of the handle rotation. An opening and closing return spring 16 is provided between the proximal end of the spline nut 9 and the pulley group transmission mechanism. The opening and closing return spring 16 is in a compressed state to maintain the state of the clamp 11 and provide the operator with an operating feel. By pressing the clamping arm, it can move between opening 40° and closing 0°.

[0054] The moving iron of the voice coil motor is directly connected to the spline shaft 91, and the moving end of the transmission rope of the pulley group transmission mechanism is directly fixedly connected to the spline shaft 91, so as to realize the connection with the moving iron of the voice coil motor 7. The axial movement of the moving iron of the voice coil motor 7 can drive the slide 22 of the pulley group transmission mechanism to move axially along the handle through the spline shaft 91, so as to provide force feedback to the operator through the clamp of the handle.

[0055] The moving end of the transmission rope in the pulley block transmission mechanism (see...) Figure 5a The moving end of the transmission rope 24 passes through a guide block / fixed block fixed to the spline shaft 91 (see...). Figure 5aOn the handle, a moving iron connection is achieved with the voice coil motor; wherein the guide block / fixed block is fixedly connected to the spline shaft 91 and can move axially along the long axis; or the guide block / fixed block is fixed axially along the handle and slidably connected to the spline shaft 91, and the spline shaft 91 has a sliding guide or sliding groove to achieve a sliding connection with the guide block / fixed block.

[0056] The input device 1200 also includes a rotary motor 3, which is installed in the support part 2 along a direction perpendicular to the handle's rotation axis, i.e., the Y-axis. The rotary motor 3 is connected to the distal end of the handle via a first bevel gear set 31. A bearing is provided between the distal end of the handle 1 and the support part 2, meaning that the rotary motor 3 applies torque through the first bevel gear set 31 to drive the handle to rotate. The first bevel gear 31a of the first bevel gear set 31 is fixedly installed on the rotating shaft of the rotary motor 3, and the second bevel gear 31b is fixedly connected to the distal end of the handle. The rotary motor 3 drives the second bevel gear 31b to rotate through the first bevel gear 31a of the first bevel gear set 31. The second bevel gear 31b is fixedly connected to the distal end of the handle, so that the rotary motor 3 can drive the handle 1 to rotate around the Y-axis, realizing the rotation function of the handle 1.

[0057] Additionally, a motor return spring 15 is provided between the spline shaft 91 and the near end of the handle body to facilitate the reset of the voice coil motor moving iron via the spline shaft 91.

[0058] However, when the handle 1 rotates and opens / closes, the rotation of the handle 1 will drive the rotary motor 3 through the second bevel gear 31b. Therefore, the rotation of the handle tends to drive the rotary motor 3, which increases the resistance and / or friction when the clamp or handle rotates. By controlling the rotary motor 3 to rotate in a matching manner through the controller, the above-mentioned friction or resistance can be offset. At this time, the rotation of the handle will not feel obstructed. It is even possible to control the rotary motor 3 to provide rotational assistance to the handle through the first bevel gear set 31, making its rotation easier and smoother. The rotation of handle 1 also drives the spline shaft 91 to rotate via the guide block / fixed block, thereby driving the moving iron of the voice coil motor to rotate. However, the rotational motion of the moving iron of the voice coil motor does not change the output force of the motor. Only the axial movement of the moving iron improves the output force of the motor. Therefore, the rotation of the handle only requires the rotary motor 3 to work to counteract the above resistance. The voice coil motor 7 does not need to work to counteract the above output force generated by the rotation of the handle. The controller only needs to control and process the force feedback data of the end effector to output a command to the voice coil motor 7, so that it outputs force feedback to the clamp 11 through the axial movement of the moving iron. That is, there is no positional coupling between the rotary motor and the feedback motor when the handle rotates, and there is no force coupling between the force feedback motor when the handle rotates and opens and closes at the same time. That is, decoupling is achieved from the structural design.

[0059] Furthermore, the rotary motor 3 can also provide gravity compensation for the handle 1 and the clamp 11, preventing the handle 1 and the 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 realize the active alignment of the clamp 11 and the instrument. Master-slave alignment means that when the position of the input device of the master operating device and the medical device of the slave operating device are inconsistent, the input device is aligned with the medical device, or the end effector is aligned with the input device. This includes keeping parameters such as angle and rotation speed consistent, as well as parameters that follow the operator's control posture. After master-slave alignment, the movement of the medical device and its end effector can be controlled in real time and accurately through the input device of the master operating device.

[0060] 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 first bevel gear set, thereby providing a rotary feedback force to the clamp 11.

[0061] like Figure 5b The diagram shows the working principle of the input device linked with the pulley block transmission mechanism. The pulley block transmission mechanism includes: a drive wheel 17 and a speed-changing wheel 18 coaxially arranged and not rotating relative to each other; a first guide wheel 19 arranged adjacent to the speed-changing wheel; a second guide wheel 20 located near the handle; a movable pulley 21 mounted on the slide; and a first transmission rope 23 and a second transmission rope 24. The drive wheel 17, speed-changing wheel 18, first guide wheel 19, and second guide wheel 20 are all pivotally mounted on the handle body. The movable pulley 21 is pivotally mounted on the slide 22, which slides within the handle 1 along the spline shaft 91. One end of the first transmission rope 23 is fixed to the end of the drive block 12 inside the first clamping arm 111, then extends and winds half a turn around the outer periphery of the drive wheel 17, continuing to extend to the speed-changing wheel 18. The first transmission rope 23 is wound around the outer periphery of the gear shift wheel 18 and around the outer periphery of the first guide wheel 19, and extends in a different direction along the outer periphery of the first guide wheel 19 to the second guide wheel 20. After being guided by the second guide wheel 20, the other end of the first transmission rope 23 is fixed to the near end of the slide 22. A synchronous motion mechanism is provided between the first clamping arm 111 and the second clamping arm 112, or the second clamping arm 112 is also provided with the above-mentioned pulley group, thus forming a double-acting clamp with independent opening and closing of the double clamping arms. One end of the second transmission rope 24 is fixed to the handle body and then extends along the outer periphery of the movable pulley 21. After being guided by it, the other end of the second transmission rope 24 is fixedly connected to the spline shaft 91 through a fixing block, which can keep the second transmission rope 24 and the spline shaft 91 arranged in parallel.

[0062] When the clamp 11 opens and closes, the drive block 12 on the inner side of the first clamping arm 111 drives the first transmission rope 23 to move, thereby driving the drive wheel 17 to rotate. After the first transmission rope 23 is changed speed by the speed change wheel 18 and guided by the first guide wheel 19, it is guided by the second guide wheel 20 and finally drives the slide 22 to slide along the Y-axis. Correspondingly, the transmission length of the second transmission rope 24 is doubled after being guided by the movable pulley 21. The second end of the second transmission rope 24 drives the moving iron and the coil to move axially relative to each other through the spline shaft 91, generating force. Correspondingly, when the controller controls the feedback motor, i.e. the voice coil motor, to provide force feedback, the internal moving iron moves axially to generate feedback force, and is connected to the clamp 11 through the pulley group transmission mechanism, realizing the effect of amplifying the driving force of the voice coil motor, i.e., the feedback force. The feedback force is provided to the operator through the clamp 11. That is, the controller controls the voice coil motor to drive the pulley group transmission mechanism and the spring assembly to realize the positive and negative force feedback of the opening and closing movement of the clamp 11. Furthermore, the amplified driving force of the aforementioned pulley block transmission mechanism allows for the use of a smaller voice coil motor, thereby reducing the overall size of the support and input device.

[0063] The handle 1 performs opening and closing motion and rotational motion simultaneously. The spline shaft 91 is driven to move linearly along the Y-axis and rotate simultaneously through the pulley group transmission mechanism. Although the rotation of the spline shaft 91 drives the moving iron of the voice coil motor to rotate, it does not generate force. It only drives the linear motion of the moving iron to generate force. That is, the opening and closing force feedback mechanism and rotational motion are decoupled through the structural characteristics of the voice coil motor. There is no force coupling between the opening and closing motion and the rotational motion, and the controller is not required to decouple the above force.

[0064] When the handle 1 rotates, the handle 1 tends to drive the rotary motor 3 through the first bevel gear set 31. The controller controls the rotary motor 3 to output the corresponding rotation to eliminate the resistance of the first bevel gear set 31 and the rotary motor 3.

[0065] 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 on the inner side of the first clamping arm 111 and the second clamping arm 112, and is used to detect the opening / closing degree of freedom movement of the clamp 11. A first magnet (not shown) is fixedly installed on the proximal end of the handle. When the clamp 11 performs the opening / closing degree of freedom movement, the opening / closing sensor 101 can detect the opening / closing degree of freedom movement, such as the opening / closing angle, by detecting the change in the magnetic field strength of the first magnet on it. 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 interchanged to achieve the same technical effect. Alternatively, the opening / closing sensor 101 can be mounted on the slide 22, and the first magnet (not shown) can be fixedly mounted near the handle. When the clamp 11 performs the opening / closing degree of freedom movement, the first transmission rope 23 drives the slide to move linearly along the Y axis. The opening / closing sensor 101 can also detect the opening / closing degree of freedom movement by detecting the change in the magnetic field strength of the first magnet on it.

[0066] Meanwhile, pressure sensors can be installed 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 closed loop of force feedback and provide more accurate force feedback.

[0067] When the input device 1200 performs the force feedback function, the internal motion relationships under different scenarios are as follows:

[0068] 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.

[0069] When the end effector is not holding an object: the opening and closing of the clamp 11 tends to drive the moving iron to move through the spline shaft. At this time, the voice coil motor 7 does not provide feedback force to the operator through the clamp 11, but only outputs the output force generated by the motor to offset the axial movement tendency of the moving iron and the friction or resistance of the pulley transmission mechanism. As for the rotation of the clamp 11, the controller controls the rotary motor 3 to provide rotation feedback to the clamp through the first bevel gear set, and the rotation of the handle also drives the spline shaft 91 to rotate through the guide block / fixed block, thereby driving the moving iron of the voice coil motor to rotate. However, the rotation of the moving iron of the voice coil motor does not change the output force of the motor.

[0070] When the end effector clamps an object: When the controller detects that it is in a clamping state, the controller transmits the actuation force parameters of the end effector to the voice coil motor 7. The voice coil motor 7 outputs torque to feed back the end effecting force to the clamp 11 through the spline shaft and pulley group transmission mechanism. The magnitude of the feedback force is determined by the actual clamping force collected by the end effector side, thereby realizing the function of simulating the reaction force received by the end effector side after clamping the object (i.e., opening and closing force feedback). The rotation of the handle will not affect the output force of the voice coil motor. At this time, the controller only needs to process the force feedback data of the end effector to output a command to the voice coil motor 7, so that it can output force feedback to the clamp 11 through the axial movement of the moving iron. For the rotation of the handle, the controller only needs to control the rotary motor 3 to output the corresponding rotary feedback to the clamp.

[0071] The beneficial effects of this embodiment are as follows: This application embodiment is a voice coil motor solution, which avoids the coupling of clamp rotation and opening / closing force feedback in terms of structural design; and by using a pulley group transmission mechanism with movable pulleys, the driving force of the voice coil motor is amplified, thereby using a smaller voice coil motor and reducing the overall size; and the handle rotation and opening / closing force feedback structure are decoupled and do not interfere with each other.

[0072] Furthermore, such as Figure 5a As shown, the input device 1200 also includes an opening / closing sensor 101 and a rotation sensor 102. The opening / closing sensor 101 is installed on the opposite inner surfaces of the clamp, namely the opposite inner surfaces of the first clamping arm 111 and the second clamping arm 112, and is used to detect the opening / closing degree of freedom movement of the clamp 11. Specifically, a first magnet (not shown) is fixedly installed inside the proximal end of the handle. When the clamp 11 performs opening / closing degree of freedom movement, the relative distance between the first magnet and the opening / closing sensor 101 changes. 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.

[0073] 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 closed loop of 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.

[0074] Additionally, a rotation sensor 102 is installed inside the support portion 2 to detect the rotational degree of freedom of the clamp 210. Specifically, the rotation sensor 102 is located 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 may be an electric slip ring. A second magnet (not shown) is fixedly mounted 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 cause the handle 1 to rotate freely, the first magnet fixed to the distal end rotates relative to the rotation sensor 102 fixed to the support portion 2, causing a change in the magnetic field strength of the second magnet on the rotation sensor 102. The rotation sensor 102 detects the rotational degree of freedom 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 located at the bottom of the rotary motor 3, such as... Figure 5a As shown, when the fixture 11 rotates, the rotary motor 3 will output a corresponding rotation to achieve rotational feedback. That is, by detecting the rotation of the rotary motor 3, the rotational degree of freedom of the fixture 11 can also be detected.

[0075] 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.

[0076] 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, the output shaft of which can move along the axial direction of the feedback motor, is coaxially arranged with the handle and is used to provide force feedback to the operator through the handle; The clamp and the feedback motor are connected by a connecting part, which is a relatively sliding component, and the connecting part is fixedly disposed inside the handle along the handle axis; A pulley drive mechanism is also provided between the clamp and the handle, and an opening and closing reset assembly is provided between the pulley drive mechanism and the connecting part; the moving end of the drive rope of the pulley drive mechanism is connected to the output shaft of the feedback motor through the connecting part. The axial movement of the output shaft of the feedback motor drives the pulley block transmission mechanism to provide force feedback to the operator through the handle.

2. The input device as claimed in claim 1, characterized in that, The feedback motor is configured as a voice coil motor; the connecting part is connected to the moving iron of the voice coil motor.

3. The input device as described in claim 2, characterized in that, The connecting part consists of a fixed part and a sliding part that can slide relative to each other. The fixed part of the connecting part is fixedly installed inside the handle along the handle axis. The moving end of the transmission rope of the pulley group transmission mechanism is fixedly connected to the sliding part of the connecting part to achieve connection with the moving iron of the voice coil motor.

4. The input device as described in claim 1, 2, or 3, characterized in that, The pulley system transmission mechanism includes a variable speed pulley and / or a movable pulley, which can amplify the output stroke of the voice coil motor.

5. The input device as claimed in claim 1, characterized in that, The opening and closing reset assembly is an opening and closing reset spring.

6. The input device as claimed in claim 4, characterized in that, The fixing part of the connecting part is a spline nut, and the sliding part of the connecting part is a spline shaft mechanism. The spline shaft is fixedly connected to the output shaft of the voice coil motor, i.e., the moving iron. The spline nut is axially fixedly installed inside the handle. The opening and closing reset assembly is located between the spline nut and the pulley group transmission mechanism.

7. The input device as claimed in claim 1 or 2, characterized in that, The input device further includes: a rotary motor, which is mounted in the support in a direction perpendicular to the handle's axis of rotation and is configured to drive the handle to rotate; the rotary motor is connected to the distal end of the handle via a gear set; A controller that controls the rotary motor to perform gravity compensation, master-slave alignment, and / or provides rotary feedback of the end effector to the operator via the handle.

8. The input device as claimed in claim 7, characterized in that, The input device further includes: An opening / closing sensor is used to detect the opening and closing degrees of freedom 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 8 or 9, characterized in that, The input device further includes a pressure sensor, which is disposed on the outside of the clamp and forms 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, so as to realize the closed loop of force feedback and provide 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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