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 arranged in the support part and is used for providing force feedback to an operator through the handle; the clamp and the feedback motor are in disconnectable transmission connection; when the clamp is in an empty state, the feedback motor drives a driving part to change with the change of the position of a driven part, and the driving part is not connected with the driven part; when the clamp is in a clamping state, the feedback motor drives the driving part to move to a target position and abut against the driven part so as to provide force feedback to the 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, 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 disposed within the support portion and is used to provide force feedback to the operator via the handle.

[0011] The clamp and the feedback motor are connected by a disconnectable transmission.

[0012] In one specific implementation, the input device further includes:

[0013] The driven component is disposed inside the handle and is linked to the clamp through the clamp transmission structure;

[0014] The active component is disposed within the support portion and is connected to the feedback motor via a force feedback transmission mechanism.

[0015] The driven member and the driving member are connected by a disconnectable transmission connection.

[0016] When the end effector does not clamp an object, the feedback motor drives the active member to change position with the driven member, and the active member does not maintain a non-interacting force with the driven member;

[0017] When the end effector grips an object, the feedback motor drives the active member to move to the target position and abut against the driven member to provide force feedback to the operator via the handle.

[0018] 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.

[0019] In one specific implementation, the input device further includes:

[0020] A rotary motor is disposed within the support portion and configured to drive the handle to rotate.

[0021] The controller controls the rotary motor to perform gravity compensation, master-slave alignment, decoupling, and / or provides rotary feedback of the end effector to the operator via the handle.

[0022] In one specific implementation, the feedback motor is disposed within the support portion and is configured to drive the drive screw to rotate, thereby moving the driving member to the target position and abutting the driven member, thereby achieving decoupling and / or providing the operator with the opening and closing force feedback of the end effector through the handle.

[0023] In one specific implementation, the active component is connected to the proximal end of the drive screw via a threaded pair;

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

[0025] The clamp drives the driven member to move axially along the drive screw through the clamp transmission structure, and the driven member is not connected to the drive screw;

[0026] The driven member and the driving member are coaxially arranged with the drive screw and are both circumferentially limited;

[0027] The feedback motor can drive the active component to move axially and abut against the driven component through the drive screw, thereby providing force feedback to the operator through the handle.

[0028] In one specific implementation, the driven member is a hollow structure that is mounted on the drive screw without contact.

[0029] 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.

[0030] In one specific implementation, the input device further includes:

[0031] An opening / closing sensor is used to detect the opening and closing degrees of freedom of the clamp.

[0032] The opening / closing sensor is connected to the active component, and a first magnet corresponding to the opening / closing sensor is disposed inside 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.

[0033] In one specific implementation, the input device further includes:

[0034] A rotation sensor is used to detect the rotational degrees of freedom of the fixture.

[0035] The rotation sensor is disposed inside the support, and the second magnet corresponding to the rotation sensor is connected to the distal end of the handle; the rotation of the clamp causes the second magnet to rotate relative to the rotation sensor, thereby enabling the rotation sensor to detect the change in magnetic field strength to detect the rotational degree of freedom of the clamp.

[0036] Alternatively, the rotation sensor is connected to the rotation motor, and the rotation motor rotates simultaneously when the handle rotates to perform gravity compensation. The rotation sensor detects the rotational degree of freedom of the clamp by detecting the rotation of the rotation motor.

[0037] In one specific implementation, the input device further includes:

[0038] 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 achieving closed-loop force feedback and providing more accurate force feedback.

[0039] 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.

[0040] 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.

[0041] This application embodiment is a dual-slider lead screw transmission scheme. The input device handle is rotatably mounted on the support. The driven component of the clamp linkage and the driving component connected to the feedback motor in the handle are disconnectable transmission connections, forming a dual-slider lead screw transmission structure. They only contact each other when force feedback is applied, and maintain no interaction force at other times. In a free state, they can be flexibly dragged without being affected by motor inertia, resulting in a faster response. Furthermore, since the influence of motor inertia can be eliminated, a high-torque motor with larger inertia and a higher reduction ratio can be used. In force feedback mode, a larger feedback force can be simulated, and in extreme cases, the effect of the instrument clamping a hard object and fixing its position can be simulated. Moreover, the dual-slider structure allows the input device to simultaneously have the effect of high torque output and fast response. The operator does not feel the lag in the response of the feedback motor, and it does not affect the timely force feedback. This solves the problem of rigid connection between the handle and the feedback motor shaft in most existing technologies, and the lag in the response of high-torque motors, making the operation more realistic for the operator. The dual-slider structure of the input device in this application, with a non-rigid connection between the handle and the feedback motor shaft, enables low frictional resistance and damping when no feedback force is provided, facilitating precise control. When feedback force is provided, the drive screw can generate a large feedback force. Furthermore, the force feedback function can be switched on and off under physical conditions: when the force feedback function is enabled, the active component moves under control; when the force feedback function is disabled, the active component moves to a standby position and locks. In other words, the operator cannot perceive the lag in the response of the high-torque motor, and it will not affect the timely force feedback, meaning that high torque and fast response can be obtained simultaneously. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the operating device of the surgical robot in this application;

[0043] Figure 2 This is a schematic diagram of the main operating device of the surgical robot in this application;

[0044] Figure 3a This is a schematic diagram of the surgical instruments used in this application;

[0045] Figure 3b for Figure 3a A schematic diagram of an end effector in surgical instruments;

[0046] Figure 4 This is a schematic diagram of the input device structure according to an embodiment of this application;

[0047] Figure 5aThis is a schematic diagram of the internal structure of the input device according to the first embodiment of this application;

[0048] Figure 5b for Figure 5a Schematic diagram of the input device;

[0049] Figure 5c for Figure 5a Exploded view of part of the input device structure;

[0050] Figure 5d for Figure 5a A partial cross-sectional view of the middle handle along the vertical direction of the rotation axis Y. Detailed Implementation

[0051] 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.

[0052] 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.

[0053] 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. Examples include the coupling of a protrusion and a groove, where they can move radially relative to each other but not axially; positional coupling, where an action requires the output response of two motors; and force coupling, where the force feedback of one motor requires the combination of two or more input or output forces.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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, an elastic element 113 is provided between the first clamping arm 111 and the second clamping arm 112. The elastic element 113 is in a stretched state to maintain the state of the clamp 11 and provide the operator with a tactile feel. By pressing the clamping arm, it can move between opening 40° and closing 0°. The input device 1200 also includes a feedback motor 7, which is disposed in the support part 2 of the first L-shaped connecting rod L1. The feedback motor 7 is output through the drive screw 4, i.e., the rotating shaft. The handle 1 is configured to be rotatably connected to the support part 2 of the first L-shaped connecting rod L1 through the rotating shaft. The handle 1 is rotatably connected to the support part 2 through the drive screw 4. Figure 5a , 5c As shown, the rotating shaft of the feedback motor 7 is connected to the drive screw 4 through a gear set. The gear set is configured as a first bevel gear set 71. The first bevel gear 71a of the first bevel gear set 71 is fixedly mounted on the rotating shaft of the motor 240, and the second bevel gear 71b is fixedly connected to the far end of the drive screw 4. 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.

[0066] Furthermore, the input device 1200 also includes a rotary motor 3, which is connected to the handle body via a second bevel gear set 31, and drives the clamp 11 to rotate via the second bevel gear set 31. Figure 5aThe rotation of the Y-axis, as shown, enables the fixture to rotate. The third bevel gear 31a of the second bevel gear set 31 is fixedly mounted 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. However, when handle 1 rotates, the rotation of handle 1 drives rotary motor 3 through fourth bevel gear 31b, and also drives drive screw 4 through active component 5, which also tends to drive feedback motor 7. The transmission motion components increase the resistance and / or friction when the clamp or handle rotates. At this time, the controller needs to control rotary motor 3 to output corresponding torque to counteract the resistance and / or friction when the second bevel gear set 31 and feedback motor 7 output corresponding torque to counteract the resistance and / or friction when the first bevel gear set 71, drive screw 4 and active component 5 rotate. That is, rotary motor 3 and feedback motor 7 need to work simultaneously to decouple the position coupling at this time. When handle 1 rotates and opens and closes at the same time, the controller controls feedback motor 7 to drive drive screw 4 so that active component 5 and driven component 6 collide and provide opening and closing force feedback to clamp 1. At this time, there is force coupling in feedback motor 7. The force feedback output by feedback motor 7 needs to be processed by the controller after comprehensively processing the trend force of the feedback motor 7 caused by the rotation of handle and the actual execution force parameters of the end effector to decouple the force coupling.

[0067] The rotation of the handle increases the resistance and / or friction when the clamp or handle rotates. The controller controls the feedback motor 7 to rotate in a matching manner to keep the lead screw 4 relatively stationary with the handle. At the same time, the controller also controls the rotary motor 3 to rotate in a matching manner to decouple the above coupling. 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 second bevel gear set 31, making its rotation easier and smoother. 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.

[0068] 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.

[0069] like Figure 5cAs shown, the clamp 11 is connected to the driven member 6 via a linkage assembly. The opening and closing motion of the clamp 11 will cause the driven member 6 to move along the axial direction of the drive screw 4, but as... Figure 5d As shown, the driven member 6 is a hollow structure, which is fitted onto the outer periphery of the drive screw 4 without contact. The clamp 11 or other clamp transmission structure is connected to the driven member 6, so that the opening and closing movement of the clamp 11 will drive the driven member 6 to move along the axial direction of the drive screw 4. The proximal end of the drive screw 4 is connected to the driving member 5 through a threaded pair. The proximal end of the drive screw 4 is provided with threads. The driving member 5 has a nut 51 installed inside or has a threaded internal structure. The driving member 5 is slidably connected to the proximal end of the drive screw 4 through the threaded pair.

[0070] Furthermore, such as Figure 5a , 5c As shown, the linkage assembly consists of a link 12 and a slide bar 13. The proximal ends of the two links 12 are rotatably connected to the first clamping arm 111 and the second clamping arm 112 of the clamp 11 via pivots. The distal ends of the links 12 are rotatably connected to the proximal ends of the slide bar 13 via pivots. The distal ends of the slide bar 13 are fixedly connected to the follower 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.

[0071] Furthermore, both the driven member 6 and the driving member 5 are provided with slide bars on their outer walls, which are placed in the corresponding axial slide groove inside the far end of the handle to achieve circumferential limiting of the driven member 6 and the driving member 5; the feedback motor 7 drives the drive screw 4 to rotate through the first bevel gear set 71, thereby driving the driving member 5 to move along the screw axis. The driving member 5 is placed in the corresponding axial slide groove inside the far end of the handle, which restricts the driving member 5 from rotating with the drive screw 4. Since the driven member 6 is hollowly fitted on the outer periphery of the drive screw 4 and has no connection with the drive screw 4, the drive screw 4 does not drive the handle to rotate when it rotates to drive the driving member 5 to move axially.

[0072] When handle 1 performs opening and closing motion and rotational motion simultaneously, the rotational motion can be transmitted to drive screw 4 and feedback motor 7 at the same time. There is force coupling between the opening and closing force feedback of the feedback motor 7 and the controller controls rotary motor 3 and feedback motor 7 to perform corresponding rotations to achieve decoupling of position coupling and force coupling.

[0073] like Figure 5b , 5d As shown, the driving element 5 and the driven element 6 are coaxially arranged and are connected by a disconnectable transmission connection. When the input device 1200 performs the force feedback function, the internal motion relationship under different situations is as follows:

[0074] 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.

[0075] When the end effector does not clamp an object: the opening and closing of the clamp 11 causes the driven member 6 to slide through the linkage assembly. The driving member 5 moves with the position change of the driven member 6 under the control of the feedback drive motor 7. That is, the driving member 5 is in a position following state. The controller controls the driving member 5 to always maintain a constant distance from the driven member 6. The two sliding members do not abut against each other and always maintain no interaction force. At this time, no feedback force is provided to the operator by the clamp 11. During this period, the rotary motor 3 and the feedback motor 7 are decoupled by the controller.

[0076] When the end effector clamps an object: when the controller detects that it is in a clamping state, it adjusts the active member 5 to be close to the driven member 6. The clamp 11 opens and closes, causing the driven member 6 to slide. The active member 5 moves to the target position commanded by the controller in a timely manner under the drive of the feedback drive motor 7 and provides a large torque feedback force. The magnitude of the force is determined by the actual clamping force collected by the end effector. When the driven member 6 comes into contact with the active member 5, the active member 5 applies a force to the driven member 6. The force is transmitted to the clamp 11 through the driven member 6 to provide feedback force to the operator, thereby realizing the function of simulating the reaction force received by the end effector after clamping an object (i.e., opening and closing force feedback). At this time, the rotary motor 3 and the feedback motor 7 are decoupled by the controller.

[0077] In this embodiment, the dual slider structure of the active component 5 and the driven component 6 enables the input device to simultaneously achieve high torque output and fast response.

[0078] 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 the 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 connecting rod 12 drives the slide bar 13, thereby driving the driven member 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 freedom motion can be detected by detecting the change in the magnetic field strength of the first magnet on the opening / closing sensor.

[0079] 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.

[0080] 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 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 the 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 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 counteract friction and / or resistance, the rotational freedom of the clamp 11 can also be detected by detecting the rotation of the rotation motor 3.

[0081] 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.

[0082] The beneficial effects of this embodiment are as follows: the dual slider structure can achieve low frictional resistance and damping when no feedback force is provided, which facilitates precise control; when feedback force is provided, the drive screw can generate a large feedback force; and the force feedback function can be set to switch on and off under physical conditions: when the force feedback function is enabled, the active component moves under control; when the force feedback function is disabled, the active component moves to the standby position and locks.

[0083] In the embodiments of this application, the dual slider structure and the non-rigid connection between the handle and the feedback motor shaft mean that the operator cannot feel the lag in the response start of the high torque motor and it will not affect the timely force feedback. That is, high torque and fast response can be obtained simultaneously.

[0084] The embodiments described above merely illustrate the implementation methods of this application, and while the descriptions are 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 disconnectable transmission.

2. The input device as claimed in claim 1, characterized in that, The input device further includes: The driven component is disposed inside the handle and is linked to the clamp through the clamp transmission structure; The active component is disposed within the support portion and is connected to the feedback motor via a force feedback transmission mechanism. The driven member and the driving member are connected by a disconnectable transmission connection. When the end effector does not clamp an object, the feedback motor drives the active member to change position with the driven member, and the active member and the driven member maintain no interaction force. When the end effector grips an object, the feedback motor drives the active member to move to the target position and abut against the driven member to provide force feedback to the operator via the handle.

3. The input device as described in claim 2, 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.

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

5. 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 rotate, thereby moving the active component to the target position and abutting the driven component, thereby achieving decoupling and / or providing the operator with the opening and closing force feedback of the end effector through the handle.

6. The input device as claimed in claim 3, 4, or 5, characterized in that, The active component is connected to the proximal end of the drive screw via a threaded pair; The transmission assembly includes a bevel gear set, in which one bevel gear is fixedly connected to the far end of the drive screw, and the other bevel gear is fixedly connected to the output shaft of the feedback motor. The clamp drives the driven member to move axially along the drive screw through the clamp transmission structure, and the driven member is not connected to the drive screw; The driven member and the driving member are coaxially arranged with the drive screw and are both circumferentially limited; The feedback motor can drive the active component to move axially and abut against the driven component through the drive screw, thereby providing force feedback to the operator through the handle.

7. The input device as claimed in claim 5, characterized in that, The driven component has a hollow structure and is mounted on the drive screw without contact.

8. The input device as claimed in claim 2, 3, 4, 5, or 7, 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.

9. The input device as claimed in claim 4 or 5, 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 active component, and a first magnet corresponding to the opening / closing sensor is disposed inside 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.

10. The input device as claimed in claim 9, 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 disposed inside the support, and the second magnet corresponding to the rotation sensor is connected to the distal end of the handle; the rotation of the clamp causes the second magnet to rotate relative to the rotation sensor, thereby enabling the rotation sensor to detect the change in magnetic field strength to detect the rotational degree of freedom of the clamp. Alternatively, the rotation sensor is connected to the rotation motor, and the rotation motor rotates simultaneously when the handle rotates to perform gravity compensation. The rotation sensor detects the rotational degree of freedom of the clamp by detecting the rotation of the rotation motor.

11. The input device as claimed in claim 2, 4, or 10, 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 achieving closed-loop force feedback and providing more accurate force feedback.

12. 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 1-11, wherein the main console is used to process signals input by the input device.

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

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