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 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 handle and is used to provide force feedback to the operator via a clamp.

[0011] The clamp and the feedback motor are connected by a gear set. The feedback motor transmits the feedback force to the handle through the gear set to provide force feedback to the operator.

[0012] A rotary motor, which is disposed within the support and configured to drive the handle to rotate via a transmission structure;

[0013] The controller 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.

[0014] In one specific implementation, the transmission structure includes: a drive rod and a gear transmission assembly, the proximal end of the drive rod being fixedly connected to the handle, and the distal end of the drive rod being connected to the output shaft of the rotary motor via the gear transmission assembly; the rotary motor drives the handle to rotate via the gear transmission assembly and the drive rod.

[0015] In one specific implementation, the gear set includes an interlaced gear set and an arc-shaped gear set.

[0016] In one specific implementation, when the end effector is not clamping an object: the controller controls the feedback motor not to provide feedback force to the operator through the clamp, and the controller controls the rotary motor to output torque to achieve rotary feedback to the clamp through the transmission structure;

[0017] When the end effector grips an object: the controller controls the feedback motor to output torque to feed back the end effecting force to the clamp through the gear set, and the controller controls the rotary motor to output torque to achieve rotary feedback to the clamp through the transmission structure.

[0018] In another specific embodiment, the input device further includes:

[0019] An opening / closing sensor is used to detect the opening and closing degrees of freedom of the clamp.

[0020] 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.

[0021] In another specific embodiment, the input device further includes:

[0022] A rotation sensor is used to detect the rotational degrees of freedom of the fixture.

[0023] 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.

[0024] In another specific embodiment, the input device further includes:

[0025] 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.

[0026] 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.

[0027] 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.

[0028] The input device handle of this application is rotatably mounted on the support. The slave component of the clamping linkage inside the handle and the driving component connected to the feedback motor are disconnectably connected. They only come into contact with each other when force feedback is applied, and remain without interaction force at other times. In a free state, they can be dragged flexibly 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 a large inertia and a high reduction ratio can be used. In force feedback mode, a larger feedback force can be simulated, and in extreme cases, the effect of a device clamping a hard object and fixing its position can be simulated. Moreover, the dual-slider structure allows the input device to simultaneously achieve high torque output and fast response, while the feedback motor has a delayed response. The user cannot feel the difference, 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 response of high-torque motors. This makes the operation more realistic for the operator. The input device that connects the clamp linkage mechanism inside the handle to the feedback motor transmission mechanism has a compact structure and a large transmission torque. Moving the power component to the bracket connected to the handle reduces the size of the handle itself and makes it easier to grip. The input device with a structure that integrates a micro motor inside the handle and connects it directly to the clamp transmission achieves decoupling of the handle rotation and the handle opening and closing force feedback without significantly increasing the size of the handle or affecting the grip feel.

[0029] This application presents a mechanical decoupling solution for gear transmission. It directly integrates the feedback motor within the handle and connects it to the gear transmission structure. This design offers high transmission torque, a compact structure, and does not significantly increase the handle's size, thus not affecting the grip feel. The input device, which integrates a micro-motor within the handle and directly connects it to the clamp, structurally decouples the handle rotation and the handle opening / closing force feedback, ensuring they do not interfere with each other. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the operating device of the surgical robot in this application;

[0031] Figure 2 This is a schematic diagram of the main operating device of the surgical robot in this application;

[0032] Figure 3a This is a schematic diagram of the surgical instruments used in this application;

[0033] Figure 3b for Figure 3a A schematic diagram of an end effector in surgical instruments;

[0034] Figure 4 This is a schematic diagram of the input device structure according to an embodiment of this application;

[0035] Figure 5a This is a schematic diagram of the input device according to the sixth embodiment of this application;

[0036] Figure 5b for Figure 5a Schematic diagram of the input device's working principle. Detailed Implementation

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] One embodiment of the surgical robot in this application is as follows: Figure 1 and Figure 2As 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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 is provided between the first clamping arm 111 and the second clamping arm 112. The elastic element 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 located inside the handle 1. The output shaft of the feedback motor 7 is connected to the clamp through a gear set. The feedback force is transmitted to the clamp 11 through the gear set transmission to provide force feedback to the operator. The gear set can be a combination of an interlaced gear set and an arc gear set. The feedback motor 7 drives the opening and closing movement of the clamp 11 through a two-stage transmission of the interlaced gear set 71' and the arc gear set 12 to provide feedback force to the operator. Furthermore, the interlaced gear set 71' can be an intersecting shaft gear set, a worm gear set, etc.; in this embodiment, the gear set is a worm gear set, the rotating shaft of the feedback motor 7 is a worm, the worm wheel 71a' is mounted on the handle body, and a gear 72b' is fixedly arranged coaxially with the worm wheel 71a'. The gear 72b' and the arc-shaped rack 12 fixedly arranged on the second clamping arm 112 form an arc-shaped gear set, and the gear 72b' meshes with the arc-shaped rack 12; when the clamp 11 is in the clamping state, when the controller controls the feedback motor 7 to output force feedback, the feedback motor 7 drives the worm wheel 71a' to drive the gear 72b', thereby providing the feedback force to the operator through the clamp 11.

[0052] Furthermore, the input device 1200 also includes a rotary motor 3, which is mounted in the support 2 along a direction perpendicular to the handle's rotation axis, i.e., the Y-axis. The rotary motor 3 is configured to drive the handle to rotate via a transmission structure, which includes a drive rod and a gear transmission assembly. The proximal end of the drive rod is fixedly connected to the handle, and the distal end of the drive rod is connected to the output shaft of the rotary motor via the gear transmission assembly. The rotary motor drives the handle to rotate via the gear transmission assembly and the drive rod. See details. Figure 5a The gear transmission assembly is a first bevel gear set 31, and the drive rod is a drive rod 4'. The rotary motor 3 is connected to the handle body through the first bevel gear set 31, and drives the clamp 11 to rotate via the first bevel gear set 31. Figure 5aThe rotation along the Y-axis, as shown, enables the fixture to rotate. The third bevel gear 31a of the first bevel gear set 31 is fixedly mounted on the rotating shaft of the rotary motor 3. The rotary motor 3 is connected to the distal end of the handle via the drive rod 4' through the first bevel gear set 31. A bearing is provided between the distal end of the handle 1 and the support 2. Furthermore, the rotary motor 3 drives the fourth bevel gear 31b to rotate through the third bevel gear 31a of the first bevel gear set 31. The fourth bevel gear 31b is fixed to the distal end of the drive rod 4'. The proximal end of the distal end of the drive rod 4' is fixed to the distal end of the handle. That is, the rotary motor 3 applies torque to the drive rod 4' through the first bevel gear set 31 to drive the handle 1 to rotate around the Y-axis.

[0053] In addition, 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 gear transmission structure, thereby forming a double-acting clamp with independent opening and closing of the two clamping arms.

[0054] When the handle 1 rotates, its rotation drives the rotary motor 3 via the fourth bevel gear 31b. The gear transmission components of the first bevel gear set 31 increase the resistance and / or friction when the clamp or handle rotates. At this time, the controller needs to control the rotary motor 3 to output the corresponding torque to counteract the resistance and / or friction. The rotation of the handle does not tend to drive the feedback motor 7. That is, only the rotary motor 3 needs to work when the handle rotates, meaning there is no position coupling during the handle rotation. When the handle 1 rotates and opens / closes, the feedback motor 7 needs to feed back the actuation force of the end effector to the clamp via the interleaved gear set 71'. The controller only needs to process the actuation force parameters of the end effector and does not need to consider the influence of the handle rotation on the feedback motor 7. Therefore, there is no force coupling phenomenon of the feedback motor 7. Thus, the structure of installing the feedback motor 7 inside the handle in this embodiment avoids the coupling between the handle rotation and the force feedback, i.e., there is no coupling phenomenon. Moreover, the force feedback of the feedback motor 7 is directly fed back to the clamp 11 in this configuration, which has the technical effect of short stroke.

[0055] When the handle 1 is simultaneously performing opening / closing and rotating movements, the controller only needs to control the feedback motor 7 to drive the worm gear to output corresponding rotation to eliminate the resistance and / or friction of the gear set 71' caused by the opening / closing movement or to provide force feedback, and control the rotary motor 3 to drive the third bevel gear 31a to output corresponding rotation to eliminate the resistance and / or friction of the first bevel gear set 31 caused by the rotation of the handle or to provide rotational feedback. It can even 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.

[0056] Additionally, the rotary motor 3 can also provide gravity compensation for the handle 1 and clamp 11, preventing the handle 1 and clamp 11 from rotating around the rotation axis Y due to gravity after the operator leaves the handle 1. The rotary motor 3 can also realize the active alignment of the clamp 11 and the instrument. Master-slave alignment means that when the position of the medical instrument of the master operating device is inconsistent with that of the medical instrument of the slave operating device, the input device is aligned with the medical instrument, 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 instrument and its end effector can be controlled in real time and accurately through the input device of the master operating device.

[0057] 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 31, thereby providing a rotary feedback force to the clamp 11.

[0058] When the input device 1200 performs the force feedback function, the internal motion relationships under different scenarios are as follows:

[0059] 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.

[0060] When the end effector is not holding an object: the opening and closing of the clamp 11 tends to drive the feedback motor through the gear set 71'. At this time, no feedback force is provided to the operator through the clamp 11; and during this period, the rotary motor 3 and the feedback motor 7 are not coupled. The controller controls the feedback motor 7 to drive the worm gear to output the corresponding rotation to eliminate the resistance and / or friction of the gear set 71' due to the opening and closing motion; and controls the output torque of the rotary motor 3 to realize the rotation feedback of the clamp through the transmission structure.

[0061] 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 feedback motor 7. The feedback motor 7 outputs torque to feed back the end effecting force to the clamp 11 through the gear set 71'. The magnitude of the feedback force is determined by the actual clamping force collected by the end effector, thereby realizing the function of simulating the reaction force received by the end effector after clamping the object (i.e., opening and closing force feedback). At this time, the rotary motor 3 is controlled by the controller to rotate to realize the rotation feedback of the clamp.

[0062] 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.

[0063] Simultaneously, 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, thereby achieving a closed loop of force feedback and providing more accurate force feedback. Alternatively, a pressure sensor can be installed near the handle 1 to detect opening and closing movements. In this case, only a rotation sensor at the far end of the handle is needed, as the pressure sensor can detect both the opening and closing freedom of movement and the feedback force.

[0064] Additionally, the rotation sensor 102 is installed at the far end of the drive rod 4' to detect the rotational degree of freedom of the clamp 210; the second magnet (not shown) is fixedly installed at the far end of the handle. Since the clamp 11 rotates, it will drive the drive rod 4' to rotate. That is, the rotation sensor 102 detects the change in the magnetic field strength of the second magnet on it to detect the rotational degree of freedom.

[0065] Alternatively, the electronic device 10, such as an electric slip ring, can be fixed to the inner wall of the support portion of the distal end of the handle. The 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 will rotate 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 freedom movement of the clamp 11 by detecting the change in the magnetic field strength of the second magnet on it. Alternatively, the rotation sensor 101 and the first magnet can be interchanged to achieve the same technical effect.

[0066] Alternatively, the rotation sensor 102 can be placed at the bottom of the rotary motor 3. Since the rotary motor 3 will output a corresponding rotation when the fixture 11 rotates to achieve decoupling, the rotational freedom of the fixture 11 can also be detected by detecting the rotation of the rotary motor 3.

[0067] 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.

[0068] The beneficial effects of this embodiment are as follows: by placing the feedback motor inside the handle, the feedback motor directly drives the clamp, resulting in a short transmission path, fast response, and simple structure, and also overcomes the problem of lag in the response of the feedback motor; moreover, the above arrangement decouples the handle rotation and opening / closing force feedback, so that they do not interfere with each other.

[0069] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An input device, characterized in that, The input device includes: Support section; A handle, configured to be rotatably connected to the support portion; A clamp, which is mounted on the handle; A feedback motor is disposed within the handle and is used to provide force feedback to the operator via a clamp. The clamp and the feedback motor are connected by a gear set. The feedback motor transmits the feedback force to the handle through the gear set to provide force feedback to the operator. A rotary motor, which is disposed within the support and configured to drive the handle to rotate via a transmission structure; 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.

2. The input device as claimed in claim 1, characterized in that, The transmission structure includes a drive rod and a gear transmission assembly. The proximal end of the drive rod is fixedly connected to the handle, and the distal end of the drive rod is connected to the output shaft of the rotary motor via the gear transmission assembly. The rotary motor drives the handle to rotate via the gear transmission assembly and the drive rod.

3. The input device as described in claim 1 or 2, wherein the gear set comprises an interlaced gear set and an arc-shaped gear set.

4. The input device as described in claim 2, When the end effector is not gripping an object: the controller controls the feedback motor not to provide feedback force to the operator through the clamp, and the controller controls the rotary motor to output torque to achieve rotary feedback to the clamp through the transmission structure; When the end effector grips an object: the controller controls the feedback motor to output torque to feed back the end effecting force to the clamp through the gear set, and the controller controls the rotary motor to output torque to achieve rotary feedback to the clamp through the transmission structure.

5. The input device as claimed in claim 1, 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.

6. The input device as claimed in claim 5, 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.

7. The input device as claimed in claim 5 or 6, 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.

8. 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 1-7, wherein the main console is used to process signals input by the input device.

9. A surgical robot, characterized in that, The surgical robot includes a slave operating device and a master operating device as described in claim 8, wherein the slave operating device performs corresponding operations according to the instructions of the master operating device.

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