Input device, master operating device, and surgical robot

Abstract

The embodiment of the present application provides an input device, a main operating device and a surgical robot, wherein the input device comprises a support part, a handle, a clamp and a feedback motor; the handle is configured to be rotationally connected with the support part; the clamp is installed on the handle; the feedback motor is used for providing force feedback to an operator through the handle; the clamp and the feedback motor are connected through a connecting part which is circumferentially limited and is arranged to slide along the handle axis; the connecting part is arranged in the handle and is linked with the clamp through a clamp transmission structure; and the connecting part is rotationally connected to the proximal end of a driving lead screw which is drivingly connected with an output shaft of the feedback motor through a transmission assembly.

Description

Technical Field

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

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

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

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

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

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

[0007] Support section;

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

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

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

[0011] The clamp and the feedback motor are connected by a connecting part, which is circumferentially limited and slidably disposed along the handle axis;

[0012] The connecting part is disposed inside the handle and is linked to the clamp through the clamp transmission structure; and the connecting part is rotatably connected to the near end of the drive screw, which is connected to the output shaft of the feedback motor through a transmission assembly.

[0013] In one specific implementation, the input device further includes:

[0014] A rotary motor is disposed within the support portion and configured to drive the handle to rotate.

[0015] 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.

[0016] 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 active component to the target position and providing the operator with the opening and closing force feedback of the end effector via the handle.

[0017] In one specific implementation, the connecting part is connected to the proximal end of the drive screw via a threaded pair or a bearing;

[0018] The opening and closing motion of the clamp can drive the connecting part to move axially along the handle through the clamp transmission structure;

[0019] The feedback motor can drive the drive screw to rotate along the handle axis via a transmission component, and the drive screw drives the connecting part to move along the handle axis, so as to provide force feedback to the operator through the clamp.

[0020] In one specific implementation, the transmission assembly includes a bevel gear set, in which one bevel gear is fixedly connected to the distal end of the drive screw, and the other bevel gear is fixedly connected to the output shaft of the feedback motor, with the two bevel gears meshing.

[0021] In one specific implementation, 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.

[0022] In another specific embodiment, the input device further includes:

[0023] An opening / closing sensor is used to detect the opening and closing degrees of freedom of the clamp.

[0024] 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.

[0025] In another specific embodiment, the input device further includes:

[0026] A rotation sensor is used to detect the rotational degrees of freedom of the fixture.

[0027] 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.

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

[0029] 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.

[0030] 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.

[0031] 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.

[0032] This application embodiment features a single-slider screw transmission structure. The input device handle is rotatably mounted on the support. The active component of the clamp linkage within the handle is rotatably connected to the drive screw, forming a single-slider screw transmission structure. The rotation of the clamp and the feedback of the opening / closing force are coupled. The controller controls the rotary motor to output a corresponding speed to eliminate rotational resistance and controls the feedback motor to output the same angular velocity to keep the drive screw and clamp relatively stationary, thus decoupling the rotational motor and feedback motor during clamp rotation. When the end clamp is empty, the connecting part moves with the clamp opening and closing due to its physical connection to the clamp. At this time, no feedback force is provided to the operator; the feedback motor only compensates for the friction of the moving parts, and the rotary motor counteracts the rotational resistance. When the end clamp is engaged, after the connecting part moves to the position corresponding to the current opening / closing angle of the instrument, it provides feedback force to the operator through the clamp opening / closing part under the drive of the feedback motor, providing direct feedback. In other words, the single-slider structure of this application embodiment is simple, the control method is simple, the feedback motor is directly connected to the clamp, and the torque output by the feedback motor directly corresponds to the feedback force of the clamp. The transmission path is short, and the response is fast. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the operating device of the surgical robot in this application;

[0034] Figure 2 This is a schematic diagram of the main operating device of the surgical robot in this application;

[0035] Figure 3a This is a schematic diagram of the surgical instruments used in this application;

[0036] Figure 3b for Figure 3a A schematic diagram of an end effector in surgical instruments;

[0037] Figure 4 This is a schematic diagram of the input device structure according to an embodiment of this application;

[0038] Figure 5a This is a schematic diagram of an input device according to an embodiment of this application;

[0039] Figure 5b for Figure 5a Schematic diagram of the input device;

[0040] Figure 5c for Figure 5a A cross-sectional view of the input device along the vertical direction of the rotation axis Y; Detailed Implementation

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] A first aspect of this application provides an input device, one embodiment of which is, 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 feedback motor 7. The first bevel gear 71a meshes with the second bevel gear 71b. 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.

[0056] 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 along 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 distal end of the handle. A bearing is provided between the distal end of the handle 1 and the support part 2, meaning that the rotary motor 3 applies torque through the second bevel gear set 31 to drive the handle to rotate. However, the rotation of the handle 1 will drive the rotary motor 3 through the fourth bevel gear 31b, and at the same time drive the drive screw 4 to rotate through the driving member 5, thus also tending to drive the feedback motor 7. The first and second gear sets increase the resistance and / or friction when the fixture or handle rotates. By controlling the feedback motor 7 to rotate in a matching manner through the controller, the screw 4 is kept relatively stationary with the handle. At the same time, the rotary motor 3 is also controlled to rotate in a matching manner to decouple the above-mentioned coupling. At this time, the rotation of the handle will not feel obstructed. That is, at this time, the rotary motor 3 and the feedback motor 7 need to work simultaneously to decouple the positional coupling that exists at this time. When the handle 1 rotates and opens / closes simultaneously, the controller controls the feedback motor 7 to drive the drive screw 4, causing the active component 5 to move axially to the target position commanded by the controller to provide opening / closing force feedback to the clamp 1. At the same time, the rotation of the handle also tends to drive the feedback motor 7. At this time, there is force coupling in the feedback motor 7. The force feedback output by the feedback motor 7 needs to be processed by the controller to decouple the force coupling by comprehensively processing the trend force of the feedback motor 7 caused by the rotation of the handle and the actual execution force parameters of the end effector.

[0057] The rotary motor 3 can even be controlled to provide rotational assistance to the handle via the second bevel gear set 31, making its rotation easier and smoother. Furthermore, the rotary motor 3 can also provide gravity compensation to the handle 1 and clamp 11, preventing them from rotating around the rotation axis Y due to gravity after the operator leaves the handle 1. The rotary motor 3 can also achieve active alignment between the clamp 11 and the instrument. Master-slave alignment refers to aligning the input device with the medical instrument when the positions of the input device of the master operating device and the medical instrument of the slave operating device are inconsistent, or aligning the end effector with the input device. This includes ensuring consistency in parameters such as angle, rotation speed, and parameters that follow the operator's control posture. After master-slave alignment, the movement of the medical instrument and its end effector can be controlled in real-time and accurately via the input device of the master operating device.

[0058] 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.

[0059] like Figure 5cAs shown, the connecting part is the driving member 5. A slide bar is provided on the outer wall of the driving member 5, which is placed in the corresponding axial slide groove inside the distal end of the handle to achieve circumferential limiting of the driving member 5. The clamp 11 is connected to the driving member 5 through a connecting rod assembly. The distal end of the connecting rod assembly is fixedly connected to the driving member 5. The opening and closing movement of the clamp 11 will drive the driving member 5 to move along the axial direction of the drive screw 4. The clamp 11 or other clamp transmission structures are connected to the driving member 5, so that the opening and closing movement of the clamp 11 will drive the driving member 5 to move linearly 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. A nut 51 is installed inside the driving member 5, or the inner cavity has a threaded structure. The driving member 5 is slidably connected to the proximal end of the drive screw 4 through the threaded pair, or the driving member 5 is rotatably connected to the proximal end of the drive screw 4 through a bearing.

[0060] like Figure 5a , 5c As shown, the feedback motor 7 drives the drive screw 4 to rotate via a transmission assembly, namely the 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 feedback motor 7. The first bevel gear 71a meshes with the second bevel gear 71b, which is fixedly connected to the distal end of the drive screw 4. Thus, the drive screw 4 drives the active component 5 to move axially linearly, thereby transmitting force feedback to the clamp 11. Figure 5b The diagram shown illustrates the working principle of the input device.

[0061] That is, the feedback motor 7 drives the drive screw 4 to rotate through the first bevel gear set 71, thereby driving the active member 5 to move along the screw axis. The active member 5 is set in the corresponding axial slide groove inside the far end of the handle, restricting the active member 5 from rotating with the drive screw 4, and providing force feedback to the opening and closing part of the clamp 11.

[0062] Furthermore, such as Figure 5a , 5c As shown, the linkage assembly includes slide rods 13. The proximal ends of the two slide rods 13 are 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 slide rods 13 are fixedly connected to the driving member 5. The linkage assembly or other synchronous motion mechanism (such as cam, gear set mechanism, 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.

[0063] like Figure 5a , 5cAs shown, in the input device structure of this embodiment, when the clamp 11 performs the opening and closing movement, it drives the active member 5 to move linearly along the Y-axis, which in turn causes the drive screw 4 to rotate, thus tending to drive the feedback motor 7. This increases the resistance and / or friction during the opening and closing movement of the clamp. The controller controls the feedback motor 7 to drive the drive screw 4 to output the same speed to eliminate the above-mentioned resistance and / or friction. At the same time, the rotation of the handle 1 drives the rotary motor 3 through the fourth bevel gear 31b, and also drives the drive screw 4 to rotate through the active member 5, thereby driving the feedback motor 7. Therefore, the rotation of the handle increases the resistance and / or friction when the clamp or handle rotates. Therefore, the controller controls the feedback motor 7 to rotate in a matching manner to keep the screw 4 relatively stationary with the handle, and also controls the rotary motor 3 to rotate in a matching manner to counteract the above-mentioned friction and / or resistance. At this time, the rotation of the handle will not feel obstructed, and the rotary motor 3 can even be controlled to provide rotational assistance to the handle through the second bevel gear set 31, making its rotation easier and smoother. When the handle 1 performs both opening / closing and rotational movements, the rotational movement can be transmitted to the rotary motor 3 and to the feedback motor 7 via the drive screw 4. The opening / closing movement can also tend to drive the feedback motor 7. The feedback motor needs to provide force feedback to the handle. In other words, the handle rotation and opening / closing force feedback are coupled. The controller controls the rotary motor 3 and the feedback motor 7 to rotate accordingly to achieve decoupling.

[0064] The rotary motor 3 also has other functions such as gravity compensation and active alignment, as in the first embodiment.

[0065] In this embodiment, the input device 1200, when performing the force feedback function, exhibits the following specific internal motion relationships under different scenarios:

[0066] 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.

[0067] When the end effector is not holding an object: When the clamp 11 opens and closes, the driving member 5 slides linearly along the Y-axis through the linkage assembly. The driving member 5 moves with the opening and closing position of the clamp 11. The driving member 5 drives the drive screw 4 to rotate, which also tends to drive the feedback motor 7. The first and second gear sets increase the resistance and / or friction when the clamp or handle rotates. The feedback motor 7 is controlled by the controller to only rotate in a matching manner to keep the screw 4 relatively stationary with the handle to counteract the above resistance and / or friction. At this time, there is no feedback force fed back to the operator through the clamp. The rotary motor 3 also only compensates for the resistance and / or friction of the second bevel gear set and other related moving parts, or provides rotary feedback to the clamp through the second bevel gear set 31. After the rotary motor 3 is activated, it performs gravity compensation, master-slave alignment, and enables the end effector to enter the attitude following state.

[0068] When the end effector grips an object: the driving element 5 moves to the position corresponding to the current opening angle of the instrument under the drive of the linkage assembly. At the same time, the feedback drive motor 7 outputs a feedback force to the driving element 5. The magnitude of the force is determined by the actual gripping force collected by the end effector. The feedback force is transmitted to the clamp 11 through the driving element 5 to provide feedback force to the operator, thereby simulating the reaction force experienced by the end effector after gripping an object (i.e., opening and closing force feedback). At this time, the rotation of the handle also tends to drive the feedback motor 7 through the driving element 5. Therefore, the controller needs to comprehensively process the data such as the tendency force of the handle rotation to drive the feedback motor 7 and the actual execution force parameters of the end effector to provide force feedback to the clamp, that is, the controller decouples the above force. At the same time, the rotary motor 3 outputs the corresponding torque feedback of the end effector's rotation angle information to the clamp 11. At this time, both the rotary motor 3 and the feedback motor 7 are controlled by the controller to achieve feedback and decoupling.

[0069] Furthermore, such as Figure 5a , 5c As shown, the input device 1200 also includes an opening / closing sensor 101 and a rotation sensor 102, which can be configured in the same way as in the first embodiment. Additionally, pressure sensors can be disposed on the opposite outer sides of the first clamping arm 111 and the second clamping arm 112, forming a closed loop with the feedback motor 7. The pressure sensors detect whether the force fed back to the clamping arm is the same as the force output by the feedback motor 7, thereby achieving a closed loop of force feedback and providing more accurate force feedback.

[0070] 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 degree of freedom can be detected by detecting the change in the magnetic field strength of the first magnet on the opening / closing sensor.

[0071] Meanwhile, pressure sensors can also be set on the outer sides of the first clamping arm 111 and the second clamping arm 112 to form a closed loop with the feedback motor 7. The pressure sensors detect whether the force fed back to the clamping arm is the same as the force output by the feedback motor 7, so as to realize the closed loop of force feedback and provide more accurate force feedback. Alternatively, a pressure sensor can be set at the proximal end of the handle 1 to detect the opening and closing motion. In this case, only the rotation sensor at the far end of the handle needs to be set, because the pressure sensor can detect the opening and closing freedom motion and the feedback force at the same time.

[0072] 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 achieve decoupling, that is, the rotational freedom of the clamp 11 can also be detected by detecting the rotation of the rotation motor 3.

[0073] 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.

[0074] The beneficial effects of this embodiment are as follows: its connecting part is a single slider screw transmission structure. The single slider structure is simple and the control method is simple. The feedback motor is directly connected to the fixture. The torque output by the feedback motor directly corresponds to the feedback force of the fixture. The transmission path is short and the response is fast.

[0075] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An input device, characterized in that, The input device includes: Support section; A handle, configured to be rotatably connected to the support portion; A clamp, which is mounted on the handle; A feedback motor is used to provide force feedback to the operator via the handle; The clamp and the feedback motor are connected by a connecting part, which is circumferentially limited and slidably disposed along the handle axis; The connecting part is disposed inside the handle and is linked to the clamp through the clamp transmission structure; and the connecting part is rotatably connected to the near end of the drive screw, which is connected to the output shaft of the feedback motor through a transmission assembly.

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

3. The input device as described in claim 2, characterized in that, The feedback motor is located inside the support and is configured to drive the drive screw to rotate, thereby moving the active component to the target position and providing the operator with the opening and closing force feedback of the end effector through the handle.

4. The input device as described in claim 2 or 3, characterized in that, The connecting part is connected to the near end of the drive screw via a threaded pair or a bearing; The opening and closing motion of the clamp can drive the connecting part to move axially along the handle through the clamp transmission structure; The feedback motor can drive the drive screw to rotate along the handle axis via the transmission component, and the drive screw drives the connecting part to move along the handle axis, so as to provide force feedback to the operator through the clamp.

5. The input device as claimed in claim 4, characterized in that, 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, with the two bevel gears meshing.

6. The input device as claimed in claim 4, 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.

7. The input device as claimed in claim 4, 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.

8. The input device as claimed in claim 7, 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.

9. The input device as claimed in claim 8, characterized in that, The input device further includes: A pressure sensor is disposed on the outside of the clamp, forming a closed loop with the feedback motor. The pressure sensor detects whether the force fed back to the clamp is the same as the force output by the feedback motor, thereby realizing a closed loop of force feedback and providing more accurate force feedback.

10. 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 1-9, wherein the main console is used to process signals input by the input device.

11. A surgical robot, characterized in that, The surgical robot includes a slave operating device and a master operating device as described in claim 10, wherein the slave operating device performs corresponding operations according to the instructions of the master operating device.

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