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 in disconnectable transmission connection; the input device further comprises: a driven part which is arranged in the handle and is linked with the clamp through a clamp transmission structure; a driving part which is arranged in the support part and is in transmission connection with the feedback motor through a force feedback transmission mechanism; the driving part and the driven part are not directly physically connected and can relatively rotate when abutting.

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 disconnectable transmission.

[0012] The input device further includes:

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

[0014] The active component is disposed within the support portion and is connected to the feedback motor via a force feedback transmission mechanism; there is no direct physical connection between the active component and the driven component, and they can rotate relative to each other when they come into contact.

[0015] In one specific implementation, the driven member and the driving member are connected by a disconnectable transmission connection, and low-friction material is provided on the opposite sides of the driven member and the driving member.

[0016] When the end effector does not clamp an object, the feedback motor drives the active member to change position with the driven member, and the active member and the driven member maintain no interaction force.

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

[0018] In one specific implementation, the force feedback transmission mechanism includes a drive screw and a transmission assembly, wherein the drive screw is connected to the output shaft of the feedback motor via the transmission assembly.

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

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

[0021] 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.

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

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

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

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

[0026] The driven component and the driving component are coaxially arranged with the drive screw;

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

[0028] In one specific implementation, the driven member and the driving member are configured as concave-convex sliders.

[0029] In one specific implementation, the clamp transmission structure includes a linkage structure and a slide bar; the clamp is rotatably connected to one end of the linkage structure via a pivot, and the other end of the linkage structure is connected to the driven member via the slide bar.

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

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

[0032] The opening / closing sensor is connected to the active component, and a first magnet corresponding to the opening / closing sensor is disposed inside the handle; the movement of the clamp relative to the handle causes the opening / closing sensor to move relative to the first magnet, thereby enabling the opening / closing sensor to detect changes in magnetic field strength to detect the opening / closing degree of freedom movement of the clamp.

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

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

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

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

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

[0038] A pressure sensor is disposed on the outside of the clamp, forming a closed loop with the feedback motor. The pressure sensor detects whether the force fed back to the clamp is the same as the force output by the feedback motor, thereby achieving closed-loop force feedback and providing more accurate force feedback.

[0039] A second aspect of this application also provides a main operating device, the main operating device including a main console and the input device, the main console being used to process signals input by the input device.

[0040] A third aspect of this application also provides a surgical robot, which includes a slave operating device and a master operating device, wherein the slave operating device performs corresponding operations according to the instructions of the master operating device.

[0041] In the two embodiments of this application, the connecting part in the first embodiment is a single slider mechanical decoupling structure, which avoids position coupling or force coupling when the handle rotates from the mechanism design. The rigid connection between the handle and the feedback motor shaft causes the high torque motor to have a lag in response and start-up, and high torque and fast response cannot be obtained at the same time. The double slider structure in the second embodiment overcomes the above-mentioned problem of lag in the response of the feedback motor. The operator cannot feel the lag in the response of the feedback motor, and it will not affect the timely force feedback.

[0042] The second embodiment of this application is a dual-slider mechanical decoupling structure, which also avoids positional or force coupling when the handle rotates. The input device handle is rotatably mounted on the support. The driven component of the clamp linkage inside the handle and the driving component connected to the feedback motor are disconnectable transmission connections. As a dual-slider mechanical decoupling structure, they only come into contact with each other when force feedback is performed. At other times, they maintain no interaction force. In the free state, they can be dragged flexibly without being affected by the motor inertia, resulting in a faster response. 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 the force feedback state, a larger feedback force can be simulated. In extreme cases, it can simulate the effect of the instrument clamping a hard object and fixing its position. Moreover, the dual-slider structure allows the input device to have both high torque output and fast response. The operator does not feel the lag in the response of the feedback motor, and it does not affect the timely force feedback. This solves the problem of rigid connection between the handle and the feedback motor shaft in most existing technologies, and the lag in the response of the high-torque motor. This makes the operation more realistic for the operator. It can also set the force feedback function to be switched on and off under physical conditions: when the force feedback function is enabled, the active component moves under control; when the force feedback function is disabled, the active component moves to the standby position and locks. The force feedback of handle rotation and opening / closing is decoupled and does not interfere with each other. That is, the operator cannot feel the lag in the response of the high torque motor and it will not affect the timely force feedback. In other words, high torque and fast response can be obtained at the same time. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the operating device of the surgical robot in this application;

[0044] Figure 2 This is a schematic diagram of the main operating device of the surgical robot in this application;

[0045] Figure 3a This is a schematic diagram of the surgical instruments used in this application;

[0046] Figure 3b for Figure 3a A schematic diagram of an end effector in surgical instruments;

[0047] Figure 4 This is a schematic diagram of the input device structure according to an embodiment of this application;

[0048] Figure 5a This is a schematic diagram of the input device according to the first embodiment of this application;

[0049] Figure 5b for Figure 5a Schematic diagram of the input device;

[0050] Figure 5c for Figure 5a A cross-sectional view of the central connecting part along the vertical direction of the rotation axis Y;

[0051] Figure 6a This is a schematic diagram illustrating the working principle of the second embodiment of this application, which differs from that of the first embodiment.

[0052] Figure 6b This is a partial cross-sectional view of the handle along the vertical direction of the rotation axis Y in the second embodiment of this application;

[0053] Figure 6c This is a partial cross-sectional view along the vertical direction of the rotation axis Y for another deformed structure inside the handle in the second embodiment of this application. Detailed Implementation

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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 rotational freedom of the clamp 11 / or the handle 1; the clamp 11 is mounted on the handle 1, and the two clamping arms 111 and the second clamping arm 112 of the clamp 11 are respectively pivotally connected to the handle body, and the first clamping arm 111 and the second clamping arm 112 can rotate about the pivot in directions Ha and Hb, respectively, i.e., the opening and closing freedom of the clamp 11; an elastic element is provided between the first clamping arm 111 and the second clamping arm 112, and the elastic element is in a stretched state to maintain the state of the clamp 11 and provide the operator with a tactile feel; the clamping arm can be moved between opening 40° and closing 0° by pressing it. The input device 1200 also includes a feedback motor 7, which is disposed within the support portion 2 of the first L-shaped connecting rod L1. The feedback motor 7 is output via a drive screw 4, i.e., a rotating shaft. The handle 1 is configured to be rotatably connected to the support portion 2 of the first L-shaped connecting rod L1 via a rotating shaft, and the handle 1 is rotatably connected to the support portion 2 via the drive screw 4. Figure 5a , 5c As shown, the rotating shaft of the feedback motor 7 is connected to the drive screw 4 via a gear set. The gear set is configured as a first bevel gear set 71, and its connecting part consists of a driving member 5 and a driven member 6 that rotate relative to each other via bearings. The driving member 5 and the driven member 6 are axially fixed and coaxially arranged. Furthermore, the driving member 5 is set as a fixed flange 5' and the driven member 6 is set as a moving flange 6'. The clamp 11 is connected to the moving flange 6' via a connecting rod assembly. The opening and closing movement of the clamp 11 will drive the moving flange 6' to move along the Y-axis, as shown. Figure 5c As shown, the fixed flange 5' and the moving flange 6' are connected by bearings and fixed in the axial direction, but can rotate relative to each other in the circumferential direction; the distal end of the drive screw 4 is set as a splined shaft, and the distal end of the splined shaft is fixed to the frame inside the support part 2 by a splined nut; the proximal end of the drive screw 4 is fixed to the fixed flange 5', and the distal end of the drive screw 4 is connected to the second bevel gear 71b of the first bevel gear set 71 through the splined shaft. The second bevel gear 71b meshes with the first bevel gear 71a, and the first bevel gear 71a is fixedly connected to the rotating shaft of the feedback motor 7; that is, the feedback motor 7 drives the second bevel gear through the first bevel gear 71a. The rotation of 71b causes the drive screw 4 to move linearly along the Y-axis; furthermore, the input device 1200 also includes a rotary motor 3, which is connected to the far end of the handle through a second bevel gear set 31; that is, the rotary motor 3 drives the handle 1 to rotate around the Y-axis through the second bevel gear set 31, realizing the self-rotation function of the clamp 11; the third bevel gear 31a of the second bevel gear set 31 is fixedly installed on the rotating shaft of the rotary motor 3, and the fourth bevel gear 31b is fixedly connected to the far end of the handle. A bearing is provided between the far end of the handle 1 and the support part 2, that is, the rotary motor 3 applies torque through the second bevel gear set 31 to drive the handle to rotate.

[0069] The movable flange 6' is fixedly connected to the distal end of the slide bar 13 of the connecting rod assembly. A slide bar on the outer wall of the movable flange 6' is slidably positioned within the axial groove inside the handle to achieve circumferential limiting of the movable flange 6'. Specifically, when the clamp 11 rotates, the handle 1 drives the movable flange 6' to rotate. The handle's rotation only tends to drive the rotary motor 3. The rotation of the handle 1 drives the rotary motor 3 through the fourth bevel gear 31b, increasing the resistance and / or friction when the clamp or handle rotates. Therefore, by controlling the rotary motor 3 to rotate in a corresponding manner through the controller, the aforementioned resistance and / or friction can be eliminated. At this time, the rotation of the handle will not feel obstructed, and the rotary motor 3 can even be controlled to provide rotational assistance to the handle through the second bevel gear set 31, making its rotation easier and smoother. Figure 5c As shown, the moving flange 6' and the fixed flange 5' can rotate relative to each other via bearings. This means the moving flange 6' does not drive the fixed flange 5' or the drive screw 4 to rotate. In terms of structural design, the rotation of the clamp 11 only requires the operation of a single rotary motor 3 to counteract its resistance and / or friction, eliminating positional coupling. When the clamp 11 opens and closes, the feedback motor 7 drives the drive screw 4 to move axially, thereby driving the moving flange 6' to move axially via the fixed flange 5'. At this time, the feedback motor 7 provides force feedback to the clamp 11 through the drive screw 4. The rotation of the clamp 11 does not tend to drive the feedback motor 7 via the moving flange 6'. The force feedback output by the feedback motor 7 only needs to be processed by the controller to obtain the actual execution force parameters of the end effector, without considering the influence of the handle rotation, thus avoiding force coupling. Therefore, this embodiment avoids positional coupling between the feedback motor and the rotary motor, as well as force coupling of the feedback motor, during handle rotation.

[0070] like Figure 5b The diagram shown illustrates the working principle of the input device.

[0071] 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.

[0072] Furthermore, the rotary motor 3 also provides gravity compensation and active alignment functions. Additionally, the rotary motor 3 can simultaneously provide gravity compensation for the handle 1 and clamp 11, preventing the handle 1 and clamp 11 from rotating around the rotation axis Y due to gravity after the operator leaves the handle 1. The rotary motor 3 can also simultaneously achieve active alignment between the clamp 11 and the instrument. Master-slave alignment refers to aligning the input device with the medical instrument when the posture of the medical instrument on the master operating device is inconsistent with that on the slave operating device, or aligning the end effector with the input device. This includes ensuring consistency in parameters such as angle, rotation speed, and parameters that follow the operator's control posture. After master-slave alignment, the movement of the medical instrument and its end effector can be controlled in real-time and accurately through the input device of the master operating device.

[0073] 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.

[0074] Furthermore, such as Figure 5a , 5c As shown, the linkage assembly includes slide rods 13. The proximal ends of the two slide rods 13 are slidably connected to the first clamping arm 111 and the second clamping arm 112 of the clamp 11 via pivots. The distal ends of the slide rods 13 are fixedly connected to the moving flange 6'. The linkage assembly or other synchronous motion mechanisms (such as cams, gear sets, etc.) can make the first clamping arm 111 and the second clamping arm 112 move together. The joint motion means that when the operator operates only one of the clamping arms 111 and the second clamping arm 112 to perform the opening and closing degree of freedom movement, the other clamping arm is also driven by the synchronous motion mechanism (such as the linkage assembly) to perform the opening and closing degree of freedom movement at the same angular velocity.

[0075] Furthermore, such as Figure 5a As shown, the input device 1200 also includes an opening / closing sensor 101 and a rotation sensor 102. The opening / closing sensor 101 is installed inside the handle 1 and is used to detect the opening / closing degree of freedom movement of the clamp 11. Specifically, the opening / closing sensor 101 is located between two slide bars 13, close to the driven member and indirectly fixedly connected to the driven member. The first magnet (not shown) is fixedly installed inside the near end of the handle. When the clamp 11 performs the opening / closing degree of freedom movement, the slide bar 13 drives the moving flange 6' to move linearly along the Y-axis, thereby changing the relative distance between the first magnet and the opening / closing sensor 101. The opening / closing sensor 101 detects the opening / closing degree of freedom movement of the first clamping arm 111 and the second clamping arm 112 of the clamp 11 by detecting the change in the magnetic field strength of the first magnet on it, such as the opening / closing angle. The main control console 1100 issues an opening / closing movement command to the end effector 2210 based on the detection result of the opening / closing sensor 101. Alternatively, the opening / closing sensor 101 and the first magnet can be swapped to achieve the same technical effect; or the opening / closing sensor 101 can be placed on the inner side of the first clamping arm 111 and the second clamping arm 112, and the first magnet can be fixed on the handle. Similarly, the opening / closing freedom motion can be detected by detecting the change in the magnetic field strength of the first magnet on the opening / closing sensor.

[0076] Meanwhile, pressure sensors can also be set on the outer sides of the first clamping arm 111 and the second clamping arm 112 to form a closed loop with the feedback motor 7. The pressure sensors detect whether the force fed back to the clamping arm is the same as the force output by the feedback motor 7, so as to realize the closure of the force feedback and provide more accurate force feedback. Alternatively, a pressure sensor can be set at the proximal end of the handle 1 to detect the opening and closing motion. In this case, only the rotation sensor at the far end of the handle needs to be set, because the pressure sensor can detect the opening and closing freedom motion and the feedback force at the same time.

[0077] Additionally, a rotation sensor 102 is installed inside the support portion 2 to detect the rotational degree of freedom movement of the clamp 11. Specifically, the rotation sensor 102 is disposed on the inner wall of the support portion corresponding to the distal end of the handle, or on the inner wall of the support portion corresponding to the electronic device 10 fixed to the distal end of the handle. The electronic device 10 is a slip ring, and a second magnet (not shown) is fixedly disposed on the corresponding distal end of the handle or on the electronic device 10. When the operator operates the first clamping arm 111 and the second clamping arm 112 of the clamp 11 to make the handle 1 rotate freely, the first magnet fixed to the distal end will rotate relative to the rotation sensor 102 fixed to the support portion 2, causing the magnetic field strength of the second magnet to change on the rotation sensor 102. The rotation sensor 102 detects the rotational degree of freedom movement of the clamp 11 by detecting the change in the magnetic field strength of the second magnet on it. Alternatively, the rotation sensor 101 and the first magnet can be swapped to achieve the same technical effect; or the rotation sensor 102 can be placed at the bottom of the rotation motor 3, since the rotation motor 3 will output a corresponding rotation when the clamp 11 rotates to achieve decoupling, that is, the rotational freedom of the clamp 11 can also be detected by detecting the rotation of the rotation motor 3.

[0078] 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.

[0079] In this embodiment, the input device 1200, when performing the force feedback function, exhibits the following specific internal motion relationships under different scenarios:

[0080] 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.

[0081] When the end effector is not holding an object: the rotation of the clamp 11 only tends to drive the rotary motor 3, and does not drive the fixed flange 5' to rotate or drive the feedback motor 7. At this time, the rotary motor 3 only needs to output torque to overcome the resistance and / or friction of the second bevel gear set 31, or to provide rotational feedback to the end effector. The opening and closing movement of the clamp 11 drives the fixed flange 5' through the moving flange 6' and drives the lead screw 4 to move axially. The controller controls the feedback motor 7 to make the second bevel gear 71b rotate at the same speed to adapt to the axial movement of the lead screw 4, thereby eliminating the resistance of the feedback motor 7 and the first bevel gear set 71. At this time, no feedback force is provided to the operator through the clamp 1, and the feedback motor 7 only compensates for the friction and / or resistance of the first bevel gear set, etc.

[0082] When the end effector grips an object: as above, the rotation of the clamp 11 only tends to drive the rotary motor 3, and does not drive the fixed flange 5' to rotate or drive the feedback motor 7. That is, there is no position coupling phenomenon when the handle rotates. Only the rotary motor 3 needs to output torque to overcome the resistance and / or friction of the second bevel gear set 31, or to provide rotational feedback to the end effector. For the opening and closing movement of the clamp 11, the controller controls the feedback motor 7 to provide driving force. After the drive screw 4 moves axially to the position of the current opening and closing angle on the corresponding end effector side, it provides opening and closing force feedback to the clamp through the moving flange 6'. The magnitude of the force is determined by the actual clamping force collected on the end effector side. The force feedback output by the feedback motor 7 only needs the controller to process the actual execution force parameters of the end effector force. There is no need to consider the influence of the handle rotation. That is, there is no force coupling phenomenon when the clamp opens and closes. Therefore, the single slider mechanical decoupling structure of this embodiment avoids position coupling and force coupling from the structural design.

[0083] Furthermore, such as Figure 5a As shown, the input device 1200 also includes an opening / closing sensor 101 and a rotation sensor 102, which can be configured in the same way as in 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 closed-loop force feedback and providing more accurate force feedback.

[0084] The beneficial effects of this embodiment are: the single slider structure is simple, the control method is simple, the feedback motor is directly connected to the fixture, and the torque output by the feedback motor directly corresponds to the feedback force of the fixture; the rotation of the handle and the opening and closing force feedback are decoupled and do not interfere with each other.

[0085] The second embodiment of this application, for example Figure 6a As shown, Figure 6aThe diagram shows the working principle of the input device. The difference between the active component 5 and the driven component 6 and their connection method compared to the first embodiment is that the active component 5 and the driven component 6 are not directly connected and are a disconnectable transmission connection; the active component 5 and the driven component 6 are coaxially arranged but not directly connected, and can rotate relative to each other in the circumferential direction. Furthermore, low-friction materials can be installed on the opposite end faces of the active component 5 and the driven component 6, allowing them to rotate relative to each other in the circumferential direction with low friction when they come into contact; the feedback motor 7 can drive the active component 5 axially to abut against the driven component 6 and axially push the driven component 6 through the drive screw 4, thereby providing force feedback to the operator through the handle 1. That is, when the handle 1 performs opening and closing movements and rotational movements simultaneously, it drives the driven component 6 to rotate and move linearly along the Y-axis through the linkage assembly or other clamp transmission structure, but the driven component 6 does not transmit the rotational movement to the active component 5, the drive screw 4, or the feedback motor 7. Specifically, when the clamp 11 rotates, the handle 1 drives the driven member 6 to rotate. The handle's rotation only tends to drive the rotary motor 3. The rotation of the handle 1 will drive the rotary motor 3 through the fourth bevel gear 31b, increasing the resistance and / or friction when the clamp or handle rotates. Therefore, the controller controls the rotary motor 3 to rotate in a matching manner to eliminate the above-mentioned resistance and / or friction. 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; and if Figure 5c As shown, the driven member 6 and the driving member 5 can rotate relative to each other via bearings. This means the driven member 6 does not drive the driving member 5 or the drive screw 4 to rotate. In terms of structural design, the rotation of the clamp 11 only requires the operation of a single rotary motor 3 to counteract its resistance and / or friction, eliminating positional coupling. When the clamp 11 opens and closes, the feedback motor 7 drives the drive screw 4 to move axially, thereby providing force feedback to the clamp 11 through the driving member 5 driving the driven member 6 to move axially. The simultaneous rotation of the clamp 11 does not tend to drive the feedback motor 7 through the driven member 6. Therefore, the force feedback output by the feedback motor 7 only requires the controller to process the actual execution force parameters of the end effector, without considering the influence of the handle rotation, thus avoiding force coupling. Therefore, this embodiment avoids positional coupling between the feedback motor and the rotary motor, as well as force coupling of the feedback motor, during handle rotation.

[0086] Furthermore, the rotary motor 3 not only drives the handle 1 to rotate around the Y-axis through the second bevel gear set 31, but can also control the rotary motor 3 to provide rotational assistance to the handle through the second bevel gear set 31, making its rotation easier and smoother; and the rotary motor 3 has other functions such as providing gravity compensation and active alignment as in the first embodiment.

[0087] like Figure 6b And its other deformed structure Figure 6cAs shown, the driving component 5 and the driven component 6 are connected by a disconnectable transmission connection. Figure 6b The driving component 5 and the driven component 6 shown are coaxially arranged, concave-convex fitting socket-type sliders. Figure 6c The driving member 5 and the driven member 6 shown are cylindrical sliders arranged coaxially.

[0088] In addition to the general operating steps, the input device 1200 of the fourth embodiment exhibits the following internal motion relationships under different scenarios when performing the force feedback function:

[0089] When the end effector does not clamp an object: the opening and closing movement of the clamp 11 actuates the driven member 6 through the linkage assembly. The drive screw 4 and the driving member 5 move with the position change of the driven member 6 under the control of the feedback drive motor 7. That is, the driving member 5 is in a position-following state. The controller controls the driving member 5 to always maintain a constant distance from the driven member 6, and there is always no interaction force between the two sliding members. At this time, no feedback force is provided to the operator through the clamp 11. If the clamp 11 also has a rotational movement, the driven member 6 rotates relative to the driving member 5. This rotational movement will not be transmitted to the feedback motor 7 at the rear. The controller controls the rotary motor 3 to output a corresponding torque to offset the motion friction and / or resistance of the second bevel gear set 31, or to provide rotational feedback to the clamp 11 through the rotary motor 3.

[0090] When the end effector grips an object: the feedback motor 7 provides driving force, driving the lead screw 4 to move to the position corresponding to the current opening / closing angle on the end effector side, and then it abuts against the driven member 6, transmitting the end effector's actuating force, i.e., the opening / closing feedback force, to the driven member 6. The magnitude of the force is determined by the actual gripping force collected by the end effector side, thereby providing the opening / closing feedback force to the operator through the clamp 11. If the clamp 11 also has rotational motion, the driving member 5 and the driven member 6 will rotate relative to each other. There is no coupling between the rotation of the clamp 11 and the opening / closing force feedback. The single slider mechanical decoupling structure of this embodiment avoids position coupling and force coupling from a structural design perspective, and does not require a controller to decouple.

[0091] In this embodiment, the dual slider structure of the active component 5 and the driven component 6 enables the input device to simultaneously achieve high torque output and fast response.

[0092] Furthermore, the input device 1200 also includes an opening / closing sensor 101 and a rotation sensor 102, the arrangement of which can be the same 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 closed-loop force feedback and providing more accurate force feedback.

[0093] The beneficial effects of this embodiment are as follows: the dual slider structure can achieve low frictional resistance and damping when the feedback motor does not provide feedback force, which is convenient for precise control; when feedback force is provided, the drive screw can generate a large feedback force; and the force feedback function can be set to switch on and off under physical conditions: when the force feedback function is enabled, the active component moves under control; when the force feedback function is disabled, the active component moves to the standby position and locks; the handle rotation and opening / closing force feedback are decoupled and do not interfere with each other.

[0094] In the two embodiments of this application, the connecting part in the first embodiment is a single slider structure. The rigid connection between the handle and the feedback motor shaft results in a lag in the response and start-up of the high-torque motor, meaning that high torque and fast response cannot be obtained simultaneously. In contrast, the double slider structure in the second embodiment overcomes the problem of lag in the response of the feedback motor. The operator cannot feel the lag in the response of the feedback motor, and it will not affect the timely force feedback.

[0095] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0096] 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 disconnectable transmission connection; The input device further includes: The driven component is disposed inside the handle and is linked to the clamp through the clamp transmission structure; The active component is disposed within the support portion and is connected to the feedback motor via a force feedback transmission mechanism; there is no direct physical connection between the active component and the driven component, and they can rotate relative to each other when they come into contact.

2. The input device as claimed in claim 1, characterized in that, The driven member and the driving member are connected by a disconnectable transmission connection, and low-friction material is provided on the opposite sides of the driven member and the driving member. When the end effector does not clamp an object, the feedback motor drives the active member to change position with the driven member, and the active member and the driven member maintain no interaction force. When the end effector grips an object, the feedback motor drives the active member to move to the target position and abut against the driven member to provide force feedback to the operator via the handle.

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

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

5. The input device as claimed in claim 3, characterized in that, The feedback motor is located inside the support and is configured to drive the drive screw to move axially, thereby moving the driving member to the target position and abutting the driven member, so as to provide the operator with the opening and closing force feedback of the end effector through the handle.

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

7. The input device as claimed in claim 5, characterized in that, The driven member and the driving member are configured as sliders with concave and convex fittings.

8. The input device as claimed in claim 5, characterized in that, The clamp transmission structure includes a connecting rod structure and a slide rod; the clamp is rotatably connected to one end of the connecting rod structure via a pivot, and the other end of the connecting rod structure is connected to the driven member via the slide rod.

9. The input device as claimed in claim 5, 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 active component, and a first magnet corresponding to the opening / closing sensor is disposed inside the handle; the movement of the clamp relative to the handle causes the opening / closing sensor to move relative to the first magnet, thereby enabling the opening / closing sensor to detect changes in magnetic field strength to detect the opening / closing degree of freedom movement of the clamp.

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

11. The input device as claimed in claim 2, 4, or 10, characterized in that, The input device further includes: A pressure sensor is disposed on the outside of the clamp, forming a closed loop with the feedback motor. The pressure sensor detects whether the force fed back to the clamp is the same as the force output by the feedback motor, thereby achieving closed-loop force feedback and providing more accurate force feedback.

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

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

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