Linkage key structure, handle and surgical robot

Abstract

The utility model discloses a linkage key structure, a handle and a surgical robotic.The linkage key structure comprises a key cap arranged on an installation base body in an elastic and telescopic mode, and a synchronous coupling unit connected with the installation base body is arranged between the first end and the second end of the key cap. By adopting the linkage key structure, the handle and the surgical robot, when the pressing force of an operator on the key cap is not uniformly distributed, the synchronous coupling unit can balance the acting force applied to the first end and the second end of the key cap, so that the other end of the key cap sinks synchronously when one end of the key cap is pressed, the consistency of the overall telescopic action of the key cap is ensured, and the safety of the operation is improved. The operation hand feeling of the keycap is improved, and jamming is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, and in particular to a linkage button structure, a handle and a surgical robot. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. However, due to the limitation of the incision size, the difficulty of minimally invasive instruments in minimally invasive surgery has greatly increased, which has become a key factor restricting the development of minimally invasive surgical technology. With the development of robotic technology, a new technology in the field of minimally invasive medicine that can overcome shortcomings and inherit advantages has emerged - minimally invasive surgical robot technology.

[0003] A common minimally invasive surgical robot consists of a doctor's console, a patient-side trolley and a display device. The surgeon operates the input device on the doctor's console and transmits the input to the patient's surgical platform connected to the remotely operated surgical instrument. The patient's surgical platform includes a base, a column, a cantilever and several mechanical arms. The mechanical arms are provided with a handle. The handle is generally provided with two buttons, which are used to control the rise or fall of the column. In order to meet the length of the mechanical arm and facilitate the human hand to push and pull the mechanical arm, the length of the handle is generally set to adapt to the length of the mechanical arm. In order to improve the efficiency of adjusting the position of the mechanical arm before surgery, the column is generally raised and lowered and the angle of the mechanical arm is adjusted at the same time. Therefore, when the human hand grasps the handle to push and pull the mechanical arm, it also controls the rise or fall of the column. This requires that when grasping the handle, the human hand also exerts pressure on the button.

[0004] Since most of the buttons on the handle are set in a long strip shape, when one side of the button edge is touched, the uneven pressing force can easily cause the button to collapse on one side and tilt on the other side in an unbalanced state. The pressing process may be stuck, affecting the pressing feel. Summary of the invention

[0005] In view of the deficiencies in the prior art, the utility model provides a linkage button structure, a handle and a surgical robot which are not prone to jamming and have a good pressing feel.

[0006] In order to achieve the above objectives, the utility model is implemented through the following technical solutions.

[0007] The present application provides a linkage key structure, comprising a micro switch fixedly arranged on a mounting base and a key cap elastically and flexibly arranged on the mounting base, wherein a synchronous coupling unit connected to the mounting base is arranged between a first end and a second end of the key cap;

[0008] The synchronous coupling unit is capable of transmitting the force applied to the first end of the keycap along the direction of extension and contraction of the keycap to the second end of the keycap, and / or transmitting the force applied to the second end of the keycap along the direction of extension and contraction of the keycap to the first end of the keycap;

[0009] The key cap can contact and trigger the micro switch, and the first end and the second end of the key cap are specifically two opposite ends of the key cap in the length direction;

[0010] The technical effect is that when the operator's pressing force on the keycap is unevenly distributed, the synchronous coupling unit can balance the force on the first end and the second end of the keycap, so that when one end of the keycap is pressed, the other end sinks synchronously, thereby avoiding the problem of keycap being pressed and jamming, and ensuring the operator's pressing feel.

[0011] Further defined, in the above-mentioned linkage key structure, the synchronous coupling unit comprises two actuating members respectively fixedly arranged on the first end and the second end of the key cap, and the actuating members are provided with a first limiting portion and a second limiting portion arranged in an array along the extension direction of the key cap;

[0012] A linkage rod is rotatably provided on the mounting base, and the linkage rod comprises a rotating shaft section and two linkage parts respectively fixedly provided at two ends of the rotating shaft section;

[0013] The rotation axis of the rotating shaft section is parallel to the length direction of the key cap, and the two linkage parts are respectively arranged between the first limiting part and the second limiting part at corresponding positions and can abut against the first limiting part and the second limiting part;

[0014] The technical effect is that when one end of the keycap is subjected to a pressing force, the acting part at the corresponding position contacts the linkage part on that side of the linkage rod through the first limiting part and the second limiting part, thereby driving the linkage rod to rotate. When the linkage rod rotates, it can contact the first limiting part and the second limiting part on the acting part at the corresponding position through the linkage part on the other side, thereby realizing the synchronization of the acting force on the other side of the keycap, ensuring the consistency of the overall extension and retraction action of the keycap, improving the operating feel of the keycap, and reducing jamming.

[0015] It is further defined that in the above-mentioned linkage key structure, the linkage part is respectively arranged to be in point contact with the first limiting part and the second limiting part at the corresponding position;

[0016] Its technical effect lies in that, through the point contact setting between the linkage part of the linkage rod and the first limiting part and the second limiting part, on the one hand, the limiting stability of the linkage part of the linkage rod by the first limiting part and the second limiting part can be ensured when the linkage rod rotates; on the other hand, since the linkage rod will also generate relative movement with the first limiting part and the second limiting part during the rotation process, the friction force during the relative movement can be reduced through the point contact connection method, thereby ensuring the stability of the linkage rod during the rotation process and further reducing the probability of jamming during the keycap pressing process.

[0017] It is further defined that in the above-mentioned linkage button structure, a receiving groove is provided on the mounting base, and the rotating shaft section is arranged in the receiving groove and is gap-matched with the inner wall of the receiving groove;

[0018] A fixing piece is also fixedly provided on the installation base, and the fixing piece covers the opening of the accommodating groove and can limit the displacement of the linkage rod at the corresponding position in the telescopic direction of the key cap.

[0019] It is further defined that in the above-mentioned linkage key structure, the accommodation groove is arranged on an end surface of the mounting base away from the key cap;

[0020] The mounting base is also provided with two avoidance grooves respectively connected with the two ends of the accommodating groove, and the linkage part is movably arranged in the avoidance grooves at corresponding positions;

[0021] The technical effect is that, since the accommodating groove is arranged on the end face of the mounting base away from the key cap, the linkage part on the linkage rod can give way through the avoidance groove when the linkage rod rotates, thereby avoiding mutual interference between components, and the relative arrangement structure of the accommodating groove and the key cap with respect to the mounting base can reduce the overall thickness of the linkage key structure, thereby facilitating the installation of the device.

[0022] It is further defined that, in the above-mentioned linkage key structure, an elastic member is provided between the mounting base and the key cap, and two ends of the elastic member are respectively in contact with the mounting base and the key cap.

[0023] Further defined, in the above-mentioned linkage key structure, a sleeve is fixedly provided on the end surface of the mounting base close to the key cap, and the elastic member is sleeved on the sleeve;

[0024] The technical effect thereof is that the elastic member can be positioned by the sleeve, thereby ensuring the telescopic reliability of the elastic member.

[0025] Further defined, in the above-mentioned linkage key structure, a guide hole is provided on the mounting base, and a guide rod slidably connected to the guide hole is fixedly provided on the end surface of the key cap close to the mounting base;

[0026] The technical effect is that the sliding cooperation between the guide rod and the guide hole can guide the movement of the keycap when the keycap is extended and retracted relative to the mounting base, thereby improving the stability of the keycap during pressing or rebounding.

[0027] The present application also provides a handle, including a shell assembly, on which the linkage button structure described in any one of the above items is provided.

[0028] The present application also provides a surgical robot, comprising a base, a column and a robotic arm, wherein the robotic arm is provided with the handle described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the structure of the "mechanical arm 100" part of the surgical robot in the embodiment of the present application;

[0030] Figure 2 This is a schematic diagram of the structure explosion of the "handle 200" in the surgical robot according to the embodiment of the present application;

[0031] Figure 3 This is a schematic diagram of the structure explosion of the "handle 200" of the embodiment of the present application;

[0032] Figure 4 This is a schematic diagram of the structure explosion of the "handle 200" of the embodiment of the present application;

[0033] Figure 5 This is a schematic structural diagram of the "fixing member 270" in the "handle 200" of the embodiment of the present application;

[0034] Figure 6 It is a schematic diagram of the installation of the "linking rod 260" in the "handle 200" of the embodiment of the present application on the "bottom plate 210";

[0035] Figure 7 This is a schematic diagram of the structure on the "bottom plate 210" of the "handle 200" of the embodiment of the present application;

[0036] Figure 8 It is a schematic structural diagram of the “fixing member 270” in the “handle 200” of the embodiment of the present application.

[0037] Reference numerals

[0038] Robotic arm 100, handle 200, top cover 201, bottom cover 202, pressing port 203, connecting piece 204, bottom plate 210, accommodating groove 211, guide hole 212, avoidance groove 213, mounting groove 214, key cap 220, guide rod 221, micro switch 230, sleeve 241, elastic piece 242, action piece 250, first limiting part 251, second limiting part 252, linkage rod 260, fixing piece 270, sealing plate 271, mounting plate 272. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0040] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0041] The linkage button structure, handle and surgical robot provided in the embodiments of the present application are described in detail below through specific embodiments and their application scenarios in combination with the accompanying drawings.

[0042] The present application provides a surgical robot, including a base, a column, a cantilever, and Figure 1 The mechanical arm 100 shown has a handle 200 fixedly provided on the mechanical arm 100 .

[0043] like Figures 1 to 8 As shown, an embodiment of the present application provides a handle 200 that can be used for the above-mentioned surgical robot, including a shell assembly and a linkage button structure arranged on the shell assembly.

[0044] In a preferred embodiment, Figure 2 As shown, the housing assembly includes a top cover 201 and a bottom cover 202 fixedly connected to the top cover 201 . The top cover 201 and the bottom cover 202 are buckled with each other to form a cavity for accommodating the linkage key structure.

[0045] A pressing hole 203 communicating with the cavity is disposed at one end of the bottom cover 202 away from the handle 200 , and the key cap 220 of the linkage key structure can extend through the pressing hole 203 to the side of the bottom cover 202 away from the top cover 201 .

[0046] It is understandable that when the operator holds the handle 200 , the operator can press the key cap 220 of the linkage key structure at the same time, thereby triggering an operation instruction.

[0047] In a preferred embodiment, Figure 2 As shown, connecting pieces 204 fixedly connected to the robot arm 100 are respectively fixedly disposed at both ends of the extension direction of the shell assembly.

[0048] like Figures 2 to 8 As shown, the embodiment of the present application provides a linkage key structure that can be used for the above-mentioned handle 200, including a keycap 220 elastically and telescopically arranged on a mounting base, and a synchronous coupling unit connected to the mounting base is provided between the first end and the second end of the keycap 220, and the synchronous coupling unit can transmit the force along the extension direction of the keycap 220 exerted on the first end of the keycap 220 to the second end of the keycap 220, and transmit the force along the extension direction of the keycap 220 exerted on the second end of the keycap 220 to the first end of the keycap 220.

[0049] The first end and the second end of the key cap 220 are specifically two opposite ends of the key cap 220 in the length direction.

[0050] In an embodiment of the present application, the above-mentioned linkage key structure is adopted. When the operator's pressing force on the keycap 220 is unevenly distributed, the synchronous coupling unit can balance the force acting on the first end and the second end of the keycap 220, so that when one end of the keycap 220 is pressed, the other end sinks synchronously, thereby avoiding the problem of keycap 220 being stuck when pressed, and ensuring the operator's pressing feel.

[0051] In a preferred embodiment, Figures 2 to 7 As shown, the mounting base is specifically configured as a base plate 210 , and the base plate 210 can be fixedly disposed on the base plate 210 .

[0052] It is understandable that the setting form of the installation base is not limited to the above-mentioned one. For example, the installation base can be directly set as the top cover 201, that is, the keycap 220 is elastically and telescopically set on the shell assembly. As long as the overall assembly of the linked key structure can be achieved, it will not be elaborated here.

[0053] In a preferred embodiment, Figures 2 to 6As shown, the synchronous coupling unit includes two actuating members 250 respectively fixedly disposed on the first end and the second end of the key cap 220 , and the actuating members 250 are fixedly provided with a first limiting portion 251 and a second limiting portion 252 arranged in an array along the extension direction of the key cap 220 .

[0054] A linkage rod 260 is rotatably provided on the base plate 210. The linkage rod 260 has a rotating shaft section and two linkage parts respectively fixed at both ends of the rotating shaft section. The rotation axis of the rotating shaft section of the linkage rod 260 is parallel to the length direction of the keycap 220. The two linkage parts are respectively arranged between the first limiting part 251 and the second limiting part 252 at corresponding positions and can abut against the first limiting part 251 and the second limiting part 252.

[0055] In the embodiment of the present application, the above-mentioned linkage key structure is adopted. When one end of the keycap 220 is subjected to a pressing force, the action member 250 at the corresponding position contacts the linkage part of the linkage rod 260 on that side through the first limiting part 251 and the second limiting part 252, thereby driving the linkage rod 260 to rotate. When the linkage rod 260 rotates, it can contact the first limiting part 251 and the second limiting part 252 on the action member 250 at the corresponding position through the linkage part on the other side, thereby realizing the synchronization of the force on the other side of the keycap 220, ensuring the consistency of the overall extension and retraction action of the keycap 220, improving the operating feel of the keycap 220, and reducing jamming.

[0056] It can be understood that the setting form of the synchronous coupling unit is not limited to the above-mentioned one. For example, gear parts can be set at both ends of the linkage rod 260, and a toothed plate structure that can mesh with the gear parts on the linkage rod 260 can be set on the action member 250. When one side of the keycap 220 is pressed down, the gear part at the corresponding position is driven to rotate through the toothed plate structure on this side, thereby driving the linkage rod 260 to rotate as a whole. The linkage rod 260 drives the action member 250 at the corresponding position to be pressed down synchronously through the gear part on the other side. As long as the action synchronization of the two ends of the keycap 220 can be achieved, it will not be elaborated here.

[0057] In a preferred embodiment, the linkage portion of the linkage rod 260 is configured to be in point contact with the first limiting portion 251 and the second limiting portion 252 at the corresponding position.

[0058] It can be understood that, through the point contact setting between the linkage part of the linkage rod 260 and the first limiting part 251 and the second limiting part 252, on the one hand, it can ensure the limiting stability of the linkage part of the linkage rod 260 by the first limiting part 251 and the second limiting part 252 when the linkage rod 260 rotates; on the other hand, since the linkage rod 260 will also generate relative movement with the first limiting part 251 and the second limiting part 252 during the rotation process, the friction force during the relative movement can be reduced through the point contact connection method, thereby ensuring the stability of the linkage rod 260 during the rotation process and further reducing the probability of jamming during the pressing process of the key cap 220.

[0059] In a preferred embodiment, Figure 4 As shown, the linkage part of the linkage rod 260 is configured as a cylinder, and the first limiting part 251 and / or the second limiting part 252 is configured as an arc or prism structure near one end of the linkage part of the linkage rod 260.

[0060] In a preferred embodiment, Figure 4 As shown, a limiting plane for limiting the rotation angle of the linkage rod 260 is provided on the first limiting portion 251 and / or the second limiting portion 252 .

[0061] Specifically, when the keycap 220 is pressed downward and the linkage rod 260 is driven to rotate by the first limiting portion 251 and the second limiting portion 252, when the linkage rod 260 rotates to the point where the outer circular surface directly abuts against the upper limit plane of the first limiting portion 251 and / or the second limiting portion 252, the linkage rod 260 can be limited relative to the active member 250, thereby limiting the downward distance of the keycap 220.

[0062] It can be understood that when the first limiting portion 251 and / or the second limiting portion 252 is set as a prismatic structure at one end of the linkage portion close to the linkage rod 260, the limiting plane can be set as a side end surface of the prismatic structure in the rotation direction of the linkage rod 260 when the keycap 220 is pressed down.

[0063] In a preferred embodiment, Figures 4 to 6 As shown, a receiving groove 211 is provided on the end surface of the bottom plate 210 away from the key cap 220 , and the shaft section of the linkage rod 260 is disposed in the receiving groove 211 and is gap-matched with the inner wall of the receiving groove 211 .

[0064] A fixing member 270 is fixedly disposed on an end surface of the bottom plate 210 away from the key cap 220 . The fixing member 270 covers the opening of the receiving groove 211 and can limit the displacement of the linkage rod 260 at the corresponding position in the extension direction of the key cap 220 .

[0065] The bottom plate 210 is further provided with two avoidance grooves 213 respectively connected with the two ends of the accommodation groove 211 , and the linkage part of the linkage rod 260 is movably arranged in the avoidance grooves 213 at corresponding positions.

[0066] It can be understood that since the accommodating groove 211 is arranged on the end face of the base plate 210 away from the key cap 220, the linkage part on the linkage rod 260 can give way through the avoidance groove 213 when the linkage rod 260 rotates, thereby avoiding mutual interference between components, and the relative arrangement structure of the accommodating groove 211 and the key cap 220 with respect to the base plate 210 can reduce the overall thickness of the linkage key structure, thereby facilitating the installation of the device.

[0067] In a preferred embodiment, Figures 2 to 6 As shown, a micro switch 230 is fixedly disposed on the bottom plate 210 , and the key cap 220 can contact the micro switch 230 when it moves toward the side close to the bottom plate 210 .

[0068] It is understandable that pressing the key cap 220 can contact and trigger the micro switch 230, thereby generating a corresponding operation instruction.

[0069] In a preferred embodiment, Figures 2 to 7 As shown, a mounting groove 214 is formed through the bottom plate 210 , and the micro switch 230 is fixedly disposed in the mounting groove 214 .

[0070] In a preferred embodiment, Figure 5 As shown, two fixing members 270 are symmetrically and fixedly provided on the end surface of the bottom plate 210 away from the keycap 220 in the length direction of the keycap 220 , one of which covers the opening of the accommodating groove 211 and can limit the displacement of the linkage rod 260 at the corresponding position in the extension direction of the keycap 220 .

[0071] In a preferred embodiment, Figure 5 , Figure 7 , Figure 8 As shown, the fixing member 270 includes a sealing plate 271 fixedly connected to the bottom plate 210 and a mounting plate 272 fixedly disposed on the sealing plate 271 and engaged with the mounting groove 214 .

[0072] A sealing plate 271 on one of the fixing members 270 covers the opening of the receiving groove 211 and can limit the displacement of the linkage rod 260 at the corresponding position in the extension direction of the key cap 220 . The micro switch 230 is fixedly arranged on the bottom plate 210 via a mounting plate 272 .

[0073] In a preferred embodiment, Figures 2 to 4 As shown, an elastic member 242 is disposed between the bottom plate 210 and the key cap 220 , and two ends of the elastic member 242 abut against the bottom plate 210 and the key cap 220 respectively.

[0074] It is understandable that when the keycap 220 retracts toward the side close to the base plate 210 under the action of the pressing force, the elastic member 242 is compressed and accumulates elastic potential energy. When the pressing force on the keycap 220 is released, it can be reset under the elastic force of the elastic member 242, thereby driving the action member 250 and the linkage rod 260 to reset.

[0075] In a preferred embodiment, the elastic member 242 is specifically configured as a spring.

[0076] It is understandable that the configuration of the elastic member 242 is not limited to the above-mentioned one. For example, it can also be configured as elastic rubber, spring sheet, etc., as long as the elastic expansion and contraction of the keycap 220 relative to the base plate 210 can be achieved, which will not be elaborated here.

[0077] In a preferred embodiment, Figures 2 to 4 As shown, a sleeve 241 is fixedly provided on an end surface of the bottom plate 210 close to the key cap 220 , and the elastic member 242 is sleeved on the sleeve 241 .

[0078] It is understandable that the elastic member 242 can be positioned by the sleeve 241 , thereby ensuring the telescopic reliability of the elastic member 242 .

[0079] In a preferred embodiment, Figures 2 to 4 As shown, two sleeves 241 are arranged in an array along the length direction of the keycap 220 and are fixedly provided on the bottom plate 210 , and the two sleeves 241 correspond to the first end and the second end of the keycap 220 , respectively.

[0080] There are two elastic members 242 , which are respectively sleeved on the sleeve 241 .

[0081] It is understandable that, by elastically supporting the two ends of the keycap 220 respectively with the two elastic members 242 , the stability and response speed of the keycap 220 when rebounding can be improved, further improving the user experience of the operator.

[0082] In a preferred embodiment, Figures 2 to 7 As shown, a guide hole 212 is formed through the bottom plate 210 , and a guide rod 221 slidably connected to the guide hole 212 is fixedly provided on the end surface of the key cap 220 close to the bottom plate 210 .

[0083] It is understandable that the sliding fit between the guide rod 221 and the guide hole 212 can guide the movement of the keycap 220 when the keycap 220 is extended or retracted relative to the base plate 210, thereby improving the stability of the keycap 220 during pressing or rebounding.

[0084] In a preferred embodiment, Figures 2 to 7As shown, two guide holes 212 are arranged in an array on the bottom plate 210 along the length direction of the key cap 220 , and the two guide holes 212 correspond to the first end and the second end of the key cap 220 , respectively.

[0085] Two guide rods 221 are fixedly provided on the key cap 220 and are slidably disposed in the guide holes 212 at corresponding positions respectively.

[0086] It is understandable that, through the sliding cooperation between the two sets of guide rods 221 and the guide holes 212 , the two ends of the keycap 220 can be guided for movement respectively, thereby further improving the pressing and rebounding stability of the keycap 220 .

[0087] In a preferred embodiment, Figures 2 to 7 As shown, the guide hole 212 is connected to the end of the sleeve 241 close to the key cap 220 .

[0088] It can be understood that this arrangement can reduce the space occupied by the guide structure and the elastic structure between the base plate 210 and the key cap 220, which is conducive to the miniaturization of the entire device.

[0089] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0090] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A linkage key structure, It is characterized in that It comprises a micro switch fixedly arranged on a mounting base and a key cap elastically arranged on the mounting base, wherein a synchronous coupling unit connected to the mounting base is arranged between a first end and a second end of the key cap; The synchronous coupling unit is capable of transmitting the force applied to the first end of the keycap along the direction of extension and contraction of the keycap to the second end of the keycap, and / or transmitting the force applied to the second end of the keycap along the direction of extension and contraction of the keycap to the first end of the keycap; The key cap can contact and trigger the micro switch, and the first end and the second end of the key cap are specifically two opposite ends of the key cap in the length direction.

2. A linkage key structure according to claim 1, It is characterized in that The synchronous coupling unit comprises two actuating members respectively fixedly arranged on the first end and the second end of the keycap, wherein the actuating members are provided with a first limiting portion and a second limiting portion arranged in an array along the telescopic direction of the keycap; A linkage rod is rotatably provided on the mounting base, and the linkage rod comprises a rotating shaft section and two linkage parts respectively fixedly provided at two ends of the rotating shaft section; The rotation axis of the rotating shaft section is parallel to the length direction of the key cap, and the two linkage parts are respectively arranged between the first limiting part and the second limiting part at corresponding positions and can abut against the first limiting part and the second limiting part.

3. A linkage key structure according to claim 2, It is characterized in that The linkage part is respectively arranged to be in point contact with the first limiting part and the second limiting part at the corresponding position.

4. A linkage key structure according to claim 2 or 3, It is characterized in that The mounting base is provided with a receiving groove, and the rotating shaft section is arranged in the receiving groove and is in clearance fit with the inner wall of the receiving groove; A fixing piece is also fixedly provided on the installation base, and the fixing piece covers the opening of the accommodating groove and can limit the displacement of the linkage rod at the corresponding position in the telescopic direction of the key cap.

5. A linkage key structure according to claim 4, It is characterized in that The receiving groove is arranged on the end surface of the mounting base away from the key cap; The mounting base is further provided with two avoidance grooves respectively connected with the two ends of the accommodating groove, and the linkage part is movably arranged in the avoidance grooves at corresponding positions.

6. A linkage key structure according to claim 1, It is characterized in that An elastic member is arranged between the installation base and the key cap, and two ends of the elastic member are respectively in contact with the installation base and the key cap.

7. A linkage key structure according to claim 6, It is characterized in that A sleeve is fixedly arranged on the end surface of the installation base close to the key cap, and the elastic member is sleeved on the sleeve.

8. A linkage key structure according to claim 1, It is characterized in that The installation base is provided with a guide hole, and the end surface of the key cap close to the installation base is fixed with a guide rod which is slidably connected with the guide hole.

9. A handle, It is characterized in that It comprises a shell component, on which the linkage key structure according to any one of claims 1 to 8 is provided.

10. A surgical robot, It is characterized in that It comprises a base, a column and a mechanical arm, and the mechanical arm is provided with the handle as claimed in claim 9.

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