Rotating joint, operation main hand and surgical robot

Abstract

The utility model belongs to the technical field of medical instruments, and provides a rotating joint, an operation main hand and a surgical robot, and the rotating joint comprises a fixed seat, a rotating part, a limiting part, a guiding part and a rotating direction detection assembly. The fixed seat is provided with a limiting rail, the rotating piece is rotationally installed on the fixed seat, and the limiting piece is arranged in the limiting rail and can reciprocate along the limiting rail. The guide piece is installed on the rotating piece and can push the limiting piece to move in the limiting rail along with rotation of the rotating piece, and when the limiting piece moves to the end of the limiting rail, the limiting piece can limit the rotating piece to continue rotating. The rotation direction detection assembly is used for detecting the relative position of the guiding piece and the limiting piece. According to the rotating joint, the zero returning direction of the rotating part can be determined, so that the rotating part can smoothly return to zero in the zero returning direction, and the risks that the rotating part and a structure installed on the rotating part collide with a mechanical limiting structure and a driving part of the rotating part is damaged are reduced.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a rotary joint, an operating main hand and a surgical robot. Background Art

[0002] In the related art, surgical robots are usually provided with a rotating joint, and the rotation angle of the rotating joint is usually limited within a certain range. For the rotating joint, when the cumulative angle of rotation allowed in the clockwise direction and the counterclockwise direction is less than 360°, the actual rotation direction of the rotating joint can be directly judged from the appearance, but if the cumulative angle of rotation allowed in the clockwise direction and the counterclockwise direction exceeds 360°, it is difficult to confirm the actual rotation direction of the rotating joint by appearance alone. For example, in the two cases where the rotation center of the joint rotates 100° clockwise from the zero position and stops rotating, and the rotation center of the joint rotates 260° counterclockwise from the zero position and stops rotating, the rotation center of the joint will stay at the same absolute position and the appearance is exactly the same, and it is impossible to judge from the appearance whether the rotation center of the joint rotates clockwise to the absolute position where it stays, or rotates counterclockwise to the absolute position where it stays.

[0003] When the actual rotation direction of the joint rotation center cannot be determined from the appearance, if the absolute encoder loses power midway, causing the recorded circle value to become invalid, the main controller will also be unable to determine the actual rotation direction of the joint rotation center. This can easily cause the joint rotation center to return to zero in the wrong direction, and it may easily cause the joint rotation center to collide with the mechanical limit structure, or damage the driving parts of the joint rotation center. Utility Model Content

[0004] The purpose of the embodiments of the present application is to provide a rotating joint, an operating main hand and a surgical robot to solve the technical problems existing in the prior art that when the circle value recorded by the absolute encoder fails, the return direction of the joint rotation center cannot be determined, and the joint rotation center is prone to collision with the mechanical limit structure and damage to the joint rotation center driving component.

[0005] To achieve the above purpose, the technical solution adopted in this application is:

[0006] In a first aspect, a rotational joint is provided, the rotational joint comprising:

[0007] A fixed seat, wherein the fixed seat is provided with a limiting track, and the limiting track is an arc track around the rotation center of the joint;

[0008] A rotating member, which is rotatably mounted on the fixed seat and forms a rotation center of the joint;

[0009] A limiting member, which is arranged in the limiting track and can reciprocate along the limiting track;

[0010] A guide member is installed on the rotating member, and the guide member can push the limiting member to move in the limiting track as the rotating member rotates. When the limiting member moves to the end of the limiting track, the limiting member can limit the rotating member from continuing to rotate;

[0011] The rotation direction detection component is used to detect the relative position of the guide member and the limit member.

[0012] In one of the embodiments, the rotation direction detection assembly includes at least two first proximity sensors, and the at least two first proximity sensors are arranged at intervals on the side of the limiting rail along the extension path of the limiting rail.

[0013] In one embodiment, the first proximity sensor includes a Hall detection element, an inductive detection element, or a capacitive detection element.

[0014] In one embodiment, at least two of the first proximity sensors are arranged at equal intervals along the extension path of the limiting track.

[0015] In one embodiment, the rotation direction detection component includes two second proximity sensors, which are respectively arranged on both sides of the guide member along the moving direction, and each of the second proximity sensors is used to detect the relative position of the limit member and the guide member.

[0016] In one embodiment, the zero point position of the guide member is located in the guide track between the two ends of the limiting track, the guide track and the limiting track together form a complete circular ring shape, and the zero point position of the guide member is located on the symmetry axis of the limiting track.

[0017] In one of the embodiments, the rotary joint further includes an absolute encoder, and the absolute encoder is used to detect the absolute position of the rotating member.

[0018] In a second aspect, an operating master hand is provided, the operating master hand includes a master hand arm and a master hand wrist, the master hand arm includes a plurality of arm operating joints, the master hand wrist is connected to the master hand arm, the master hand wrist includes a plurality of wrist operating joints, the wrist operating joint located at the end of the master hand wrist is configured as the rotating joint described in the first aspect above; an instrument clamping control mechanism is provided on the rotating member.

[0019] According to a third aspect, a surgical robot is provided, comprising a robotic arm, an instrument, a controller and the operating main hand as described in the second aspect, wherein the robotic arm comprises a plurality of robotic arm motion joints, the instrument is connected to the robotic arm, the instrument comprises a plurality of instrument motion joints, the controller is configured to control the movements of a plurality of robotic arm motion joints respectively according to the movements of a plurality of arm operating joints, and is configured to control the movements of a plurality of instrument motion joints respectively according to the movements of a plurality of wrist operating joints.

[0020] In one of the embodiments, the controller is also configured to output the return-to-zero direction of the rotating member according to the relative position obtained by the rotation direction detection component, and control the rotating member to return to zero along the return-to-zero direction according to the return-to-zero direction, and control the instrument motion joint corresponding to the rotating member to return to zero along the return-to-zero direction.

[0021] The beneficial effects of the rotating joint, operating main hand and surgical robot provided by the present application are: the rotating joint provided by the present application is provided with a rotation direction detection component, which can detect the relative positions of the guide and the limit member. If the detected relative position shows that the guide and the limit member are arranged in sequence along the clockwise direction, it can be concluded that the guide rotates in the clockwise direction to the absolute position where it stays, and then the zero return direction of the rotating member is counterclockwise; if the detected relative position shows that the guide and the limit member are arranged in sequence along the counterclockwise direction, it can be concluded that the guide rotates in the counterclockwise direction to the absolute position where it stays, and then the zero return direction of the rotating member is clockwise. In this way, the zero return direction of the rotating member can be determined, so that the rotating member can smoothly return to zero in the correct zero return direction, which can avoid the collision between the rotating member and the structure installed on the rotating member and the mechanical limit structure, damage to the driving member of the rotating member, etc., thereby improving the safety and reliability of the rotating joint, operating assistant and surgical robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0023] Figure 1 A schematic diagram of the structure of a rotary joint provided in an embodiment of the present application;

[0024] Figure 2 for Figure 1 An exploded structural diagram of a local structure of a revolute joint is shown;

[0025] Figure 3 for Figure 1 A left-view structural schematic diagram of a local structure of a revolute joint shown;

[0026] Figure 4 for Figure 3 The AA sectional view of the left-view structural schematic diagram of the local structure of the rotary joint shown in the figure shows that the number of the first proximity sensors is five and the guide member is rotating clockwise;

[0027] Figure 5 for Figure 3 The AA sectional view of the left-view structural schematic diagram of the local structure of the rotary joint shown in the figure shows that the number of the first proximity sensors is five and the guide member is rotating counterclockwise;

[0028] Figure 6 for Figure 3 The AA sectional view of the left-view structural schematic diagram of the local structure of the rotary joint shown in the figure shows that there are three first proximity sensors and the guide member is rotating clockwise;

[0029] Figure 7 The structure diagram of the rotating joint after removing the guide member and the rotating member provided in the embodiment of the present application is shown in FIG. Figure 1 ;

[0030] Figure 8 The structure diagram of the rotating joint after removing the guide member and the rotating member provided in the embodiment of the present application is shown in FIG. Figure 2 ;

[0031] Fig. 9 The structure diagram of the rotating joint after removing the guide member and the rotating member provided in the embodiment of the present application is shown in FIG. Figure 3 ;

[0032] Fig.10 A schematic diagram of the partial structure of another rotary joint provided in an embodiment of the present application;

[0033] Fig.11 for Fig.10 A schematic structural diagram of the conductive slip ring of the rotary joint.

[0034] Among them, the reference numerals in the figure are:

[0035] 10-rotation joint; 110-fixed seat; 111-limiting track; 1111-guide track; 112-base; 1121-first fan annular groove; 113-pressing plate; 1131-second fan annular groove; 120-rotating member; 121-rotating shaft; 122-driven wheel; 130-limiting member; 140-guide member; 150-rotation direction detection component; 151, 151a, 151b, 151c, 151d, 151e-first proximity sensor; 160-circuit board; 170-instrument clamping control mechanism;

[0036] 20 - rotating joint; 210 - fixed seat; 220 - rotating member; 221 - rotating shaft; 222 - driven wheel; 230 - instrument clamping control mechanism; 240 - driving wheel; 250 - transmission belt; 260 - conductive slip ring; 261 - slip ring stator; 262 - slip ring rotor. DETAILED DESCRIPTION

[0037] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0038] In the description of the present application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0039] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0040] Reference throughout the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, when the phrases "in one embodiment" or "in some embodiments" appear in various places throughout the specification, not all references are to the same embodiment. Furthermore, in one or more embodiments, the particular features, structures, or characteristics may be combined in any suitable manner.

[0041] In the related art, surgical robots are usually provided with a rotating joint, and the rotation angle of the rotating joint is usually limited to a certain range. For the rotating joint, when the cumulative angle of rotation allowed in the clockwise direction and the counterclockwise direction is less than 360°, the actual rotation direction of the rotating joint can be directly judged from the appearance, but if the cumulative angle of rotation allowed in the clockwise direction and the counterclockwise direction exceeds 360°, it is difficult to confirm the actual rotation direction of the rotating joint by appearance alone. For example, in the two cases where the rotation center of the joint rotates 100° in the clockwise direction from the zero position and the rotation center of the joint rotates 260° in the counterclockwise direction from the zero position, the rotation center of the joint will stay at the same absolute position and the appearance is completely the same. At this time, it is impossible to judge from the appearance whether the rotation center of the joint rotates in the clockwise direction to the absolute position where it stays, or rotates in the counterclockwise direction to the absolute position where it stays, and it is also impossible to determine the return direction of the rotation center of the joint to zero.

[0042] In order to solve the problem that the return direction of the joint rotation center cannot be determined based on the appearance when the rotation exceeds 360°, in the related technology, a multi-turn absolute encoder is usually used to count the angle and number of turns of the joint rotation center at the same time. The multi-turn absolute encoder includes a mechanical multi-turn absolute encoder and an electronic absolute encoder. However, when using a mechanical multi-turn absolute encoder, if it is necessary to enable the mechanical multi-turn absolute encoder to effectively remember the number of rotations after the system is powered off, it is usually necessary to configure an independent power supply system for the mechanical multi-turn absolute encoder, which will result in a larger encoder size and cannot be well applied to operation. The main hand and other compact structures; electronic multi-turn absolute encoders usually use non-volatile memory to store angles and numbers of turns. When the system is powered off, the angles and numbers of turns will be stored in the non-volatile memory and restored when the power is on. However, during the power off period, the joint rotation center is only allowed to rotate within a certain angle range. If the rotation angle of the joint rotation center exceeds the allowable rotation range, the number of turns recorded by the electronic multi-turn encoder will become invalid. The invalid number of turns recorded by the multi-turn absolute encoder will make the controller unable to determine the rotation direction of the joint rotation center, and thus make it impossible to determine the return direction of the joint rotation center.

[0043] It can be seen from this that when the rotation direction of the joint rotation center cannot be determined based on the appearance and the circle value recorded in the absolute encoder is invalid, the return direction of the joint rotation center cannot be determined. In this way, the joint rotation center is prone to return to zero in the wrong direction, which can easily cause the joint rotation center to collide with the mechanical limit structure and damage the driving parts of the joint rotation center.

[0044] In order to solve the above problem, an embodiment of the present application provides a rotating joint. When the actual rotation direction of the joint rotation center cannot be determined based on the appearance and the circle value recorded by the absolute encoder is invalid, the rotating joint can still determine the zeroing direction of the joint rotation center, so that the joint rotation center can smoothly return to zero along the correct zeroing direction, thereby avoiding the collision between the joint rotation center and the mechanical limit structure and damage to the driving part of the joint rotation center.

[0045] The rotational joint provided in the embodiment of the present application can be applied to an operating main hand and a surgical robot with an operating main hand, but is not limited to being used for an operating main hand. The rotational joint disclosed in the present application can also be applied to other products with rotational joints, so that when the actual rotation direction of the joint rotation center cannot be judged from the appearance and the circle value recorded by the absolute encoder is invalid, the product can still determine the zero return direction of the joint rotation center, thereby improving the safety and reliability of the product.

[0046] See also Figure 1 and Figure 2 The rotary joint 10 provided in the embodiment of the present application is now described. The rotary joint 10 includes a fixed seat 110, a rotating member 120, a stopper 130, a guide member 140 and a rotation direction detection component 150. Figure 3 and Figure 4 The fixed seat 110 is provided with a limiting track 111, and the limiting track 111 is an arc track around the rotation center of the joint. The rotating member 120 is rotatably mounted on the fixed seat 110 and forms the rotation center of the joint. The limiting member 130 is arranged in the limiting track 111 and can reciprocate along the limiting track 111. The guide member 140 is installed on the rotating member 120, and the guide member 140 can push the limiting member 130 to move in the limiting track 111 as the rotating member 120 rotates. When the limiting member 130 moves to the end of the limiting track 111, the limiting member 130 can limit the rotating member 120 from continuing to rotate. The rotation direction detection component 150 is used to detect the relative position of the guide member 140 and the limiting member 130.

[0047] Specifically, the limiting rail 111 and the limiting member 130 can be configured in a variety of different forms. In one implementation, see Figure 4, the limiting track 111 can be set as a sector-shaped groove, that is, the groove is a part of a circular ring as a whole; correspondingly, the limiting member 130 can be set as a ball, and part of the structure of the bottom of the ball is embedded in the groove and the top protrudes from the notch of the groove. In this way, since the bottom of the ball is embedded in the groove, the ball cannot be separated from the groove, and the top of the ball protrudes from the notch of the groove and can abut against the guide member 140 and receive the thrust of the guide member 140. In another implementation, the limiting track 111 can also be set as a guide rail protruding on the fixed seat 110, and the guide rail is a part of a circular ring as a whole; correspondingly, the limiting member 130 can be set as a sliding member sleeved on the guide rail, so that the sliding member cannot be separated from the guide rail, and the guide member 140 can push the sliding member to move on the guide rail. Of course, the limiting track 111 and the limiting member 130 can also be set in other forms.

[0048] It can be understood that, in the process of the guide member 140 rotating with the rotating member 120, when the guide member 140 rotates along the limiting track 111, the guide member 140 and the limiting member 130 in the limiting track 111 contact each other, pushing the limiting member 130 to move in the limiting track 111, and when the guide member 140 rotates in the area outside the limiting track 111, the guide member 140 does not contact the fixed seat 110. That is, when the guide member 140 rotates along the limiting track 111, it can abut against the limiting member 130 in the limiting track 111, and when the guide member 140 rotates in the area outside the limiting track 111, it does not contact the fixed seat 110, and the fixed seat 110 and the limiting member 130 do not limit the movement of the guide member 140 and the rotating member 120.

[0049] Also, see Figure 4 When the guide member 140 rotates clockwise and stays at a certain position of the limiting track 111, the guide member 140 and the limiting member 130 are arranged in sequence in the clockwise direction in the limiting track 111, see Figure 5 When the guide member 140 rotates counterclockwise and stays at a certain position of the limiting track 111, the guide member 140 and the limiting member 130 are sequentially arranged in the counterclockwise direction in the limiting track 111. Since the guide member 140 and the limiting member 130 are arranged differently in the limiting track 111 when the guide member 140 rotates clockwise and counterclockwise, the relative position of the guide member 140 and the limiting member 130 is detected by the rotation direction detection component 150, so that the rotation direction of the rotating member 120 can be determined.

[0050] Specifically, the rotation direction detection component 150 has a variety of forms. For example, the rotation direction detection component 150 can be set as two proximity sensors, and the two proximity sensors are respectively arranged on both sides of the guide 140 along the moving direction. In this way, the two proximity sensors can detect on which side of the guide 140 along the moving direction the limiter 130 is located, and then the relative position of the guide 140 and the limiter 130 can be determined. For another example, the rotation direction detection component 150 can also be set as two pressure sensors, and the two pressure sensors are also respectively arranged on both sides of the guide 140 along the moving direction. In this way, it can also be detected on which side of the guide 140 along the moving direction the limiter 130 is located, and then the relative position of the guide 140 and the limiter 130 can be determined. Of course, the rotation direction detection component 150 can also be set in other forms, and this embodiment does not make a sole limitation to this.

[0051] In the technical solution provided in this embodiment, the rotary joint 10 is provided with a rotation direction detection component 150, and the rotation direction detection component 150 can detect the relative position of the guide member 140 and the limit member 130. If the detected relative position shows that the guide member 140 and the limit member 130 are arranged in sequence in the clockwise direction, it can be concluded that the guide member 140 rotates in the clockwise direction to the absolute position where it stays, and then the return direction of the rotating member 120 is counterclockwise; if the detected relative position shows that the guide member 140 and the limit member 130 are arranged in sequence in the counterclockwise direction, it can be concluded that the guide member 140 rotates in the clockwise direction to the absolute position where it stays, and then the return direction of the rotating member 120 is counterclockwise. When they are arranged in sequence, it can be concluded that when the guide member 140 rotates counterclockwise to the absolute position where it stops, the return direction of the rotating member 120 is clockwise. In this way, the return direction of the rotating member 120 can be determined, so that the rotating member 120 can smoothly return to zero along the correct return direction, thereby avoiding collisions between the rotating member 120 and the structure installed on the rotating member 120 and the mechanical limit structure, and damage to the driving member of the rotating member 120, thereby improving the safety and reliability of the rotating joint 10, the operating assistant and the surgical robot.

[0052] See also Figures 4 to 6 In some embodiments, the rotation direction detection component 150 includes at least two first proximity sensors 151 , and the at least two first proximity sensors 151 are arranged at intervals on the side of the limiting track 111 along the extension path of the limiting track 111 .

[0053] Specifically, the number of the first proximity sensors 151 may be two or more, and each first proximity sensor 151 may be set as a Hall detection element, an inductance detection element or a capacitance detection element. When the first proximity sensor 151 is set as a Hall detection element, the limiter 130 and the guide 140 are correspondingly set as magnetic elements. When the first proximity sensor 151 is set as an inductance detection element, the limiter 130 and the guide 140 are correspondingly set as metal elements. When the first proximity sensor 151 is set as an inductance sensing element, the limiter 130 and the guide 140 may be set as metal elements or non-metal elements. The rotation direction detection component 150 may include one or more of a Hall detection element, an inductance detection element and a capacitance detection element.

[0054] In the technical solution provided in this embodiment, at least two first proximity sensors 151 are provided, and at least two first proximity sensors 151 are arranged at intervals on the side of the limiting track 111 along the extension path of the limiting track 111. When the guide member 140 rotates counterclockwise to a predetermined position, the guide member 140 and the limiting member 130 are arranged in sequence on the limiting track 111 along the counterclockwise direction. At this time, at least two first proximity sensors 151 will output a set of position signals. When the guide member 140 rotates clockwise to a predetermined position, the guide member 140 and the limiting member 130 are arranged in sequence on the limiting track 111 along the clockwise direction. At this time, at least two first proximity sensors 151 output another set of position signals. By comparing the difference between the two sets of position signals, the actual rotation direction of the guide member 140 can be determined, and then the return direction of the rotating member 120 can be determined.

[0055] Exemplarily, among the at least two first proximity sensors 151, at least one first proximity sensor 151 is located on one side of the symmetry axis BC of the limiting track 111, and at least one first proximity sensor 151 is located on the other side of the symmetry axis BC of the limiting track 111. The limiting member 130 stays on the first side of the symmetry axis BC, and the first proximity sensor 151 located on the first side of the symmetry axis BC can detect whether there is an object on the first side of the symmetry axis BC and the midpoint of the limiting track 111, and the first proximity sensor 151 located on the second side of the symmetry axis BC can detect whether there is an object on the second side of the symmetry axis BC and the midpoint of the limiting track 111. Please refer to the example for explanation. Figure 4 When the guide member 140 rotates clockwise and stays on the first side of the symmetry axis BC, since the stopper 130 and the guide member 140 abut against each other and are located on the first side of the symmetry axis at the same time, the first proximity sensor 151 located on the first side of the symmetry axis BC can detect the object approaching, while the first proximity sensor 151 located on the second side of the symmetry axis BC cannot detect the object approaching; see Figure 5When the guide member 140 rotates counterclockwise and stays on the first side of the symmetry axis BC, the limiting member 130 is located at the midpoint of the limiting track 111 under the action of gravity ( Figure 5 The middle limit member 130 has not yet returned to the midpoint of the limit track 111). In this case, the first proximity sensor 151 located on the first side of the symmetry axis BC can detect that an object is approaching, but the signal is not as strong as the signal detected when the rotating member 120 rotates clockwise. The first proximity sensor 151 located on the second side of the symmetry axis BC can also detect that an object is approaching. Therefore, the rotation direction of the guide member 140 can be determined by the signals detected by the two first proximity sensors 151, and then the return direction of the rotating member 120 can be determined.

[0056] Of course, in this embodiment, the number of the first proximity sensors 151 can also be set to more than two, for example, see Figure 4 and Figure 5 , the number of the first proximity sensors 151 can be set to five. For ease of understanding and explanation, the five first proximity sensors 151 are defined as the first proximity sensor 151a, the first proximity sensor 151b, the first proximity sensor 151c, the first proximity sensor 151d and the first proximity sensor 151e, wherein the first proximity sensor 151a and the first proximity sensor 151b are arranged on the first side of the symmetry axis BC, the first proximity sensor 151d and the first proximity sensor 151e are arranged on the second side of the symmetry axis BC, and the remaining first proximity sensor 151c is arranged at the midpoint of the limiting track 111. In this way, taking the limiting member 130 staying on the first side of the symmetry axis BC, the detection ranges of the five first proximity sensors 151 can jointly cover the entire limiting track 111, and the detection ranges of two adjacent first proximity sensors 151 do not overlap as an example for explanation, please refer to Figure 4 When the guide member 140 rotates in the clockwise direction and stays on the first side of the symmetry axis BC, since the stopper 130 and the guide member 140 abut against each other and are simultaneously located on the first side of the symmetry axis and near the first proximity sensor 151a, the first proximity sensor 151a located on the first side of the symmetry axis BC can detect the approach of an object, while the other first proximity sensors 151 cannot detect the approach of an object; see Figure 5 When the guide member 140 rotates counterclockwise and stays on the first side of the symmetry axis BC and is located near the first proximity sensor 151a, the limiting member 130 will be at the midpoint of the limiting track 111 ( Figure 5(The middle limit member 130 has not yet returned to the midpoint of the limit track 111). In this case, the first proximity sensor 151a located on the first side of the symmetry axis BC can still detect the approach of an object, but the signal is not as strong as the signal detected when the rotating member 120 rotates clockwise, and the first proximity sensor 151c located at the midpoint of the limit track 111 can also detect the approach of an object. Therefore, the rotation direction of the guide member 140 can be determined by the difference in the signals detected by the five first proximity sensors 151, and then the return direction of the rotating member 120 can be determined. And the more the number of first proximity sensors 151, the more accurately the relative position of the limit member 130 and the guide member 140 can be detected.

[0057] See also Figures 4 to 6 In some embodiments, at least two first proximity sensors 151 are arranged at equal intervals along the extension path of the limiting track 111. In this way, a plurality of evenly arranged detection points can be formed along the limiting track 111, which is conducive to more accurately detecting the relative position relationship between the guide member 140 and the limiting member 130, and further more accurately determining the zero return direction of the rotating member 120.

[0058] See also Figure 2 as well as Figures 4 to 6 In some embodiments, the rotary joint 10 further includes a circuit board 160, which is in a fan-shaped shape and is disposed on the fixed seat 110 around the axis of the rotating member 120, and at least two first proximity sensors 151 are electrically connected to the circuit board 160. In this arrangement, the circuit board 160 serves as a carrier of all the first proximity sensors 151, which can make the wiring of the circuit simple and neat, and is conducive to saving space.

[0059] In some embodiments, the rotation direction detection component 150 includes two second proximity sensors, which are respectively arranged on both sides of the guide member 140 along the moving direction. Each second proximity sensor is used to detect the relative position of the limit member 130 and the guide member 140. This situation is not shown in the figure.

[0060] It can be understood that when the second proximity sensor on one side of the guide member 140 along the moving direction detects that an object is approaching, it indicates that the limiting member 130 is located on the side of the guide member 140 along the moving direction.

[0061] Specifically, the second proximity sensor can be set as a Hall detection element, an inductance detection element or a capacitance detection element. When the second proximity sensor is set as a Hall detection element, the limiter 130 is correspondingly set as a magnetic element. When the second proximity sensor is set as an inductance detection element, the limiter 130 is correspondingly set as a metal element. When the second proximity sensor is set as an inductance sensing element, the limiter 130 can be set as a metal element or a non-metal element.

[0062] In the technical solution provided in this embodiment, a second proximity sensor is respectively arranged on both sides of the guide member 140 along the moving direction. Through such a design, the two second proximity sensors can detect on which side of the guide member 140 along the moving direction the limit member 130 is specifically located. Therefore, it can be determined whether the limit member 130 and the guide member 140 are arranged in sequence in a clockwise direction or in a counterclockwise direction, and then the rotation direction of the guide member 140 and the return to zero direction of the rotating member 120 can be determined.

[0063] In some embodiments, the rotation direction detection component 150 includes two pressure sensors, which are respectively arranged on both sides of the guide member 140 along the moving direction. Each pressure sensor is used to detect the relative position of the limit member 130 and the guide member 140. This situation is not shown in the figure.

[0064] It can be understood that when the pressure sensor on one side of the guide member 140 along the moving direction detects pressure, it means that the limiting member 130 is located on the side of the guide member 140 along the moving direction.

[0065] Specifically, the pressure sensor can be configured as a strain gauge or a capacitive pressure sensor or the like.

[0066] In the technical solution provided in this embodiment, a pressure sensor is respectively arranged on both sides of the guide member 140 along the moving direction. Through such a design, the two pressure sensors can detect on which side of the guide member 140 along the moving direction the limit member 130 is specifically located. Therefore, it can be determined whether the limit member 130 and the guide member 140 are arranged in sequence in a clockwise direction or in a counterclockwise direction, and then the rotation direction of the guide member 140 and the return to zero direction of the rotating member 120 can be determined.

[0067] See also Figures 4 to 6 In some embodiments, the zero point position of the guide member 140 is located in the guide track 1111 between the two ends of the limiting track 111, the limiting track 111 and the guide track 1111 together form a complete circular ring, and the zero point position of the guide member 140 is located on the symmetry axis BC of the limiting track 111.

[0068] Specifically, the limiting track 111 is a part of the ring, and the guide track 1111 is another part of the ring. The limiting track 111 and the guide track 1111 together form a complete ring. The guide member 140 moves along the limiting track 111 and the guide track 1111. When the guide member 140 moves along the limiting track 111, the guide member 140 can push the limiting member 130. When the guide member 140 moves in the guide track 1111, the guide member 140 may not contact the fixed seat 110. The zero point position of the guide member 140 is located in the guide track 1111, and please refer to Figures 4 to 6The zero point position of the guide member 140 is the position where the intersection of the motion trajectory P of the guide member 140 and the symmetry axis BC of the limiting track 111 is located.

[0069] In the technical solution provided in the present embodiment, the zero point position of the guide member 140 is set in the guide track 1111, so that the sum of the angle at which the guide member 140 can rotate clockwise and the angle at which it can rotate counterclockwise is greater than 360°, thereby enabling the rotary joint 10 to achieve a large-angle rotation. Moreover, when the guide member 140 drives the limit member 130 to move to the end of the limit track 111, the limit track 111 will abut against the limit member 130, which can limit the further rotation of the guide member 140, thereby avoiding excessive rotation of the rotating member 120. Therefore, while achieving a large-angle rotation, the cable connected to the rotating member 120 can also be avoided from being entangled and kinked; and, in the technical solution provided in the present embodiment, the zero point position of the guide member 140 is set at the midpoint of the guide track 1111, so that the angle at which the guide member 140 can rotate clockwise is equal to the angle at which the guide member 140 can rotate counterclockwise, which is conducive to allowing the rotary joint 10 to have a wider range of applications and better operational flexibility.

[0070] In some embodiments, the revolute joint 10 further includes an absolute encoder, which is used to detect the absolute position of the rotating member 120 .

[0071] Since the return-to-zero direction can be determined by the rotation direction detection component 150 in the technical solution provided in this embodiment, the absolute encoder does not need to memorize the number of turns after power failure in this embodiment, which can simplify the structure of the absolute encoder. Specifically, the absolute encoder can be an electronic multi-turn absolute encoder or a mechanical multi-turn absolute encoder without an independent power supply system.

[0072] In the technical solution provided in this embodiment, by setting an absolute value encoder capable of measuring the absolute position of the rotating member 120, the zero return angle of the rotating member 120 can be measured. In this way, after the rotating member 120 rotates in the correct zero return direction to the zero return angle, it can smoothly return to the zero position.

[0073] See also Figure 1 , Figure 2 as well as Figures 7 to 9In some embodiments, the fixing seat 110 includes a base 112 and a pressure plate 113, a first fan annular groove 1121 is provided on one side of the base 112, the pressure plate 113 is covered on the first fan annular groove 1121, and a second fan annular groove 1131 is provided on the side of the pressure plate 113 facing the base 112, the second fan annular groove 1131 and the first fan annular groove 1121 together form a limiting track 111, and the limiting track 111 has a guide opening connected to the outside, and the guide opening is used for exposing the limiting member 130 so that the guide member 140 can push the limiting member 130.

[0074] In the technical solution provided in this embodiment, grooves are respectively formed on the base 112 and the pressure plate 113, which is beneficial to simplify the processing technology of the limiting rail 111 and facilitates the processing of the limiting rail 111 into a groove body that can slide or roll with the limiting member 130 and can limit the limiting member 130 from falling out.

[0075] See also Figure 2 In some embodiments, the rotating member 120 includes a rotating shaft 121 and a driven wheel 122. The rotating shaft 121 is rotatably mounted on the fixed seat 110, and the driven wheel 122 is fixedly mounted on the rotating shaft 121. The guide member 140 is arranged on the driven wheel 122. The rotating joint 10 also includes a driving wheel (not shown in the figure, the same below), a rigid rope structure (not shown in the figure, the same below) and a driving member (not shown in the figure, the same below). The driving wheel is rotatably arranged on the fixed seat 110, the rigid rope structure is connected between the driving wheel and the driven wheel 122, and the driving member is used to drive the driving wheel to rotate.

[0076] In the technical solution provided in this embodiment, the driving member can drive the active wheel to rotate, and the active wheel can drive the driven wheel 122 and the rotating shaft 121 fixedly connected to the driven wheel 122 to rotate through a rigid rope structure. Since the guide member 140 is arranged on the driven wheel 122, and the allowed clockwise rotation angle and counterclockwise rotation angle of the guide member 140 are cumulatively greater than 360°, the clockwise rotation angle and counterclockwise rotation angle of the driven wheel 122 and the rotating shaft 121 are cumulatively greater than 360°. The rotating joint 10 can achieve a large angle rotation, and since the active wheel and the driven wheel 122 are connected by a rigid rope structure, and the rigid rope structure transmission is smoother and has a better transmission effect than a synchronous belt and chain transmission.

[0077] The embodiment of the present application also provides an operating master hand (not shown in the figure, the same below), the operating master hand includes a master hand arm (not shown in the figure, the same below) and a master hand wrist (not shown in the figure, the same below), the master hand arm includes a plurality of arm operating joints (not shown in the figure, the same below), the master hand wrist is connected to the master hand arm, the master hand wrist includes a plurality of wrist operating joints (not shown in the figure, the same below), the wrist operating joint located at the end of the master hand wrist is provided with the above-mentioned rotating joint 10; the rotating member 120 is provided with an instrument clamping control mechanism 170.

[0078] In the technical solution provided in the embodiment, since the wrist operating joint at the end of the wrist of the main hand is set as the above-mentioned rotating joint 10, the rotation angle of the wrist operating joint at the end of the wrist of the main hand in the clockwise direction and the rotation angle in the counterclockwise direction are cumulatively greater than 360°, and a wide angle range of rotation can be performed. When the wrist operating joint rotates to a position where the rotation direction cannot be determined by appearance and the number of turns recorded by the absolute encoder becomes invalid, the relative positions of the guide member 140 and the limit member 130 detected by the rotation direction detection component 150 can still be used to determine the zero return direction, and then zero return can be achieved along the zero return direction, which can reduce the risk of collision between the rotating member 120, the instrument clamping control mechanism 170 and the limit structure or the external structure, and can also reduce the risk of damage to the driving member of the rotating member 120.

[0079] The embodiment of the present application also provides a surgical robot (not shown in the figure, the same below), the surgical robot includes a robotic arm (not shown in the figure, the same below), an instrument (not shown in the figure, the same below), a controller (not shown in the figure, the same below) and the above-mentioned operating main hand, the robotic arm includes a plurality of robotic arm motion joints (not shown in the figure, the same below), the instrument is connected to the robotic arm, the instrument includes a plurality of instrument motion joints (not shown in the figure, the same below), the controller is configured to control the movements of a plurality of robotic arm motion joints according to the movements of a plurality of arm operating joints, and is configured to control the movements of a plurality of instrument motion joints according to the movements of a plurality of wrist operating joints.

[0080] It can be understood that the movements of several arm operating joints and the movements of several robot arm motion joints are mapped one-to-one, and the movements of several wrist operating joints and the movements of several instrument motion joints are mapped one-to-one.

[0081] In the technical solution provided in the embodiment, since the surgical robot adopts all the embodiments of the above-mentioned operating master hand, it has all the beneficial effects of the above-mentioned operating master hand, and this embodiment will not be described one by one here.

[0082] In some embodiments, the controller is also configured to output the return-to-zero direction of the rotating member 120 according to the relative position obtained by the rotation direction detection component 150, and control the rotating member 120 to return to zero along the return-to-zero direction according to the return-to-zero direction, and control the instrument motion joint corresponding to the rotating member 120 to return to zero along the return-to-zero direction.

[0083] In the technical solution provided in the embodiment, the controller can control the terminal wrist operating joint of the main hand wrist of the operating main hand to return to zero along the return direction, thereby reducing the risk of collision between the rotating part 120 and the instrument clamping control mechanism 170 installed on the rotating part 120 and the limiting structure or external structure, and the risk of damage to the driving part of the rotating part 120; it can also control the instrument motion joint corresponding to the terminal wrist operating joint of the main hand wrist to return to zero along the return direction, thereby reducing the risk of collision between the rotating part of the instrument motion joint corresponding to the terminal wrist operating joint and its limiting structure or external structure, and the risk of damage to the driving structure of the instrument motion joint, thereby improving the safety and reliability of the entire surgical robot.

[0084] See also Fig.10 and Fig.11 The present application also provides a rotary joint 20, which includes a fixed seat 210, a rotating member 220, an instrument clamping control mechanism 230, a driving wheel 240, a transmission member 250, a driving member (not shown in the figure, the same below) and a conductive slip ring 260. The rotating member 220 includes a rotating shaft 221 and a driven wheel 222, the rotating shaft 221 is rotatably mounted on the fixed seat 210, and the driven wheel 222 and the instrument clamping control mechanism 230 are both fixedly mounted on the rotating shaft 221. The driving wheel 240 is rotatably mounted on the fixed seat 210. The transmission member 250 is transmission-connected between the driving wheel 240 and the driven wheel 222, and the driving member is used to drive the driving wheel 240 to rotate. The conductive slip ring 260 includes a slip ring stator 261 and a slip ring rotor 262 which are electrically connected to each other. The slip ring stator 261 is fixedly connected to the fixed seat 210 and is used to be electrically connected to the cable on the fixed seat 210. The slip ring rotor 262 is fixedly connected to the rotating member 220 and can rotate with the rotating member 220, and is used to be electrically connected to the cable on the rotating member 220.

[0085] Specifically, the transmission member 250 may be a synchronous belt or a chain.

[0086] In the technical solution provided in this embodiment, the rotating member 220 can achieve infinite rotation through the cooperation of the driving wheel 240, the transmission member 250 and the driving member; and, by fixing the slip ring stator 261 on the fixed seat 210, the internal cable of the slip ring stator 261 is electrically connected to the cable on the fixed seat 210, and fixing the slip ring rotor 262 on the rotating member 220, the internal cable of the slip ring rotor 262 is electrically connected to the cable on the rotating member 220, without setting a limiting structure, the cable on the fixed seat 210 and the cable on the rotating member 220 can be electrically connected, and when the rotating member 220 rotates, there will be no problem of cable twisting, which can avoid cable connection failure and improve the reliability and safety of the rotating joint 20.

[0087] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A rotary joint (10), characterized in that: The rotary joint (10) comprises: A fixed seat (110), wherein the fixed seat (110) is provided with a limiting track (111), and the limiting track (111) is a circular arc track around the rotation center of the joint; A rotating member (120), the rotating member (120) is rotatably mounted on the fixed seat (110) and forms a rotation center of the joint; A limiting member (130) is disposed in the limiting track (111) and can reciprocate along the limiting track (111); a guide member (140) mounted on the rotating member (120); the guide member (140) can push the limiting member (130) to move within the limiting track (111) as the rotating member (120) rotates; when the limiting member (130) moves to the end of the limiting track (111), the limiting member (130) can limit the rotating member (120) from continuing to rotate; A rotation direction detection component (150) is used to detect the relative position of the guide member (140) and the limit member (130).

2. The rotary joint (10) according to claim 1, characterized in that: The rotation direction detection component (150) comprises at least two first proximity sensors (151), and the at least two first proximity sensors (151) are arranged at intervals on the side of the limiting track (111) along the extension path of the limiting track (111).

3. The rotary joint (10) according to claim 2, characterized in that: The first proximity sensor (151) includes a Hall detection element, an inductance detection element or a capacitance detection element.

4. The rotary joint (10) according to claim 2, characterized in that: At least two of the first proximity sensors (151) are arranged at equal intervals along the extension path of the limiting track (111).

5. The rotary joint (10) according to claim 1, characterized in that: The rotation direction detection component (150) comprises two second proximity sensors, which are respectively arranged on both sides of the guide member (140) along the moving direction, and each second proximity sensor is used to detect the relative position of the limit member (130) and the guide member (140).

6. The rotary joint (10) according to any one of claims 1 to 5, characterized in that: The zero point position of the guide member (140) is located in the guide track (1111) between the two ends of the limiting track (111), the guide track (1111) and the limiting track (111) together form a complete circular ring shape, and the zero point position of the guide member (140) is located on the symmetry axis of the limiting track (111).

7. The rotary joint (10) according to any one of claims 1 to 5, characterized in that: The rotary joint (10) further comprises an absolute value encoder, which is used to detect the absolute position of the rotating member (120).

8. A master operating hand, characterized in that: The operating master hand includes a master arm and a master wrist, the master arm includes a plurality of arm operating joints, the master wrist is connected to the master arm, the master wrist includes a plurality of wrist operating joints, and the wrist operating joint located at the end of the master wrist is configured as a rotating joint (10) as described in any one of claims 1 to 7; an instrument clamping control mechanism is provided on the rotating member (120).

9. A surgical robot, characterized in that: The surgical robot comprises a robotic arm, an instrument, a controller and the operating main hand as described in claim 8, the robotic arm comprises a plurality of robotic arm motion joints, the instrument is connected to the robotic arm, the instrument comprises a plurality of instrument motion joints, the controller is configured to control the movements of a plurality of robotic arm motion joints respectively according to the movements of a plurality of arm operating joints, and is configured to control the movements of a plurality of instrument motion joints respectively according to the movements of a plurality of wrist operating joints.

10. The surgical robot according to claim 9, characterized in that: The controller is also configured to output the zero return direction of the rotating member (120) according to the relative position acquired by the rotation direction detection component (150), and to control the rotating member (120) to return to zero along the zero return direction according to the zero return direction, and to control the device motion joint corresponding to the rotating member (120) to return to zero along the zero return direction.

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