Handle mechanism, main manipulator and surgical robot system

Abstract

The utility model relates to the field of medical instruments, and discloses a handle mechanism, a main manipulator and a surgical robot system. The handle mechanism includes: a handle body; the first clamping piece and the second clamping piece are hinged to the handle body and matched with each other to achieve opening and closing. The first sensor is used for detecting first opening and closing information of the first clamping piece, and the second sensor is used for detecting second opening and closing information of the second clamping piece. The opening and closing information is detected by the first sensor and the second sensor, so that the reliability of the detected opening and closing information is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular to a handle mechanism, a main manipulator and a surgical robot system. Background Art

[0002] Laparoscopic surgery is a surgical method that has gradually developed and been widely used in recent years. It has the advantages of small incisions, greatly reducing the patient's recovery time, discomfort experience and post-healing side effects. Laparoscopic surgery, especially single-port laparoscopic surgery, can be performed through a surgical robot system, which can optimize the surgical method through computer remote control technology.

[0003] Existing surgical robot systems mainly adopt the master-slave teleoperation mode. The master manipulator is the core input device of the surgical robot system. The operator can use the master manipulator to issue motion commands to the surgical instruments on the patient side to control the surgical instruments to perform surgical operations. Therefore, the signals collected by the master manipulator are very critical in the surgical robot system. Utility Model Content

[0004] In some embodiments, the present disclosure provides a handle mechanism, comprising:

[0005] handle body;

[0006] A first clamping member and a second clamping member, the first clamping member and the second clamping member are respectively hinged to the handle body and cooperate with each other to achieve opening and closing; and

[0007] A first sensor and a second sensor, the first sensor is used to detect the opening and closing information of the first clamping member, and the second sensor is used to detect the opening and closing information of the second clamping member.

[0008] In some embodiments, the present disclosure further provides a main operator, comprising:

[0009] A handle mechanism as in any one of the embodiments of the present disclosure; and

[0010] The mechanical arm comprises a plurality of arm bodies, and the handle mechanism is arranged at the proximal end of the mechanical arm.

[0011] In some embodiments, the present disclosure further provides a surgical robot system, comprising:

[0012] The main control trolley comprises a main body and at least one main operator as in any one of the embodiments of the present disclosure, wherein the distal end of the at least one main operator is connected to the main body.

[0013] In some embodiments, the handle mechanism further comprises:

[0014] A first magnetic member and a second magnetic member, the first magnetic member is fixedly connected to the first clamping member, and the second magnetic member is fixedly connected to the second clamping member;

[0015] The first sensor and the second sensor are both magnetic sensors. The first sensor is used to detect the rotation of the first magnetic member to detect the opening and closing information of the first clamping member, and the second sensor is used to detect the rotation of the second magnetic member to detect the opening and closing information of the second clamping member.

[0016] In some embodiments, the handle mechanism further comprises:

[0017] a first gear fixedly connected to the proximal end of the first clamping member, the first clamping member being hinged to the handle body via the first gear; and

[0018] The second gear is fixedly connected to the proximal end of the second clamping member. The second clamping member is hinged to the handle body through the second gear. The first gear is meshed with the second gear.

[0019] In some embodiments, the first magnetic member is fixedly connected to the first gear, and the second magnetic member is fixedly connected to the second gear.

[0020] In some embodiments, the handle mechanism further comprises:

[0021] The controller is connected to the first sensor and the second sensor respectively. The first opening and closing information includes a first opening and closing angle and the second opening and closing information includes a second opening and closing angle. The controller is configured to send an alarm signal in response to a difference between the first opening and closing angle detected by the first sensor and the second opening and closing angle detected by the second sensor being greater than a threshold.

[0022] In some embodiments, the controller is further configured to determine the opening and closing angles of the first clamping member and the second clamping member according to the first opening and closing angle and the second opening and closing angle.

[0023] In some embodiments, the first clamping member includes a first slide groove, and the first slide groove extends along the rotation direction of the first clamping member;

[0024] The second clamping member includes a second slide groove, and the second slide groove extends along the rotation direction of the second clamping member;

[0025] The handle body includes:

[0026] Base;

[0027] A first pin structure is disposed on the base, and the first pin structure is slidably connected to the first sliding groove; and

[0028] The second pin structure is arranged on the base and is arranged opposite to the first pin structure. The second pin structure is slidably connected to the second sliding groove.

[0029] In some embodiments, the handle mechanism further comprises:

[0030] A plurality of wires, wherein the plurality of wires are respectively connected to the first sensor and the second sensor;

[0031] The handle body also includes:

[0032] The middle channel is used for multiple wires to pass through.

[0033] In some embodiments, the base further comprises:

[0034] A first step, the first step is arranged at a distal end of the first gear, and the first pin structure is arranged on the first step;

[0035] The second step is arranged at the far end of the second gear, the second pin structure is arranged on the second step, and the first step and the second step are arranged on two sides of the middle channel oppositely.

[0036] In some embodiments, the handle mechanism further comprises:

[0037] An elastic member, two ends of which are respectively connected to the proximal ends of the first clamping member and the second clamping member, and the elastic member is used to apply a force to the first clamping member and the second clamping member to open the first clamping member and the second clamping member.

[0038] Some embodiments of the present disclosure have one or more of the following technical effects: the first sensor and the second sensor respectively detect the opening and closing information, which is beneficial to improving the reliability of the detected opening and closing information; the first magnetic member and the second magnetic member and the magnetic sensor respectively fixedly connected to the first clamping member and the second clamping member can help improve the accuracy of the detected opening and closing information; through the cooperation of the first gear and the second gear that are meshed with each other, the first clamping member and the second clamping member can maintain the same opening and closing angle; through the first slide groove and the first pin structure that cooperate with each other, and the second slide groove and the second pin structure, the first clamping member and the second clamping member can rotate and open and close within a preset range. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. For ordinary technicians in this field, other embodiments can be obtained based on the contents of the embodiments of the present disclosure and these drawings without creative work.

[0040] Figure 1 A schematic diagram showing the structure of a handle mechanism according to some embodiments of the present disclosure when the clamp is in an open state;

[0041] Figure 2 A schematic diagram showing the structure of a handle mechanism according to some embodiments of the present disclosure when the clamp is in a closed state;

[0042] Figure 3 A schematic diagram showing the structure of a main operator according to some embodiments of the present disclosure is shown;

[0043] Figure 4 A schematic diagram showing the structure of a surgical robot system according to some embodiments of the present disclosure is shown;

[0044] Figure 5 A schematic diagram showing an exploded structure of a portion of the structure of a handle mechanism according to some embodiments of the present disclosure;

[0045] Figure 6 A schematic structural diagram of a handle mechanism according to some other embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0046] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clearly, the technical solutions of the embodiments of the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0047] In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present disclosure. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0048] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances. In the present disclosure, the end close to the operator (such as a doctor) is defined as the proximal end, the near part or the rear end, the rear part, and the end close to the surgical patient is defined as the distal end, the far end or the front end, the front part. Those skilled in the art can understand that the embodiments of the present disclosure can be used for medical instruments or surgical robots, and can also be used for other non-medical devices.

[0049] Figure 1 to Figure 2 Schematic diagrams of the structure of the handle mechanism 100 in different states are shown respectively according to some embodiments of the present disclosure. Figure 1 The handle mechanism 100 (e.g., the clamping member of the handle mechanism 100) is in an open state. Figure 2 The middle handle mechanism 100 is in a closed state.

[0050] Figure 3 FIG. 2 is a schematic diagram showing a structure of a master operator 200 according to some embodiments of the present disclosure. In some embodiments, the handle mechanism 100 may be a handle mechanism of a master operator (eg, the master operator 200). Figure 4 A schematic diagram of the structure of a surgical robot system 300 according to some embodiments of the present disclosure is shown. In some embodiments, the hand manipulator 200 may be a main manipulator of a surgical robot system (e.g., the surgical robot system 300). The surgical robot system may be any suitable surgical robot system including a laparoscopic surgical robot system.

[0051] In some embodiments, Figure 4 As shown, the surgical robot system 300 may include a main control trolley 310 and an operating trolley 320. The main control trolley 310 may be arranged on the user side to receive the user's operation, and the operating trolley 320 may be arranged on the patient side to perform a surgical operation on the patient. The main operator 200 may be arranged on the main control trolley 310 of the surgical robot system 300 to receive the user's operation. The surgical instrument 322 arranged on the operating trolley 320 responds to the operation received by the main operator 200 and performs the corresponding surgical operation. Figure 4 As shown, in some embodiments, the surgical robot system 300 may include two or more main operators, such as a main operator 200a and a main operator 200b. The main operator 200a is a left main operator, which can be used to receive operations from the user's left hand; the main operator 200b is a right main operator, which can be used to receive operations from the user's right hand.

[0052] like Figure 4 As shown, the left main operator 200a may include a handle mechanism 100a, which is used to receive the operation of the handle mechanism by the user's left hand; the right main operator 200b may include a handle mechanism 100b, which is used to receive the operation of the handle mechanism by the user's right hand. In the following content, the handle mechanisms 100a and 100b are collectively referred to as the handle mechanism 100 for description, and no separate description is given.

[0053] like Figure 1 or Figure 2As shown, the handle mechanism 100 may include a surgical body 110, a first clamping member 120 and a second clamping member 130. The first clamping member 120 and the second clamping member 130 are respectively hinged to the handle body 110, and the first clamping member 120 and the second clamping member 130 cooperate with each other to achieve opening and closing. In some embodiments, the first clamping member 120 and the second clamping member 130 are clamped by the user's fingers, and the opening and closing are achieved under the control of the clamping and opening actions of the user's fingers. Figure 1 or Figure 2 As shown, the first clamping member 120 and the second clamping member 130 may include finger sleeves to facilitate the user's fingers to operate the handle mechanism 100 .

[0054] Figure 6 Schematic diagram of the structure of the handle mechanism 100 according to some embodiments of the present disclosure is shown. In some embodiments, the handle mechanism 100 may further include a first sensor 180 and a second sensor 190 for detecting opening and closing information. The first sensor 180 may be used to detect the first opening and closing information of the first clamping member 120, and the second sensor 190 may be used to detect the second opening and closing information of the second clamping member 130.

[0055] Those skilled in the art will appreciate that the first sensor 180 and the second sensor 190 may include any suitable sensor, such as a travel sensor, a potential sensor, or a magnetic sensor for detecting the rotation angle of the first clamping member and the second clamping member. The first sensor 180 and the second sensor 190 may be a capacitive sensor, a photoelectric sensor, or the like. In some embodiments, Figure 6 As shown, the first sensor 180 and the second sensor 190 can be arranged on the circuit board 60 of the handle mechanism 100, and the circuit board 60 can be arranged in the handle mechanism 100 near the first clamping member 120 and the second clamping member 130, so that the first sensor 180 and the second sensor 190 can detect the opening and closing information.

[0056] In some embodiments, the opening and closing information (e.g., the first opening and closing information and the second opening and closing information) may include the opening and closing angles of the clamping member (e.g., the first opening and closing angles of the first clamping member and the second opening and closing angles of the second holding member). In some embodiments, the surgical robot system (e.g., the controller in the surgical robot system) may receive the opening and closing angles from the first sensor and the second sensor, and control the opening and closing angles of the end tools of the surgical instruments in the surgical trolley based on the opening and closing angles from the first sensor and the second sensor, such as the opening and closing angles of tools such as clamps and bending shears. Based on this, the opening and closing angles generated by the user's operation of the handle mechanism 100 can be mapped to the opening and closing angles of the end tools of the surgical instruments, thereby facilitating the improvement of the intuitiveness of the user's operation.

[0057] In some embodiments, the opening and closing information may also include the opening and closing state. For example, an angle threshold may be preset, and when the opening and closing angle is detected to be higher than the threshold, the opening and closing state is "open", and when the opening and closing angle is detected to be lower than the threshold, the opening and closing state is "closed".

[0058] In some embodiments, Figure 1 or Figure 2 As shown, the handle mechanism 100 may further include an elastic member (e.g., an elastic member 181 and an elastic member 182), and both ends of the elastic member may be respectively connected to the proximal ends of the first clamping member 120 and the second clamping member 130. The elastic member may be used to apply a force to the first clamping member 120 and the second clamping member 130 to open the first clamping member 120 and the second clamping member 130. Those skilled in the art may understand that, in the absence of an external force, the first clamping member 120 and the second clamping member 130 in the handle mechanism 100 remain in an open state.

[0059] In some embodiments, before surgery, the controller in the surgical robot system can receive the opening and closing state from the first sensor and the second sensor, and the controller can be configured to send an alarm signal in response to the opening and closing state being "closed". Based on this, the abnormal situation that the clamping member is not subjected to external force and cannot be fully opened can be discovered in time, which is conducive to improving the stability of the surgical robot system.

[0060] In some embodiments, Figure 1 As shown, a plurality of elastic members, such as elastic member 181 and elastic member 182, may be disposed between the proximal ends of the first clamping member 120 and the second clamping member 130. Based on this, when the first clamping member 120 and the second clamping member 130 are opened and closed, the plurality of elastic members are respectively subjected to a portion of the pulling force, thereby being able to reduce the force on the elastic members, thereby facilitating the improvement of the service life of the elastic members.

[0061] In some embodiments, the handle mechanism 100 may further include a first magnetic member 140 and a second magnetic member 150. Figure 1 or Figure 2 As shown, the first magnetic member 140 is fixedly connected to the first clamping member 120, and the second magnetic member 150 is fixedly connected to the second clamping member 130. The first magnetic member 140 and the second magnetic member 150 may include a permanent magnet, a soft magnetic material, a torque magnetic material, etc. Figure 6 As shown, the first sensor 180 and the second sensor 190 may both be magnetic sensors.

[0062] like Figure 1 or Figure 2As shown, the first magnetic member 140 and the second magnetic member 150 can be respectively arranged on the hinge shafts of the first clamping member 120 and the second clamping member 130. In some embodiments, the first magnetic member 140 and the second magnetic member 150 can be annular magnetic members so as to be respectively arranged on the hinge shafts of the first clamping member 120 and the second clamping member 130. Based on this, when the first clamping member 120 and the second clamping member 130 rotate and open and close, the first magnetic member 140 and the second magnetic member 150 will rotate with the first clamping member 120 and the second clamping member 130. Based on this, the first sensor can be used to detect the rotation of the first magnetic member 140 to detect the first opening and closing information, and the second sensor can be used to detect the rotation of the second magnetic member 150 to detect the second opening and closing information.

[0063] In some embodiments, Figure 6 As shown, the first sensor 180 and the second sensor 190 can be arranged on the circuit board 60 above the first clamping member 120 and the second clamping member 130, and can be respectively arranged at positions close to the first magnetic member 140 and the second magnetic member 150, so as to detect the rotation of the first magnetic member 140 and the second magnetic member 150 respectively.

[0064] like Figure 1 or Figure 2 As shown, in some embodiments, the handle mechanism 100 may further include a first gear 160 and a second gear 170. The first gear 160 may be fixedly connected to the proximal end of the first clamp 120, and the first clamp 120 may be hinged to the handle body 110 through the first gear 160. The second gear 170 may be fixedly connected to the proximal end of the second clamp 130, and the second clamp 130 may be hinged to the handle body 110 through the second gear 170. Based on this, when the user performs an opening and closing operation on the first clamp 120 and the second clamp 130, the first gear 160 and the second gear 170 will rotate. In some embodiments, the first magnetic member 140 may be fixedly connected to the first gear 160, and the second magnetic member 150 may be fixedly connected to the second gear 170, so as to rotate with the opening and closing of the first clamp 120 and the second clamp 130.

[0065] like Figure 1 or Figure 2 As shown, the first gear 160 and the second gear 170 are meshed. Based on this, the first clamping member 120 and the second clamping member 130 can be opened and closed synchronously and maintain the same opening and closing angle, thereby helping to improve the user's experience of operating the handle mechanism 100.

[0066] In some embodiments, the handle mechanism 100 may further include a controller (not shown in the figure). The controller may be connected to the first sensor and the second sensor respectively to receive first opening and closing information from the first sensor (e.g., the first opening and closing angle of the first clamping member 120) and second opening and closing information from the second sensor (e.g., the second opening and closing angle of the second clamping member 130).

[0067] In some embodiments, the controller can be configured to send an alarm signal in response to the difference between the first opening and closing angle and the second opening and closing angle being greater than a threshold value. Under normal conditions, the first clamp 120 and the second clamp 130 are opened and closed synchronously and maintain nearly the same opening and closing angle. Therefore, if the difference between the first opening and closing angle and the second opening and closing angle is greater than the threshold value, it indicates that a fault has occurred in the handle mechanism 100. Based on this embodiment, the controller can, in this case, send an alarm signal so that the staff can be informed of the fault in a timely manner and perform corresponding troubleshooting and repair, thereby helping to improve the stability of the surgical robot system. The threshold value of the difference between the first opening and closing angle and the second opening and closing angle can be any suitable value, such as a value determined based on the experience of the staff, and the present disclosure does not limit the specific value of the threshold value.

[0068] In some embodiments, the controller can perform a corresponding operation based on one of the first opening and closing information and the second opening and closing information, for example, determining the opening and closing angle of the end tool of the surgical instrument based on the first opening and closing angle. In the event that the difference between the first opening and closing angle and the second opening and closing angle is greater than a threshold, the controller can automatically switch to performing a corresponding operation based on the other of the first opening and closing information and the second opening and closing information, for example, determining the opening and closing angle of the end tool of the surgical instrument based on the second opening and closing angle. Alternatively, the controller can send a prompt signal to prompt the staff to set the controller to perform a corresponding operation based on the other of the first opening and closing information and the second opening and closing information. Based on this, it is beneficial for the surgical robot to continue to perform the operation.

[0069] In some embodiments, the controller may also be configured to determine the opening and closing angles of the first clamp and the second clamp based on the received first opening and closing angles and the second opening and closing angles, for example, determining the opening and closing angles of the first clamp and the second clamp as the average of the first opening and closing angles and the second opening and closing angles. Those skilled in the art will appreciate that due to limitations of accuracy and environmental factors, the detection results of different sensors may have certain deviations. Based on this embodiment, the controller may determine the opening and closing angle based on the first opening and closing angle detected by the first sensor and the second opening and closing angle detected by the second sensor, and use the opening and closing angle to perform corresponding control, thereby facilitating improving the accuracy of the detected opening and closing angles.

[0070] In some embodiments, Figure 1 or Figure 2As shown, the first clamping member 120 may include a first slide groove 121, and the first slide groove 121 may extend along the rotation direction of the first clamping member 120. The second clamping member 130 may include a second slide groove 131, and the second slide groove 131 may extend along the rotation direction of the second clamping member 130. The handle body 110 may include a base 111, a first pin structure 112 and a second pin structure 113 disposed on the base 111. Figure 1 or Figure 2 As shown, the first pin structure 112 can be slidably connected to the first slide groove 121, and the second pin structure 113 can be slidably connected to the second slide groove 131. The first pin structure 112 and the second pin structure 113 can be fixedly connected to the base 111, such as by welding or integral molding. Based on this, the first slide groove 121 and the second slide groove 131 can respectively limit the slidable range of the first pin structure 112 and the second pin structure 113, so as to limit the angular range of the first clamping member 120 and the second clamping member 130 that can be rotated and opened, so as to facilitate the user to operate the handle mechanism 100.

[0071] In some embodiments, the handle mechanism 100 may further include a plurality of wires (not shown in the figure), and the plurality of wires may respectively connect the first sensor and the second sensor to transmit the information (e.g., opening and closing information) collected by the first sensor and the second sensor, for example, to the controller. Figure 1 or Figure 2 As shown, the handle body 110 may further include a middle channel 114 , and the middle channel 114 may be used for allowing multiple wires to pass through.

[0072] Figure 5 FIG. 1 is a schematic diagram of an exploded structure of a portion of the structure of a handle mechanism 100 according to some embodiments of the present disclosure. Figure 5 As shown, the base 111 may include a first step (not shown) and a second step 1111. The first step and the second step 1111 may be disposed oppositely on both sides of the middle channel 114. In some embodiments, the first step may be disposed at the distal end of the first gear 160, and the second step 1111 may be disposed at the distal end of the second gear 170.

[0073] In some embodiments, the first pin structure 112 can be disposed on the first step, and the second pin structure 113 can be disposed on the second step 1111. Based on this, the first step and the second step can respectively lift the bottom of the first pin structure 112 and the second pin structure 113, which can shorten the length of the first pin structure 112 and the second pin structure 113 compared to being directly disposed on the base 111. Moreover, the first step and the second step 1111 can respectively provide support for the first clamp 120 and the second clamp 130, thereby facilitating the improvement of the service life of the first pin structure 112 and the second pin structure 113.

[0074] In some embodiments, Figure 1 , Figure 2 or Figure 5 As shown, the handle structure 100 may further include at least one dial button, such as dial button 1151 and dial button 1152, and the at least one dial button may be used to receive a user's operation.

[0075] Some embodiments of the present disclosure also provide a main operator. Figure 3 2 shows a schematic diagram of the structure of the main operator 200 according to some embodiments of the present disclosure. The main operator 200 may be a main operator of a surgical robot system (e.g., surgical robot system 300). The main operator 200 may be disposed on a main console vehicle in the surgical robot system for receiving user operations. In some embodiments, as Figure 3 As shown, the master operator 200 may include a left master operator 200a for receiving an operation of a user's left hand and a right master operator 200b for receiving an operation of a user's right hand.

[0076] Taking the right main operator 200b as an example, the main operator 200b may include a handle mechanism 100b and a mechanical arm 221. Figure 3 As shown, the mechanical arm 221 may include a plurality of arm bodies, for example Figure 3 The first L-shaped arm B1, the second L-shaped arm B2, the third L-shaped arm B3, the horizontal arm B4, the balancing arm B5, the first distal arm B7 and the second distal arm B6 are shown. Adjacent arms may be connected via joints. The handle mechanism 100b may be disposed at the proximal end of the mechanical arm 221, for example, Figure 1 The side indicated by A is connected to the proximal end of the mechanical arm 221 to facilitate the user to operate the handle mechanism 100b.

[0077] A surgical robot system is also provided in some embodiments of the present disclosure. Figure 4 FIG. 2 is a schematic diagram showing a structure of a surgical robot system 300 according to some embodiments of the present disclosure. Figure 4 As shown, the surgical robot system 300 may include a main control trolley 310. The main control trolley 310 may include a main body 311 and at least one main operator. The at least one main operator may be any one of the main operators in some embodiments of the present disclosure, such as the main operator 200, which will not be described in detail to reduce repetition. In some embodiments, the main control trolley 310 may include a left main operator 200a and a right main operator 200b. Figure 4 As shown, the left master operator 200a may include a left handle mechanism 100a, and the right master operator 200b may include a right handle mechanism 100b. Figure 4 As shown, the distal end of at least one master operator can be connected to the main body 311.

[0078] In some embodiments, Figure 4 As shown, the surgical robot system 300 may further include a surgical trolley 320. The surgical trolley 320 may include at least one robotic arm 321. The at least one robotic arm 321 may be a positioning arm of the surgical robot system. In some embodiments, at least one surgical instrument 322 may be provided at the distal end of the at least one robotic arm 321. In some embodiments, the at least one surgical instrument 322 may include surgical tools (e.g., clamps, scissors, etc.) and / or imaging tools (e.g., endoscopes).

[0079] In some embodiments, the main control trolley 310 is connected to the operating trolley 320 in communication, for example, by wired transmission or wireless transmission. At least one main operator 200 on the main control trolley 310 can be used to receive user operations. During surgery, the user can control the surgical instruments 322 included in the operating trolley 320 to perform surgical operations by operating at least one main operator 200 in the main control trolley 310. The operating trolley 320 is usually located on the patient's side, responding to the control instructions of the main control trolley 310 to perform surgical operations on the patient.

[0080] Those skilled in the art will appreciate that the surgical robot system 300 provided in this embodiment may be any suitable surgical robot system including a laparoscopic surgical robot system.

[0081] In some embodiments, the first sensor detects the opening and closing information of the first clamping member, and the second sensor detects the opening and closing information of the second clamping member, thereby achieving redundant detection and facilitating improving the reliability of the detected opening and closing information.

[0082] In some embodiments, the controller can send an alarm signal in response to the difference between the first opening and closing angle detected by the first sensor and the second opening and closing angle detected by the second sensor being greater than a threshold, thereby being able to promptly detect faults when redundant detection fails, thereby helping to improve the reliability of the detected opening and closing angles.

[0083] In some embodiments, the controller is configured to determine the opening and closing angles of the first clamping member and the second clamping member according to the first opening and closing angle and the second opening and closing angle, thereby improving the accuracy of the opening and closing angles of the first clamping member and the second clamping member.

[0084] In some embodiments, the first clamping member is fixedly connected to the first gear, the second clamping member is fixedly connected to the second gear, and the first gear and the second gear are meshed with each other. Based on this, the first clamping member and the second clamping member can be opened and closed synchronously and maintain the same opening and closing angle, thereby helping to improve the user's experience of operating the handle mechanism.

[0085] In some embodiments, the first clamping member includes a first slide groove, the handle body includes a first pin structure that can slide in the first slide groove, and the second clamping member includes a second slide groove, and the handle body includes a second pin structure that can slide in the second slide groove. Based on this, the rotation and opening angles of the first clamping member and the second clamping member can be limited, which is convenient for the user to operate the handle mechanism.

[0086] In some embodiments, a plurality of elastic members may be disposed between the distal ends of the first clamping member and the second clamping member. When the first clamping member and the second clamping member are opened and closed, the plurality of elastic members are all subjected to tension, which is beneficial to improving the service life of the elastic members.

[0087] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure is described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A handle mechanism, characterized in that: include: handle body; A first clamping member and a second clamping member, wherein the first clamping member and the second clamping member are respectively hinged to the handle body and cooperate with each other to achieve opening and closing; as well as A first sensor and a second sensor, wherein the first sensor is used to detect first opening and closing information of the first clamping member, and the second sensor is used to detect second opening and closing information of the second clamping member.

2. The handle mechanism according to claim 1, characterized in that: Also includes: A first magnetic member and a second magnetic member, wherein the first magnetic member is fixedly connected to the first clamping member, and the second magnetic member is fixedly connected to the second clamping member; The first sensor and the second sensor are both magnetic sensors. The first sensor is used to detect the rotation of the first magnetic member to detect the first opening and closing information, and the second sensor is used to detect the rotation of the second magnetic member to detect the second opening and closing information.

3. The handle mechanism according to claim 2, characterized in that: Also includes: A first gear is fixedly connected to the proximal end of the first clamping member, and the first clamping member is hinged to the handle body through the first gear; as well as The second gear is fixedly connected to the proximal end of the second clamping member. The second clamping member is hinged to the handle body through the second gear. The first gear is meshed with the second gear.

4. The handle mechanism according to claim 3, characterized in that: The first magnetic member is fixedly connected to the first gear, and the second magnetic member is fixedly connected to the second gear.

5. The handle mechanism according to claim 3, characterized in that: Also includes: A controller is connected to the first sensor and the second sensor respectively, the first opening and closing information includes a first opening and closing angle and the second opening and closing information includes a second opening and closing angle, and the controller is configured to send an alarm signal in response to a difference between the first opening and closing angle and the second opening and closing angle being greater than a threshold.

6. The handle mechanism according to claim 5, characterized in that: The controller is further configured to determine an opening and closing angle of the first clamping member and the second clamping member according to the first opening and closing angle and the second opening and closing angle.

7. The handle mechanism according to claim 3, characterized in that: The first clamping member comprises a first sliding groove, and the first sliding groove extends along the rotation direction of the first clamping member; The second clamping member comprises a second slide groove, and the second slide groove extends along the rotation direction of the second clamping member; The handle body comprises: Base; A first pin structure is disposed on the base, wherein the first pin structure is slidably connected to the first sliding groove; and The second pin structure is arranged on the base and is arranged opposite to the first pin structure. The second pin structure is slidably connected to the second sliding groove.

8. The handle mechanism according to claim 7, characterized in that: Also includes: A plurality of wires, wherein the plurality of wires are respectively connected to the first sensor and the second sensor; The handle body also includes: A middle channel, wherein the middle channel is used for allowing the plurality of wires to pass through.

9. The handle mechanism according to claim 8, characterized in that: The base also includes: a first step, wherein the first step is arranged at a distal end of the first gear, and the first pin structure is arranged on the first step; The second step is arranged at the distal end of the second gear, the second pin structure is arranged on the second step, and the first step and the second step are arranged oppositely on both sides of the middle channel.

10. The handle mechanism according to any one of claims 1 to 9, characterized in that: Also includes: An elastic member, two ends of which are respectively connected to the distal ends of the first clamping member and the second clamping member, and the elastic member is used to apply a force to the first clamping member and the second clamping member to open the first clamping member and the second clamping member.

11. A main operator, characterized in that: include: The handle mechanism according to any one of claims 1 to 10; as well as The mechanical arm comprises a plurality of arm bodies, and the handle mechanism is arranged at the proximal end of the mechanical arm.

12. A surgical robot system, characterized in that: include: A master control trolley comprises a main body and at least one main operator as claimed in claim 11, wherein a distal end of the at least one main operator is connected to the main body.

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