Handle and surgical robot

Abstract

The utility model provides a handle and a surgical robot. The handle is used for a joint of the surgical robot. The handle comprises a shell and a key assembly. The key assembly is arranged on the shell. The key assembly comprises an installation piece, a key cap and a force conduction piece. The keycap is movably connected to the mounting member in a first direction. The force conducting member is pivotally connected to the keycap and the mounting member. And the keycap drives the power transmission piece to rotate under the action force. The force conduction piece transmits torque generated by rotation to the key cap. And the key cap is driven to linearly move towards the component force direction of the acting force in the first direction. According to the utility model, the handle can uniformly transmit the force applied to the keycap to all places, so that the keycap can move along the first direction no matter which position and angle the keycap is pressed, thereby preventing the keycap from being blocked in the pressing process, and further ensuring that a user can obtain good pressing hand feeling.

Description

Technical Field

[0001] The present application generally relates to the technical field of medical devices, and more specifically to a handle and a surgical robot. Background Art

[0002] In medical devices, such as surgical robots, some joints need to be equipped with handles with buttons for manual traction and adjustment of the position and posture of the robot joints. It is often necessary for medical staff to hold the handle and press the button to trigger the signal, while adjusting the position and direction of the device. Related technology In order to make it easier to grasp and operate from different positions and for people of different heights and body shapes, it is necessary to make the handle and the trigger button on it larger and longer. Common button handles usually use multiple sets of linear sliding guide mechanisms to guide the button movement, or use hinges for guidance. These guide mechanisms often get stuck and have poor contact when used for long or large buttons. This is because the distance between the two opposite ends of the button is too far, and the accuracy of the guide mechanism is required to be high. When the button is subjected to a pressing force biased towards the center, the resulting offset load will cause the guide mechanism to get stuck, and the button cannot reach the target trigger position, and the flexible adjustment and control of the joint position cannot be achieved. Utility Model Content

[0003] A series of simplified concepts are introduced in the utility model content section, which will be further described in detail in the detailed implementation section. The utility model content section of this application does not mean to attempt to define the key features and essential technical features of the technical solution claimed for protection, nor does it mean to attempt to determine the scope of protection of the technical solution claimed for protection.

[0004] In order to at least partially solve the above problems, the present application provides a handle for a joint of a surgical robot in a first aspect, the handle comprising:

[0005] a housing; and

[0006] A key assembly, wherein the key assembly is arranged on the shell, and the key assembly includes: a mounting member, a keycap and a force transmission member, wherein the keycap is movably connected to the mounting member along a first direction, and the force transmission member is pivotally connected to the keycap and the mounting member, and the keycap drives the force transmission member to rotate when a force is applied to the keycap, and the force transmission member transmits the torque generated by the rotation to the keycap, driving the keycap to move linearly in the direction of the component force of the applied force in the first direction.

[0007] According to the handle of the first aspect of the present application, the force acting on the keycap can be evenly transmitted to all parts by arranging a force transmission member, so that the keycap can move along the first direction no matter from which position or angle it is pressed, thereby preventing the keycap from getting stuck during the pressing process, thereby ensuring that the user can get a good pressing feel.

[0008] Optionally, the force transmission member includes a torsion bar, the middle portion of the torsion bar along the second direction is pivotally connected to the mounting member around a first axis, and both ends of the torsion bar are pivotally connected to the keycap around a second axis, and the second direction is perpendicular to the first direction.

[0009] Optionally, the second axis is parallel to the first axis.

[0010] Optionally, the button assembly further includes:

[0011] An elastic member is connected between the key cap and the mounting member to reset the key cap.

[0012] Optionally, the button assembly further includes:

[0013] A first guide member connected to the mounting member and extending along a first direction; and

[0014] The second guide member is connected to the key cap and extends along a first direction. The second guide member is slidably matched with the first guide member along the first direction.

[0015] Optionally, one of the first guide member and the second guide member is a guide column, and the other of the first guide member and the second guide member is a guide sleeve, and the guide sleeve is sleeved on the outside of the guide column.

[0016] Optionally, the button assembly further includes:

[0017] A connecting member is extended along a first direction, the connecting member comprises a slide groove, the end of the torsion bar is connected to the slide groove, and the end of the torsion bar is arranged to be able to move relative to the connecting member along the extension direction of the slide groove.

[0018] Optionally, an extension direction of the slide groove is perpendicular to the first direction and the second direction.

[0019] Optionally, the torsion bar is located on a side of the mounting member away from the keycap along the first direction;

[0020] The mounting member includes a through hole, the through hole is arranged to penetrate along the first direction, and the through hole is suitable for penetrating the connecting member.

[0021] Optionally, the torsion bar comprises:

[0022] a first rod portion, the first rod portion extending along the second direction;

[0023] two second rod portions, the two second rod portions are located at two ends of the first rod portion, one end of the first rod portion is connected to an end portion of the first rod portion, and the other end of the second rod portion is extended along a direction intersecting the second direction; and

[0024] Two third rods, the two third rods are respectively arranged corresponding to the two second rods, one end of the third rod is connected to the end of the second rod away from the first rod, the other end of the third rod is extended along the second direction, and the third rod is connected to the slide slot.

[0025] Wherein, the first rod portion, the second rod portion and the third rod portion are coplanar.

[0026] Optionally, the button assembly further includes:

[0027] A non-contact sensor comprises a first part and a second part, wherein the first part is connected to the mounting member, and the second part is connected to the key cap, and the non-contact sensor is suitable for detecting the relative position of the mounting member and the key cap.

[0028] Optionally, the button assembly includes at least two non-contact sensors, and the at least two non-contact sensors are arranged at intervals along the second direction.

[0029] Optionally, the button assembly includes at least two torsion bars.

[0030] Optionally, the button assembly includes two torsion bars, and the two torsion bars are at least partially arranged opposite to each other in a third direction perpendicular to the first direction.

[0031] Optionally, a dimension of the keycap along the second direction is greater than a dimension of the keycap along a third direction, and the third direction is perpendicular to the first direction and the second direction.

[0032] A second aspect of the present application provides a surgical robot, comprising the above-mentioned handle.

[0033] According to the surgical robot of the second aspect of the present application, by applying the above-mentioned handle, a better operating experience can be obtained when operating the button assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The following drawings of the embodiments of the present application are hereby used as part of the present application for understanding the present application. The drawings show the embodiments of the present application and their descriptions, and are used to explain the principles of the present application. In the drawings,

[0035] Figure 1 is a schematic diagram of a surgical robot according to a preferred embodiment of the present application;

[0036] Figure 2 An exploded perspective view of a handle according to a preferred embodiment of the present application;

[0037] Figure 3 It is a three-dimensional view of a key assembly according to a preferred embodiment of the present application, wherein the key cap is located in a first position;

[0038] Figure 4 for Figure 2 and Figure 3 A schematic structural diagram of a first part of a non-contact sensor;

[0039] Figure 5 for Figure 2 and Figure 3 A schematic diagram of the structure of the fixing parts;

[0040] Figure 6 for Figure 2 and Figure 3 Schematic diagram of the structure of the torsion bar;

[0041] Figure 7 for Figure 2 and Figure 3 A schematic diagram of the structure of the mounting parts;

[0042] Figure 8 for Figure 2 and Figure 3 A schematic diagram of the structure of the connecting parts in FIG.

[0043] Fig. 9 for Figure 2 and Figure 3 A schematic diagram of the connection between the first part of the non-contact sensor, the guide column and the elastic member;

[0044] Fig.10 for Figure 2 and Figure 3 A schematic diagram of the connection of the guide sleeve in FIG.

[0045] Fig.11 for Figure 2 and Figure 3 Schematic diagram of the structure of the key caps.

[0046] Description of reference numerals:

[0047] 10: Surgical Robot 11: Control System

[0048] 12: Imaging system 13: Robotic arm system

[0049] 100: handle 110: button assembly

[0050] 111: Mounting piece 111a: Through hole

[0051] 111b: first wire groove 111c: mounting hole

[0052] 111d: Avoidance hole 112: Key cap

[0053] 112a: first vacant portion 112b: second vacant portion

[0054] 112c: second wire groove 113: first guide member

[0055] 113a: guide sleeve 113b: through hole

[0056] 114: second guide member 114a: guide post

[0057] 114b: Connecting part 115: Torsion bar

[0058] 115a: first rod portion 115b: second rod portion

[0059] 115c: third rod 116: elastic member

[0060] 117: Connector 117a: Slide

[0061] 118: Non-contact sensor 118a: Part 1

[0062] 118a1: Avoidance groove 118b: Part 2

[0063] 119: Fixing piece 119a: Hinge slot

[0064] 120: housing 121: first housing

[0065] 122: second shell 122a: opening

[0066] AX1: First axis AX2: Second axis

[0067] D1: First direction D2: Second direction

[0068] D3: Third direction DETAILED DESCRIPTION

[0069] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it is obvious to those skilled in the art that the present application embodiments can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present application embodiments, some technical features well known in the art are not described.

[0070] In order to fully understand the implementation of the present application, a detailed structure will be presented in the following description. Obviously, the implementation of the implementation of the present application is not limited to the specific details familiar to those skilled in the art.

[0071] It should be understood that the purpose of the terms used herein is only to describe specific embodiments and is not intended to limit the present application, and the singular forms "a", "an" and "said / the" are also intended to include plural forms, unless the context clearly indicates otherwise. When the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the features, integral bodies, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integral bodies, steps, operations, elements, components and / or combinations thereof.

[0072] Ordinal numbers such as "first" and "second" cited in this application are merely identifiers and do not have any other meaning, such as a specific order. Moreover, for example, the term "first part 118a" itself does not imply the existence of a "second part", and the term "second part" itself does not imply the existence of a "first part". It should be noted that the terms "upper", "lower", "front", "back", "left", "right", "inner", "outer" and similar expressions used in this application are for illustrative purposes only and are not limiting.

[0073] The terms "parallel" / "perpendicular" and similar expressions used in this application include an absolute parallel / perpendicular relationship and a roughly parallel / perpendicular relationship (for example, a relationship that differs from absolute parallel / perpendicular by a range of -5° to +5°), which can have equivalent effects.

[0074] Hereinafter, specific embodiments of the present application will be described in more detail with reference to the accompanying drawings. These drawings show representative embodiments of the present application and do not limit the present application.

[0075] like Figure 1 As shown, the utility model provides a surgical robot for remotely controlling and performing surgery. The surgical robot 10 can also be referred to as a medical system or a medical robot. The surgical robot 10 can include a control system 11, an imaging system 12, and a robotic arm system 13, which can communicate with each other.

[0076] The control system 11 is also called a doctor's console or control device. The control system 11 has a display unit for displaying surgical instruments or endoscope environments, a control mechanism for doctors to operate, and armrests. The display unit is provided with an observation window for doctors to observe. The control mechanism is configured to perform various actions corresponding to the actions of surgical instruments or endoscopes. The armrests are used to place the doctor's arms. In addition, the doctor's console also has other control switches that are convenient for hands or feet to touch or press, which are used to perform various functional operations and complete human-computer interaction.

[0077] The imaging system 12 has a display screen, an endoscope controller, system electronic equipment, an image processor, etc. Thus, the internal organs of the patient can be presented to the operator more clearly.

[0078] The robotic arm system 13 can also be called the patient-side robotic arm system 13. The robotic arm system 13 is arranged next to the patient, and a surgical instrument or an endoscope is arranged at its distal end for performing various surgical operations on the patient. The robotic arm system 13 may include at least one robotic arm. The robotic arm has a plurality of connecting arms, and two adjacent connecting arms are connected by joints and move relative to each other with specific degrees of freedom, so that the end of the robotic arm can achieve multiple degrees of freedom. A holding arm is installed at the end of the robotic arm, and the surgical instrument is detachably mounted on the holding arm. The holding arm can be called an instrument support frame or an instrument arm. An instrument drive module is arranged on the holding arm to drive the end effector of the surgical instrument to perform insertion, clamping, hooking, shearing, shoveling and other actions.

[0079] In some cases, a single robotic arm may include an adjustment arm, an operating arm, and a holding arm. The surgical instrument or endoscope is detachably mounted on the holding arm. During surgery, part of the main channel and wrist mechanism of the surgical instrument are passed through tissues such as the chest and abdominal wall to perform surgery instead of human hands. The two adjacent connecting rods in the adjustment arm are pivotally connected by a rotating joint. In addition, a rotating joint is also provided between the adjustment arm and the operating arm to achieve a pivotable connection. Before operating the robotic arm system 13 for surgery, it is necessary to first operate the adjustment arm to make the holding arm reach the specified position, and then lock the rotating joint of the adjustment arm. During surgery, the surgical operation is completed by remotely controlling the operating arm, while keeping the rotating joint of the adjustment arm locked to prevent relative rotation between the connecting rods of the adjustment arm during surgery.

[0080] In surgical robots, some joints need to be equipped with handles with buttons for manual traction and adjustment of the position and posture of the robot joints. Medical staff often need to hold the handles, press buttons to trigger signals, and adjust the position and direction of the device. In order to make it easier for people of different heights and body shapes to grasp and operate from different positions, the handles and the trigger buttons on them need to be made larger and longer, and at the same time, they need to be able to ensure a good trigger effect when held and pressed from any position.

[0081] Related technology In order to make it easier to grasp and operate from different positions and for people of different heights and body shapes, it is necessary to make the handle and the trigger button on it larger and longer. Common button handles usually use multiple sets of linear sliding guide mechanisms to guide the button movement, or use hinges for guidance. These guide mechanisms often get stuck and have poor contact when used for long or large buttons. This is because the distance between the two opposite ends of the button is too far, and the accuracy of the guide mechanism is high. When the button is subjected to a pressing force that is biased towards the center, the resulting offset load will cause the guide mechanism to get stuck, and the button will not be able to reach the target trigger position, making it impossible to achieve flexible adjustment and control of the joint position.

[0082] In order to solve the above technical problems, the present application provides a handle with a button assembly and a surgical robot. The handle can be arranged at a joint of the surgical robot.

[0083] The following will refer to Figures 1 to 11 The shown example provides a detailed description of the handle with a button assembly and the surgical robot according to the present application.

[0084] See also Figures 2 to 11 , the present application provides a handle. The handle 100 can be used for the joint of the surgical robot 10. The handle 100 may include a shell 120 and a button assembly 110. The button assembly 110 is arranged on the shell 120. The button assembly 110 may include a mounting member 111, a keycap 112 and a force transmission member. The keycap 112 is movably connected to the mounting member 111 along a first direction D1. The force transmission member is pivotally connected to the keycap 112 and the mounting member 111. When the keycap 112 is subjected to an applied force, the force transmission member is driven to rotate. The force transmission member transmits the torque generated by the rotation to the keycap 112, so as to drive the keycap 112 to move linearly in the direction of the component force of the applied force in the first direction D1.

[0085] According to the handle of the present application, by providing a force transmission member, the force exerted on the keycap 112 can be evenly transmitted to all parts, so that the keycap 112 can move along the first direction D1 no matter from which position and angle it is pressed, thereby preventing the keycap 112 from getting stuck during the pressing process, thereby ensuring that the user can get a good pressing feel.

[0086] For example, the force transmission member may include a torsion bar 115. The middle portion of the torsion bar 115 along the second direction D2 is pivotally connected to the mounting member 111 around the first axis AX1. Both ends of the torsion bar 115 are pivotally connected to the keycap 112 around the second axis AX2. The second direction D2 is perpendicular to the first direction D1. Here, the force is transmitted between the keycap 112 and the mounting member through the torsion bar 115.

[0087] Further, the keycap 112 is movably connected to the mounting member 111 between a first position and a second position along the first direction D1. The keycap 112 at the first position is farther from the mounting member 111 than the keycap 112 at the second position. In other words, when the keycap 112 is at the first position, the keycap 112 is in a non-pressed state. Correspondingly, when the keycap 112 is at the second position, the keycap 112 is in a pressed state.

[0088] Optionally, the housing 120 may include an inner cavity and an opening 122a connected to the inner cavity. The mounting member 111 is located in the inner cavity and fixed to the housing 120. The keycap 112 is located in the opening 122a. The keycap 112 can move along the first direction D1 in the opening 122a. Among them, the housing 120 may include a first shell portion 121 and a second shell portion 122. An inner cavity is formed between the first shell portion 121 and the second shell portion 122. The first shell portion 121 may be connected to the second shell portion 122 in a detachable manner such as snap-fitting. The first shell portion 121 may also be fixed to the second shell portion 122 in a non-detachable manner such as bonding. The above-mentioned opening 122a is provided in the second shell portion 122.

[0089] See also Figure 2 , Figure 3 and Figure 6 Furthermore, the second axis AX2 is parallel to the first axis AX1. This is beneficial to improving the compactness of the connection structure between the key cap 112 and the mounting member 111.

[0090] Optionally, the second axis AX2 and the first axis AX1 are both parallel to the second direction D2. The dimension of the keycap 112 along the second direction D2 is greater than the dimension along the third direction D3. That is, the keycap 112 is in the shape of an elongated strip. When the keycap 112 is pressed at any position and at any angle on the keycap 112, the pressing force applied to the keycap 112 can be evenly transmitted in the second direction D2 through the torsion bar 115, so that the keycap 112 is evenly stressed. This can prevent the elongated key from getting stuck due to inappropriate pressing position and / or pressing angle, so that the operation of the key assembly 110 can be smooth and convenient. The present application uses the torsion bar 115 to transfer the pressing force from one end of the key to the other end, so that the key is evenly stressed and can move along an ideal trajectory. This structure can almost ignore the influence of the length of the long key on the guiding effect of the torsion bar 115.

[0091] See also Figure 2 , Figure 3 and Fig. 9In addition, the key assembly 110 may further include an elastic member 116. The elastic member 116 is connected between the key cap 112 and the mounting member 111 to apply a force toward the first position to the key cap 112, so as to reset the key cap 112. By providing the elastic member 116, the key cap 112 can be automatically reset to the first position, which makes the key assembly 110 more convenient to use.

[0092] See also Figure 2 , Figure 3 , Fig. 9 as well as Fig.10 In addition, the key assembly 110 may further include a first guide member 113 and a second guide member 114. The first guide member 113 is connected to the mounting member 111 and extends along the first direction D1. The second guide member 114 is connected to the key cap 112 and extends along the first direction D1. The second guide member 114 is slidably matched with the first guide member 113 along the first direction D1. Through the sliding match between the first guide member 113 and the second guide member 114, the movement of the key cap 112 in the first direction D1 is guided.

[0093] For example, one of the first guide member 113 and the second guide member 114 is a guide post 114a. The other of the first guide member 113 and the second guide member 114 is a guide sleeve 113a. The guide sleeve 113a is sleeved on the outside of the guide post 114a. Through the cooperation of the guide post 114a and the guide sleeve 113a, the movement of the keycap 112 in the first direction D1 can be guided, and the movement of the keycap 112 in a direction perpendicular to the first direction D1 can be more reliably constrained.

[0094] Furthermore, the elastic member 116 is disposed between the guide post 114a and the guide sleeve 113a. The elastic member 116 can exert a force between the guide post 114a and the guide sleeve 113a to make the guide post 114a and the guide sleeve 113a move away from each other along the first direction D1.

[0095] exist Figure 2 , Figure 3 , Fig. 9 as well as Fig.10In the example shown, the guide post 114a and the guide sleeve 113a are both cylindrical. The guide post 114a is connected to the key cap 112. The guide sleeve 113a is connected to the mounting member 111. The guide sleeve 113a has a through hole 113b, which can be used as an exhaust hole to reduce the resistance of the guide post 114a to move. Alternatively, the through hole 113b is guided and matched with the guide post 114a. The inner diameter of the guide sleeve 113a is greater than the outer diameter of the guide post 114a. The elastic member 116 is a compression spring. The compression spring sleeve is arranged on the outer periphery of the guide post 114a and is located on the inner side of the guide sleeve 113a. That is, the compression spring is located between the guide sleeve 113a and the guide post 114a along the radial direction of the guide post 114a.

[0096] In other examples, the cylindrical guide post 114a may be replaced by other forms of guide structures, such as a square guide post 114a, a linear bearing, etc.

[0097] See also Figure 7 Furthermore, the mounting member 111 may further include a mounting hole 111c provided therethrough. The mounting hole 111c is suitable for connecting the guide sleeve 113a. A first wire groove 111b is formed on the surface of the end of the mounting member 111 facing the keycap 112. The first wire groove 111b is suitable for laying a wire harness.

[0098] See also Figure 2 , Figure 3 and Figure 8 In addition, the key assembly 110 may further include a connecting member 117. The connecting member 117 is extended along the first direction D1. The connecting member 117 may include a slide groove 117a. The end of the torsion bar 115 is connected to the slide groove 117a. The end of the torsion bar 115 is configured to be able to move relative to the connecting member 117 along the extension direction of the slide groove 117a. By providing the slide groove 117a, the end of the torsion bar 115 can be accommodated, and the end of the torsion bar 115 can be allowed to adaptively move in the extension direction of the slide groove 117a during the movement of the key cap 112 along the first direction D1.

[0099] Continue reading Figure 2 , Figure 3 and Figure 8For example, the extension direction of the slide groove 117a is perpendicular to the first direction D1 and the second direction D2. The extension direction of the slide groove 117a here can be the third direction D3 marked in the figure. That is, the torsion bar 115 does not move in the axial direction during the pivoting process, but makes a combined motion with two separate motions in the first direction D1 and the third direction D3. Specifically, after the torsion bar 115 transmits the applied force along the first direction D1 from the keycap 112, a portion of the torsion bar 115 can move along the first direction D1 with the keycap 112, and at the same time, during the pivoting process, a portion of the torsion bar 115 will move in the third direction D3. The length of the slide groove 117a is positively correlated with the movement stroke of the torsion bar 115 along the third direction D3 during the pivoting process.

[0100] In other examples, the end of the torsion bar 115 may also be indirectly connected to the slide groove 117a through a slider. The slider is pivotally connected to the end of the torsion bar 115. The slider is slidably installed in the slide groove 117a along the third direction D3.

[0101] See also Figure 2 , Figure 3 , Figure 7 and Figure 8 For example, the torsion bar 115 is located on a side of the mounting member 111 away from the key cap 112 along the first direction D1. The mounting member 111 may include a through hole 111a. The through hole 111a is arranged to penetrate along the first direction D1. The through hole 111a is adapted to penetrate the connecting member 117. In this way, the compactness of the key assembly 110 in the first direction D1 can be improved.

[0102] See also Figure 2 , Figure 3 , Figure 6 and Figure 8For example, the torsion bar 115 may include a first rod portion 115a, two second rod portions 115b and two third rod portions 115c. The first rod portion 115a is extended along the second direction D2. The two second rod portions 115b are located at both ends of the first rod portion 115a. One end of the first rod portion 115a is connected to the end of the first rod portion 115a. The other end of the second rod portion 115b is extended along a direction intersecting the second direction D2. The two third rod portions 115c are respectively arranged corresponding to the two second rod portions 115b. One end of the third rod portion 115c is connected to the end of the second rod portion 115b away from the first rod portion 115a. The other end of the third rod portion 115c is extended along the second direction D2. The third rod portion 115c is connected to the slide groove 117a. Among them, the first rod portion 115a, the second rod portion 115b and the third rod portion 115c are coplanar. By adopting the above technical means, the overall shape of the torsion bar 115 is close to a "J" shape or an "Ω" shape. By arranging the first rod portion 115a, the second rod portion 115b and the third rod portion 115c in the same plane, the overall space occupied by the torsion bar 115 in the key assembly 110 can be saved to a certain extent, which is conducive to improving the structural compactness of the key assembly 110.

[0103] In other examples, the first rod portion 115 a , the second rod portion 115 b , and the third rod portion 115 c may not be coplanar.

[0104] In other examples, the shape of the torsion bar 115 may also be a “bow” shape, a “C” shape, or the like.

[0105] See also Figure 2 , Figure 3 , Figure 5 as well as Figure 6 In addition, the key assembly 110 may further include a fixing member 119. A hinge groove 119a is formed on the surface of the fixing member 119 facing the mounting member 111. When the fixing member 119 is connected to the mounting member 111, the hinge groove 119a and the mounting member 111 form a hinge hole. The hinge hole is suitable for connecting the torsion bar 115. The first rod portion 115a is located in the hinge groove 119a.

[0106] See also Figure 2 and Figure 3 For example, the key assembly 110 may include at least two torsion bars 115. By providing a plurality of torsion bars 115, the force acting on the keycap 112 can be more evenly and reliably transmitted to various parts of the keycap 112, so that the keycap 112 can move along the linear guide of the first direction D1 no matter from which position or angle it is pressed, thereby ensuring a good pressing feel and use experience, and also facilitating to improve the service life of the key assembly 110.

[0107] exist Figure 2 and Figure 3In the example shown, the key assembly 110 may include two torsion bars 115. The two torsion bars 115 are at least partially arranged opposite to each other in a third direction D3 perpendicular to the first direction D1. By providing two torsion bars 115, it is possible to achieve uniform and reliable transmission of force between various parts of the keycap 112, so that the operator can press the key from any position and any angle and achieve stable and reliable triggering, thereby preventing the keycap from getting stuck during the pressing process and obtaining a better pressing feel experience. It is also possible to simplify the structure of the key assembly 110, thereby facilitating manufacturing and helping to reduce weight.

[0108] See also Figure 2 , Figure 3 , Figure 7 , Fig. 9 as well as Fig.11 In addition, the key assembly 110 may also include a non-contact sensor 118. The non-contact sensor 118 includes a first part 118a and a second part 118b. The first part 118a is connected to the mounting member 111. The second part 118b is connected to the keycap 112. The non-contact sensor 118 is suitable for detecting the relative position of the mounting member 111 and the keycap 112. By using the non-contact sensor 118 to detect the relative position of the mounting member 111 and the keycap 112, the resistance of the keycap 112 during the movement relative to the mounting member 111 can be reduced, and mechanical contact wear can be avoided, thereby greatly improving the service life and reliability of the key assembly 110, and effectively solving the problem of functional failure of the contact sensor due to mechanical wear. By using the non-contact sensor 118, the present application can more conveniently carry out the travel design and pressing resistance design of the movable structure such as the keycap 112.

[0109] See also Figure 7 For example, the mounting member 111 is provided with an avoidance hole 111d through which the second portion 118b can move. The first portion 118a is provided corresponding to the avoidance hole 111d. The first portion 118a may be provided with an avoidance groove 118a1. The avoidance groove 118a1 is used to avoid the movement of the second portion 118b.

[0110] See also Figure 2 , Figure 3 , Figure 4 , Figure 7 , Fig. 9 as well as Fig.11 For example, the key assembly 110 may include at least two non-contact sensors 118. The at least two non-contact sensors 118 are arranged at intervals along the second direction D2. By providing at least two non-contact sensors 118, the problem of failure of a single sensor to detect normally is prevented, and such a redundant design greatly improves the reliability of the key assembly 110.

[0111] In one example, the non-contact sensor 118 may be a through-beam photoelectric sensor. For the present application, a photoelectric sensor is used as the non-contact sensor 118, which can make the triggering effect of the key more stable and reliable.

[0112] See also Figure 2 , Figure 3 , Figure 4 , Figure 7 , Fig. 9 as well as Fig.11 Specifically, a sensing sheet is provided on the guide column 114a on the keycap 112. When the long keycap 112 is pressed, the sensing sheet will block the reflected laser of the reflected photoelectric sensor, thereby causing a trigger signal. By using this non-contact triggering method, the wear and tear caused by the mechanical structure is avoided, and the life and reliability are improved. A photoelectric sensor is provided at each end of the keycap 112, so that even if the keycap 112 is pressed from the edge, the keycap 112 does not run according to the ideal motion trajectory and produces a side deviation, it can still be guaranteed that at least one photoelectric sensor is triggered. This redundant design improves the reliability of the key.

[0113] In addition, by using the triggering method of the non-contact sensor 118, the key stroke and pressing resistance can be designed according to the needs. Since the non-contact triggering does not produce reaction force, the key stroke can be designed more conveniently, and the required pressing resistance can be obtained by simply adjusting the specifications of the spring.

[0114] In other examples, the non-contact sensor 118 may also be replaced by a contact micro switch, a Hall sensor, etc.

[0115] See 2. Figure 3 , Fig. 9 and Fig.11 For example, the keycap 112 is provided with a first missing portion 112a, a second missing portion 112b and a second wire groove 112c. The first missing portion 112a and the second missing portion 112b are both provided through. The first missing portion 112a is suitable for installing a connector 117. The second missing portion 112b is suitable for installing a combination of a guide column 114a, a second portion 118b of a non-contact sensor 118 and a connecting portion 114b. The connecting portion 114b can serve as a connecting seat for the second portion 118b and the guide column 114a. The connecting seat is provided with a through hole, which is suitable for inserting a screw to fasten to the keycap 112. The second wire groove 112c is suitable for laying and accommodating a wiring harness.

[0116] The key assembly 110 according to the present application may include a long strip keycap 112, a first shell 121, a second shell 122, a mounting member 111, a guide post 114a, a connector 117, a guide sleeve 113a, a spring, a torsion bar 115, a fixing member 119 and a photoelectric sensor. The guide post 114a and the connector 117 are fixed to the keycap 112. The guide sleeve 113a and the fixing member 119 are fixed to the mounting member 111. The guide post 114a and the guide sleeve 113a limit the relative linear motion between the mounting member 111 and the keycap 112 with only one degree of freedom along the first direction D1. At the same time, since the torsion bar 115 can rotate around the fixed axis on the fixing member 119, the two ends of the torsion bar 115 are respectively embedded in the slide groove 117a of the connector 117, so that the connectors 117 at both ends of the keycap 112 also perform linear motion synchronously with the rotation of the torsion bar 115.

[0117] like Figure 3The keycap is not pressed. The guide column 114a and the guide sleeve 113a play a basic guiding role. If the key assembly 110 only has the linear guide mechanism composed of the guide column 114a and the guide sleeve 113a, when pressing only from one end of the keycap 112, the guide column 114a and the guide copper sleeve will be stuck due to the offset load. At the same time, due to the lever effect generated by the unilateral force, the side of the keycap 112 that is not pressed will have a slight displacement, resulting in the inability to trigger the switch. In this application, a torsion bar 115 mechanism for synchronizing the movement of the two ends of the keycap 112 is added. Since the torsion bar 115 is fixed to the mounting member 111 and can rotate around the hinge point to transmit torque. The two ends of the torsion bar 115 are embedded in the slide groove 117a of the connecting member 117, and the direction of the slide groove 117a is perpendicular to the direction of the key movement and the axial direction of the torsion bar 115. The connecting member 117 is fixed to the keycap 112 and is only allowed to make the same linear movement as the keycap 112. When the torsion bar 115 rotates, the movement of the part of the torsion bar 115 that is embedded in the connecting member 117 at both ends is decomposed into the movement along the extension direction of the slide groove 117a and the movement along the extension direction of the guide column 114a. Therefore, when the long keycap 112 is in the most unfavorable triggering condition, that is, only the edge of one end of the long keycap 112 is pressed, the keycap 112 drives the connecting member 117 on one side to move, thereby pulling the torsion bar 115 to rotate, transmitting torque to the connecting member 117 on the other side, decomposing into an effective linear movement of the connecting member 117, and driving the other end of the long keycap 112 to move. That is, the torsion bar 115 is equivalent to directly transmitting the pressing force on one end of the keycap 112 to the other end, so that the entire keycap 112 is evenly stressed and avoids jamming caused by eccentric load. Under the action of the torsion bar 115, the entire keycap 112 can perform linear movement in the ideal direction when pressed at any position, so that the pressing feel and triggering effect can be maintained consistent when pressed from all positions. In order to make the entire long key cap 112 receive a more uniform force when being pressed, two or even more sets of torsion bars 115 may be provided to improve the uniformity of the key pressing feel.

[0118] The present application also provides a surgical robot 10. The surgical robot 10 may include the handle 100. According to the surgical robot 10 of the present application, by applying the handle 100, a better operating experience can be obtained when operating the button assembly 110.

[0119] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art in the technical field of this application. The terms used herein are only for describing specific implementation purposes and are not intended to limit this application. Terms such as "setting" appearing in this article can mean that one component is directly attached to another component, or that one component is attached to another component through an intermediate. Features described in this article in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable in the other embodiment or otherwise specified.

[0120] The present application has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and description, and are not intended to limit the present application to the described embodiments. It can be understood by those skilled in the art that more variations and modifications can be made according to the teachings of the present application, and these variations and modifications all fall within the scope of protection claimed in the present application.

Claims

1. A handle for a joint of a surgical robot, characterized in that: The handle comprises: a housing; and A key assembly, wherein the key assembly is arranged on the shell, and the key assembly includes: a mounting member, a keycap and a force transmission member, wherein the keycap is movably connected to the mounting member along a first direction, and the force transmission member is pivotally connected to the keycap and the mounting member, and the keycap drives the force transmission member to rotate when a force is applied to the keycap, and the force transmission member transmits the torque generated by the rotation to the keycap, driving the keycap to move linearly in the direction of the component force of the applied force in the first direction.

2. The handle according to claim 1, characterized in that: The force transmission member includes a torsion bar, a middle portion of the torsion bar along a second direction is pivotally connected to the mounting member around a first axis, and both ends of the torsion bar are pivotally connected to the keycap around a second axis, and the second direction is perpendicular to the first direction.

3. The handle according to claim 2, characterized in that: The second axis is parallel to the first axis.

4. The handle according to claim 2, characterized in that: The handle also includes: An elastic member is connected between the key cap and the mounting member to reset the key cap.

5. The handle according to claim 2, characterized in that: The button assembly also includes: A first guide member connected to the mounting member and extending along a first direction; and The second guide member is connected to the key cap and extends along a first direction. The second guide member is slidably matched with the first guide member along the first direction.

6. The handle according to claim 5, characterized in that: One of the first guide member and the second guide member is a guide column, and the other of the first guide member and the second guide member is a guide sleeve, and the guide sleeve is sleeved on the outside of the guide column.

7. The handle according to any one of claims 2 to 6, characterized in that The button assembly also includes: A connecting member is extended along a first direction, the connecting member comprises a slide groove, the end of the torsion bar is connected to the slide groove, and the end of the torsion bar is arranged to be able to move relative to the connecting member along the extension direction of the slide groove.

8. The handle according to claim 7, characterized in that An extending direction of the slide slot is perpendicular to the first direction and the second direction.

9. The handle according to claim 8, characterized in that The torsion bar is located on a side of the mounting member away from the key cap along the first direction; The mounting member includes a through hole, the through hole is arranged to penetrate along the first direction, and the through hole is suitable for penetrating the connecting member.

10. The handle according to claim 9, characterized in that The torsion bar comprises: a first rod portion, the first rod portion extending along the second direction; two second rod portions, the two second rod portions are located at two ends of the first rod portion, one end of the first rod portion is connected to an end portion of the first rod portion, and the other end of the second rod portion is extended along a direction intersecting the second direction; and Two third rods, the two third rods are respectively arranged corresponding to the two second rods, one end of the third rod is connected to the end of the second rod away from the first rod, the other end of the third rod is extended along the second direction, and the third rod is connected to the slide slot. Wherein, the first rod portion, the second rod portion and the third rod portion are coplanar.

11. The handle according to any one of claims 2 to 6, characterized in that The button assembly also includes: A non-contact sensor comprises a first part and a second part, wherein the first part is connected to the mounting member, and the second part is connected to the key cap, and the non-contact sensor is suitable for detecting the relative position of the mounting member and the key cap.

12. The handle according to claim 11, characterized in that The button assembly includes at least two non-contact sensors, and the at least two non-contact sensors are arranged at intervals along the second direction.

13. The handle according to any one of claims 2 to 6, characterized in that The button assembly includes at least two torsion bars.

14. The handle according to claim 13, characterized in that The button assembly includes two torsion bars, which are at least partially arranged opposite to each other in a third direction perpendicular to the first direction.

15. The handle according to any one of claims 2 to 6, characterized in that A dimension of the keycap along the second direction is greater than a dimension of the keycap along a third direction, and the third direction is perpendicular to the first direction and the second direction.

16. A surgical robot, characterized in that: The surgical robot comprises the handle according to any one of claims 1 to 15.

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