Control input device and surgical robot system

Abstract

The utility model relates to a control input device and a surgical robot system, and the control input device comprises a switch assembly which comprises a switch main body and a shielding block arranged at the bottom of the switch main body, and the switch main body can slide in the horizontal direction after being pressed; and the photoelectric assembly comprises at least three photoelectric switches which are arranged at intervals along the horizontal direction, and after the switch main body slides along the horizontal direction, the shielding block triggers two adjacent photoelectric switches. According to the control input device disclosed by the invention, different triggering states of the photoelectric assembly are realized through different pressing states of the switch assembly, the control input device executes subsequent control actions based on triggering of two adjacent photoelectric switches, and when a single photoelectric switch is accidentally triggered due to falling of a mechanical part, the control input device does not execute the subsequent actions; the safety, reliability and stability of the control input device can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of switch control technology, and in particular to a control input device and a surgical robot system. Background Art

[0002] Currently, in a control device equipped with a photoelectric switch, the control device generates a corresponding control signal by triggering the photoelectric switch. When a mechanical part of the control device falls off and causes the photoelectric switch to be triggered, the control device will still generate a control signal, which can easily cause an accident and cause losses. Summary of the invention

[0003] In order to solve at least one of the technical problems mentioned above, the present disclosure proposes a control input device and a surgical robot system.

[0004] According to some embodiments of the present disclosure, a control input device is provided, which includes: a switch assembly, including a switch body and a blocking block arranged at the bottom of the switch body, and the switch body can slide in a horizontal direction after being pressed; a photoelectric assembly, including at least three photoelectric switches arranged at intervals along the horizontal direction, and after the switch body slides in the horizontal direction, the blocking block triggers two adjacent photoelectric switches.

[0005] Based on the above scheme, the simultaneous triggering of two adjacent photoelectric switches is achieved through the movement of the switch body. Only when the two adjacent photoelectric switches are triggered at the same time can the input device realize control input. When a single photoelectric switch is accidentally triggered due to the detachment of mechanical parts, the input device will not be accidentally started, which can improve the safety of the control input device.

[0006] In some possible implementations, the control input device further includes a detection component, and the detection component is used to detect a pressing state of the switch body.

[0007] Based on the above scheme, the detection component detects the pressing state of the switch component and verifies and compares it with the triggering state of the photoelectric component, so that the control input device has a redundant control function, which can timely detect the inconsistency between the triggering state of the photoelectric component and the pressing state of the switch body, thereby further improving the safety of the control input device.

[0008] In some possible implementations, the switch body includes a fixing seat and a switch; the switch is slidably disposed above the fixing seat, the blocking block is disposed below the fixing seat, and the blocking block is fixedly connected to the switch.

[0009] Based on the above scheme, the switch structure realizes the pressing action alone, and realizes horizontal sliding through the sliding connection between the switch and the fixing seat, so that the structure of the switch body is simple and stable, thereby reducing the possibility of damage to the switch body, and further reducing the risk of accidental touch of the control input device.

[0010] In some possible embodiments, the photoelectric component includes three photoelectric switches, and when the switch component is not pressed, there is a distance between the blocking block and the photoelectric switch, and the blocking block is directly opposite the photoelectric switch in the middle position; when the switch component is pressed, the blocking block only covers the receiving end of the photoelectric switch in the middle position; when the switch component is pressed and slides in a first direction, the blocking block simultaneously covers the receiving end of the photoelectric switch in the first direction and the receiving end of the photoelectric switch in the middle position; when the switch component is pressed and slides in a second direction, the blocking block simultaneously covers the receiving end of the photoelectric switch in the second direction and the receiving end of the photoelectric switch in the middle position.

[0011] Based on the above solution, the switch assembly includes four different pressing states, only two of the four pressing states can be correctly triggered, and the triggering switch needs to go through two different pressing state switches, which can improve the reliability and safety of the control input device.

[0012] In some possible implementations, when the switch component is not pressed, the detection component is not triggered; when the switch component is pressed, the detection component is triggered.

[0013] Based on the above solution, when the detection component is not triggered in a correct manner, the control input device is judged by combining the detection component and the photoelectric component, thereby ensuring the reliability of the control input device.

[0014] In some possible embodiments, the detection component includes a Hall sensor, which is disposed on the fixing base. A magnetic component is disposed on the switch. When the switch component is not pressed, the magnetic component faces the Hall sensor, and the Hall sensor is used to detect whether the switch component is pressed.

[0015] Based on the above solution, when the switch component is pressed, the position of the magnet changes, causing the magnetic field distribution to change, and the Hall sensor changes its output signal. The Hall sensor can accurately determine whether the switch component is pressed.

[0016] In some possible implementations, the detection component includes a distance sensor, which is disposed on the fixing base and is used to detect the distance between the top of the switch and the fixing base.

[0017] Based on the above solution, when the switch assembly is pressed, the distance between the top of the switch and the fixed base is reduced, and the distance sensor sends different signals based on the changing distance, which can accurately detect the travel distance of the switch downward.

[0018] In some possible implementations, the detection component includes a pressure sensor, and the pressure sensor is disposed on the fixing seat. When the switch component is pressed, a force is applied to the pressure sensor.

[0019] Based on the above solution, the pressure sensor can detect the force applied when the switch assembly is pressed, can indirectly detect the downward travel distance of the switch, and can detect whether there is a mechanical fault in the switch body according to the magnitude of the force applied.

[0020] In some possible implementations, the control input device further includes a prompt component, which is communicatively connected to the control component; the prompt component issues prompt information according to a triggering state of the photoelectric component and / or a pressing state of the switch component.

[0021] Based on the above solution, when the control input device is in an abnormal trigger state, the prompt component can send a prompt message to the operator of the control input device so that the operator can stop the operation and disconnect the control input device in time.

[0022] According to some other embodiments of the present disclosure, a surgical robot system is provided, which includes a main operating device and a surgical robot controlled by the main operating device; the main operating device is provided with a control input device as described in any of the above embodiments.

[0023] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

[0024] Further features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions and advantages in the embodiments of this specification or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 A schematic diagram showing the structure of a control device in the related art is shown;

[0027] Figure 2A schematic diagram showing the structure of a control input device according to an embodiment of the present disclosure is shown;

[0028] Figure 3 A schematic diagram showing a first pressing state of a control input device according to an embodiment of the present disclosure is shown;

[0029] Figure 4 A schematic diagram showing a second pressing state of a control input device according to an embodiment of the present disclosure is shown;

[0030] Figure 5 A schematic diagram showing a third pressing state of a control input device according to an embodiment of the present disclosure is shown;

[0031] Figure 6 A schematic diagram showing a structure of a control input device installed with a Hall sensor according to an embodiment of the present disclosure is shown;

[0032] Figure 7 A schematic diagram showing a structure of a control input device installed with a distance sensor according to an embodiment of the present disclosure is shown;

[0033] Figure 8 A schematic diagram showing a structure of installing a pressure sensor on a control input device according to an embodiment of the present disclosure;

[0034] Fig. 9 A circuit structure diagram showing a control component of a control input device according to an embodiment of the present disclosure;

[0035] Fig.10 An application scenario of a surgical robot system according to an embodiment of the present disclosure is shown;

[0036] Fig.11 A structural diagram of a slave operating device of a surgical robot system according to an embodiment of the present disclosure is shown.

[0037] In the figure,

[0038] 1. Switch assembly; 11. Switch body; 12. Block; 2. Photoelectric assembly; 100. Master operating device; 200. Slave operating device; 210. Robot arm assembly; 220. Driving device; 230. Base assembly; 300. Support device; 400. Image device. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of this specification to clearly and completely describe the technical solutions in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0041] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0042] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0043] The term "and / or" herein is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of. For example, including at least one of A, B, and C can represent including any one or more elements selected from the set consisting of A, B, and C.

[0044] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present disclosure.

[0045] For ease of understanding, some professional terms in the embodiments of the present disclosure are explained below:

[0046] Photoelectric switch: short for photoelectric proximity switch, which uses the blocking or reflection of the light beam by the detected object to connect the circuit by the synchronous circuit, thereby detecting the presence or absence of the object. In the embodiment of the present disclosure, the photoelectric switch is provided with a receiving end, which is used to receive the light signal. Under normal circumstances, the receiving end always receives the light signal. When the receiving end is blocked, the photoelectric switch is triggered.

[0047] Hall sensor: Also known as Hall effect sensor, is a transducer that converts a changing magnetic field into a change in output voltage.

[0048] Currently, in a control device equipped with a photoelectric switch, the control device generates a corresponding control signal by triggering the photoelectric switch. Figure 1 A control device in the related art is shown, which triggers a photoelectric switch and generates a control signal by pressing a button. In some possible situations, the control device fails and causes the photoelectric switch to be triggered, for example, some parts fall off and block the receiving end of the photoelectric switch. At this time, although the button is not pressed, the control device still generates a control signal, which is an abnormal trigger signal. An abnormal trigger signal may cause damage to the equipment at the least, or may cause an accident and cause losses at the worst.

[0049] In order to solve the above technical problems, this embodiment provides a control input device, please refer to Figure 2 The control input device includes a switch component 1 and a photoelectric component 2. The switch component 1 is used to trigger the photoelectric component 2. The switch component 1 is used as a controller for the operator. The operator adjusts the different triggering states of the photoelectric component 2 by changing the mechanical structure state of the switch component 1. The control input device realizes different signal combinations based on the different triggering states of the photoelectric component 2.

[0050] To facilitate understanding of a control input device of this embodiment, the following describes in detail each functional component of the control input device:

[0051] like Figure 2 As shown, the switch assembly 1 at least includes a switch body 11 and a shielding block 12 disposed at the bottom of the switch body 11. The shielding block 12 is used to trigger the photoelectric switch. Specifically, the shielding block 12 can shield the receiving end of the photoelectric switch so that the receiving end cannot obtain the optical signal, thereby triggering the photoelectric switch. The shielding block 12 is relatively stationary with the switch body 11. When the switch body 11 is pressed, the shielding block 12 moves downward synchronously.

[0052] In this embodiment, the switch body 11 of the switch assembly 1 is a switch member, and the switch body 11 can slide in the horizontal direction after being pressed. After being pressed in the initial position, the switch body 11 slides to either side in the horizontal direction. After the switch body 11 deviates from the initial position, its horizontal height remains unchanged, that is, the horizontal height of the shielding block 12 remains unchanged during the sliding process. If the height of the shielding block 12 is to be increased, the switch body 11 needs to be slid back to the initial position, and the switch body 11 rebounds and jumps up under the action of the built-in spring, and drives the shielding block 12 to rise.

[0053] Based on the above structural configuration, the mechanical travel section of the switch body 11 is increased, and the position design of the photoelectric switch matched with the switch assembly 1 can be more flexible. For example, the photoelectric switch is offset and aligned with the switch body 11, that is, the photoelectric switch is not directly below the initial position of the switch body 11, and the switch body 11 needs to slide a certain distance after being pressed to trigger the photoelectric switch. Based on the above design, when the operator uses the switch assembly 1, two steps are required to reduce the possibility of accidental touch due to operational errors; when the switch body 11 fails and is damaged, the risk of the photoelectric assembly 2 being triggered by a faulty mechanical part can also be reduced, thereby enhancing the reliability of the switch assembly 1.

[0054] Since the switch body 11 increases the horizontal sliding stroke, one switch body 11 can match multiple photoelectric switches. By adjusting the length of the blocking block 12, different triggering modes can be achieved. For example, the blocking block 12 can trigger only one photoelectric switch at a time, or the blocking block 12 can also trigger multiple photoelectric switches at the same time each time, so that the corresponding triggering mode can be set according to project requirements.

[0055] Based on the structural scheme of the switch assembly 1, in an optional embodiment, the photoelectric assembly 2 includes at least three photoelectric switches arranged at intervals in the horizontal direction, and the horizontal heights of the at least three photoelectric switches are consistent. When the switch body 11 is pressed, the shielding block 12 can just trigger the photoelectric switch. The length of the shielding block 12 can be consistent with the horizontal span of the receiving ends of the two photoelectric switches. After the switch body 11 slides in the horizontal direction, the shielding block 12 triggers two adjacent photoelectric switches.

[0056] In the above embodiment, the shielding block 12 triggers two adjacent photoelectric switches each time, and the control input device includes at least two different triggering situations. It should be understood that the above embodiment is an optional solution, and this embodiment does not limit the number of photoelectric switches or the triggering method. In some possible embodiments, the shielding block 12 can also be designed to trigger three adjacent photoelectric switches at the same time, and the specific settings can be flexibly adjusted according to the application scenario.

[0057] In order to further improve the safety of the control input device and reduce the risk probability of abnormal generation of control signals, in this embodiment, the control input device also includes a detection component, which is used to detect the pressing state of the switch body 11. The detection component can add redundant functions to the control input device and improve the stability and reliability of the control input device.

[0058] In some optional embodiments, the detection component can be a trigger, and the detection component is triggered based on the pressing state of the switch component 1. When the switch component 1 is not pressed, the detection component is not triggered, and when the switch component 1 is pressed, the detection component is triggered. The input control device determines the control based on the triggering condition of the detection component and the triggering condition of the photoelectric component 2.

[0059] In a specific implementation, the specific judgment logic corresponding to the triggering situation includes:

[0060] If the switch component 1 is not pressed, the detection component is not triggered, but the photoelectric component 2 is triggered, in this case, the input control device does not perform subsequent control actions;

[0061] If the switch component 1 is not pressed, the photoelectric component 2 is not triggered, but the detection component is triggered, in this case, the input control device does not perform subsequent control actions;

[0062] If the switch component 1 is pressed, the photoelectric component 2 is triggered, but the detection component is not triggered. In this case, the input control device performs subsequent control actions normally.

[0063] In addition, the control input device may further include a prompt component, which issues a prompt message according to the trigger state of the photoelectric component 2 and / or the pressing state of the switch component 1. In this embodiment, the specific selection of the prompt component is not limited, nor is the content and form of the prompt message. In some possible implementations, the prompt component can be configured as a prompt light, a prompt bell, a display screen or a touch screen, etc. Correspondingly, the prompt message can be an audible and visual alarm, or it can be a specific fault type sent directly through the display screen. The prompt component can directly give feedback to the operator so that the operator can stop the operation in time and cut off the control input device to improve the safety of the device.

[0064] Please refer to Figure 2-Figure 5 An optional embodiment of the present disclosure provides a control input device, including a switch component 1, a photoelectric component 2 and a detection component (not shown in the figure). The control input device of this embodiment can send two different instructions, different instructions correspond to different triggering modes and operations, and the switching of the switch component 1 is two-stroke, that is, the generation of the control signal and the switching of the instruction both require two-step operation of the switch component 1, which can avoid false triggering of the control signal and improve the safety of the control input device.

[0065] In this embodiment, the switch assembly 1 includes a switch body 11 and a blocking block 12 arranged at the bottom of the switch body 11. The switch body 11 includes a fixed seat and a switch. The switch is arranged above the fixed seat, and the blocking block 12 is arranged below the fixed seat. The blocking block 12 is fixedly connected to the switch, and the switch can slide in the horizontal direction after being pressed.

[0066] The photoelectric assembly 2 includes three photoelectric switches arranged at intervals in the horizontal direction. When the switch is not pressed, Figure 2 As shown, there is a distance between the shielding block 12 and the photoelectric switch, and the shielding block 12 is facing the photoelectric switch in the middle position; when the switch is pressed, as shown in Figure 3 As shown, the blocking block 12 only covers the receiving end of the photoelectric switch in the middle position; the switch is pressed and slides in the first direction, as shown in FIG. Figure 4 As shown, the blocking block 12 simultaneously covers the receiving end of the photoelectric switch at the first direction position and the receiving end of the photoelectric switch at the middle position; the switch is pressed and slides in the second direction, as shown in FIG. Figure 5 As shown, the blocking block 12 covers the receiving end of the photoelectric switch at the second direction position and the receiving end of the photoelectric switch at the middle position at the same time.

[0067] In this embodiment, the detection component is used to detect the pressing state of the switch body 11, and the detection component is triggered based on the pressing state of the switch component 1. The combination of the triggering state of the switch component 1 and the triggering state of the detection component determines whether the input control device performs the next action.

[0068] In this embodiment, the input control device mainly implements the control action based on the triggering condition of the photoelectric component 2, and the control action includes a first action and a second action, such as Figure 4 As shown, when the switch is pressed and slides in the first direction, the photoelectric switch in the first direction and the photoelectric switch in the middle position are triggered simultaneously, and the input control device performs the first action; Figure 5 As shown, when the switch is pressed and slid in the second direction, the photoelectric switch in the second direction and the photoelectric switch in the middle position are triggered simultaneously, and the input control device performs the second action.

[0069] In this embodiment, the trigger signal of the detection component is used as a redundant control signal. When the redundant control signal conflicts with the control action, the control input device fails and reports an error, and the control input device does not perform the control action, so as to improve the safety of the control input device and the controlled object. Specifically, the inconsistency between the trigger state of the photoelectric switch and the pressed state of the switch includes four situations:

[0070] When the switch is not pressed and any photoelectric switch is triggered;

[0071] When the switch is pressed but not slid, and the photoelectric switch at the first direction position and / or the photoelectric switch at the second direction position is triggered;

[0072] When the switch is pressed and slid in the first direction, and the photoelectric switch in the second direction is triggered;

[0073] When the switch is pressed and slid in the second direction, and the photoelectric switch in the first direction is triggered.

[0074] Among them, the latter two situations are manifested as all three photoelectric switches being triggered. The fault can be directly judged based on the triggering status of the photoelectric switches, and the control input device does not perform the control action. There is no need to combine the pressing state of the switch. The first two situations need to analyze the consistency in combination with the pressing state of the switch component 1, that is, consider the combined triggering state of the photoelectric switch and the detection component at the same time.

[0075] In this embodiment, the detection component is used to detect the pressing state of the switch body 11. The pressing state of the switch body 11 includes: whether the switch is pressed, the pressing distance of the switch, whether the switch slides, the sliding direction of the switch, and the sliding distance of the switch. In order to accurately detect the above parameters, the detection component can use different detectors or sensors.

[0076] In a possible implementation, the detected pressing state of the switch assembly 1 includes whether the switch is pressed. Figure 6 The detection component includes a Hall sensor, which is arranged on a fixed seat, and a magnetic part is arranged on the switch. When the switch is not pressed, the magnetic part is vertically facing the Hall sensor. When the switch is pressed, the position of the magnetic part moves, the magnetic field changes, and the Hall sensor outputs a signal according to the change of the magnetic field. The control component determines whether the switch is pressed according to the signal of the Hall sensor.

[0077] In one possible implementation, see Figure 7 The detection component includes a distance sensor, which is arranged on a fixed seat. The distance sensor is used to detect the distance between the top of the switch and the fixed seat. The control component determines whether the switch is pressed according to the signal of the distance sensor. In this embodiment, the specific selection of the distance sensor is not limited. The distance sensor can be an infrared detector, a radar, etc. In addition to detecting whether the switch is pressed, the distance sensor can also detect the pressing distance of the switch to improve the accuracy of detection. In some possible application scenarios, multiple distance sensors can be set, one of which detects the moving distance of the switch in the vertical direction, and the other distance sensor detects the moving distance of the switch in the horizontal direction.

[0078] In one possible implementation, see Figure 8 The detection component includes a pressure sensor, which is arranged on a fixing seat. When the switch is pressed, a force is applied to the pressure sensor. The pressure sensor can detect the force applied when the switch is pressed, and can indirectly detect the distance formed by the switch being pressed. Moreover, the force applied by the switch to the pressure sensor can be used to determine whether there is a fault in the parts of the switch body 11, for example, the spring loses its elasticity, or there is a misalignment fault between the switch and the fixing seat.

[0079] In this embodiment, in addition to detecting the pressed state of the switch body 11, the detection component can also be used to detect the distance of the operator and interact with other functional components. In a possible implementation, the detection component also includes a proximity sensor, which is used to detect whether there is an operator near the switch. The proximity sensor can be an infrared detector, a radar, a temperature sensor, etc. When the detection result of the proximity sensor determines that there is no operator near the switch, regardless of whether the photoelectric switch is triggered, the input control device does not perform the next step.

[0080] It should be understood that the detection component in this embodiment is not limited to having only one sensor, nor is it limited to having only one type of sensor, and the detection component should flexibly set and adjust the detectors it contains according to actual detection needs. In the above multiple exemplary solutions, the features of each solution can be freely combined to form a new solution if there is no conflict.

[0081] The above embodiments have clearly and completely described the control input device of the present disclosure, which has high safety and can be applied in multiple different control scenarios. The present disclosure does not limit the application scenarios of the control input device, which can be used for medical equipment, power equipment, or industrial electric control devices, etc.

[0082] In the application scenario of medical devices, the surgical robot system in the related technology includes a doctor platform device 1, a patient platform device 2, an access control module device 11 and a robotic arm device 21. When the doctor platform operates the access control module, the robotic arm will advance into the patient's body to work or retreat away from the patient to stop working according to the control signal. When the access control module fails, the control signal is inconsistent with the actual operation, and the robotic arm will continue to move according to the control signal. The uncontrollable process of the robotic arm will create risks, and even cause serious harm to the patient's body.

[0083] In order to solve the above problems, this embodiment provides a surgical robot system, including a main operating device and a surgical robot controlled by the main operating device, wherein the main operating device is provided with the control input device described in the above embodiment.

[0084] In this embodiment, the control input device includes a control chip. The control input device performs control actions based on the instructions of the control chip. The control chip is used to obtain the triggering status of the optoelectronic component 2. Please refer to Fig. 9The control chip includes three control branches, each of which corresponds to a photoelectric switch. When a photoelectric switch is triggered, the corresponding control branch generates a signal. The three control branches are the forward control branch, the approach control branch, and the backward control branch. When the forward control branch and the approach control branch generate signals at the same time, the main operating device controls the surgical robot to move forward. Similarly, when the backward control branch and the approach control branch generate signals at the same time, the main operating device controls the surgical robot to move backward. In the above process, the control chip simultaneously obtains the signal of the detection component of the control input device. When it is detected that the triggering condition of the photoelectric switch is inconsistent with the pressing state of the switch component 1 of the control input device, the main operating device controls to stop the movement of the surgical robot, thereby improving the safety of the operation.

[0085] In some specific implementations, see Fig.10 , Fig.10 The application scenario of a surgical robot system is shown. The surgical robot system of this embodiment includes a master operating device 100 (ie, a control device) and a slave operating device 200 (ie, a surgical robot) controlled by the master operating device 100 .

[0086] The master operating device 100 has a control input device, which can send control commands to the slave operating device 200 according to the operator's hand and / or foot movements to drive the posture of the mechanical arm assembly of the slave operating device 200 and drive the execution device of the mechanical arm assembly to perform corresponding operations.

[0087] like Fig.11 As shown, the slave operation device 200 has a mechanical arm assembly for performing surgical actions, a driving device 220 for driving the mechanical arm assembly 210 according to a control command, and a base assembly 230 for adjusting the posture of the driving device 220, wherein the mechanical arm assembly 210 includes at least one flexible mechanical arm, and the end of each flexible mechanical arm can be loaded with an execution instrument for performing different or the same surgical operations, and the surgical operations that can be performed by the execution instrument include but are not limited to clamping, cutting, shearing, suturing, electrocuting, electrocoagulation or suction, etc. For example, the execution instrument can be any one of the needle holders, scissors, grippers, clamp applicators, and aspirators. The needle holders are generally used to implement operations such as clamping, suturing, and knotting, the scissors are generally used to implement operations such as cutting, dissecting, and cutting, the grippers are generally used to implement operations such as grasping and pulling, and the clamp applicators are generally used to cooperate with the ligation clamp for ligation.

[0088] Optionally, the surgical robot system also includes an image device 400, which is used to obtain the surgical field image of the target (referring to the patient's body cavity or tissue surface) photographed by the endoscope, and then image-process the surgical field image, and transmit it to the first display device of the image device 400 and / or the second display device (not shown in the figure) of the main operating device 100 for display, so that the operator can observe the surgical field image. The surgical field image includes but is not limited to the type, number, position and posture of the executing instrument in the body cavity or on the tissue surface, the target organ tissue to be operated, and the morphology of the surrounding blood vessels, etc. Further, a flexible robotic arm in the robotic arm assembly 210 of the operating device 200 can also be loaded with an endoscope for assisting in collecting images in the surgical field, which can then be displayed through the first display device and / or the second display device. It should be understood that the image displayed by the image device 400 can be a two-dimensional or three-dimensional image. The endoscope can include various endoscopes used for surgery, such as thoracoscopes, arthroscopes, and nasal mirrors.

[0089] Optionally, the surgical robot system further includes a supporting device 300 (eg, an operating table) for supporting a surgical object for surgery. The supporting device 300 may also be replaced with other surgical platforms depending on the type of surgery, which is not limited in this embodiment.

[0090] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A control input device, characterized in that: The control input device comprises: A switch assembly, comprising a switch body and a blocking block arranged at the bottom of the switch body, wherein the switch body can slide in a horizontal direction after being pressed; The photoelectric component comprises at least three photoelectric switches arranged at intervals along the horizontal direction. After the switch body slides along the horizontal direction, the blocking block triggers two adjacent photoelectric switches.

2. The control input device according to claim 1, characterized in that: The control input device also includes a detection component; The detection component is used to detect the pressing state of the switch body.

3. The control input device according to claim 2, characterized in that: The switch body comprises a fixing seat and a switch; The switch is slidably arranged above the fixing seat, the blocking block is arranged below the fixing seat, and the blocking block is fixedly connected to the switch.

4. The control input device according to claim 1 or 2, characterized in that: The photoelectric component includes three photoelectric switches. When the switch component is not pressed, there is a distance between the shielding block and the photoelectric switch, and the shielding block faces the photoelectric switch in the middle position. When the switch assembly is pressed, the blocking block only covers the receiving end of the photoelectric switch in the middle position; When the switch assembly is pressed and slides in the first direction, the blocking block simultaneously covers the receiving end of the photoelectric switch at the first direction position and the receiving end of the photoelectric switch at the middle position; When the switch assembly is pressed and slides toward the second direction, the blocking block simultaneously covers the receiving end of the photoelectric switch at the second direction position and the receiving end of the photoelectric switch at the middle position.

5. The control input device according to claim 2, characterized in that: When the switch component is not pressed, the detection component is not triggered; When the switch component is pressed, the detection component is triggered.

6. The control input device according to claim 3, characterized in that: The detection component includes a Hall sensor, which is arranged on the fixing seat. The switch component is provided with a magnetic part. When the switch component is not pressed, the magnetic part faces the Hall sensor. The Hall sensor is used to detect whether the switch component is pressed.

7. The control input device according to claim 3, characterized in that: The detection component comprises a distance sensor, which is arranged on the fixing seat and is used to detect the distance between the top of the switch and the fixing seat.

8. The control input device according to claim 3, characterized in that: The detection component includes a pressure sensor, and the pressure sensor is arranged on the fixing seat. When the switch is pressed, a force is generated on the pressure sensor.

9. The control input device according to any one of claims 1-3 and 5-8, characterized in that: The control input device also includes a prompt component; The prompt component sends out prompt information according to the triggering state of the photoelectric component and / or the pressing state of the switch component.

10. A surgical robot system, characterized in that: The surgical robot system includes a main operating device and a surgical robot controlled by the main operating device; The main operating device is provided with a control input device as described in any one of claims 1-9.

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