Control input device, doctor console and surgical robot

Abstract

The embodiment of the utility model provides a control input device, a doctor console and a surgical robot. Wherein the control input device comprises a rotary joint, a control module and a control module, and a detection sensor is arranged in the rotary joint; the opening and closing joint is rotatably connected to the rotating joint in the axial direction; the opening and closing joint is provided with a first opening and closing clamp and a second opening and closing clamp which are axially symmetric relative to the axis of the opening and closing joint; the first movable shaft and the opening and closing joint are coaxially arranged in the opening and closing joint, and the first movable shaft is arranged in the rotating joint in a penetrating mode; the first movable shaft is configured to be in linkage with the first opening and closing clamp and the second opening and closing clamp so as to move relative to the opening and closing joint in the axial direction under opening and closing driving of the first opening and closing clamp and the second opening and closing clamp, and the detection sensor detects movement of the first movable shaft so as to obtain the opening and closing angle of the first opening and closing clamp and the second opening and closing clamp. And the reset piece is matched with the first movable shaft, and the reset piece is configured to provide axial reset acting force for the first movable shaft, so that the first movable shaft provides reset acting force for the first opening and closing clamp and the second opening and closing clamp.

Description

Technical Field

[0001] This application relates to the technical field of mechanical equipment, and particularly relates to a control input device, a doctor console, and a surgical robot. Background Art

[0002] With the continuous development of medical devices, computer technology, and control technology, minimally invasive surgery has been increasingly widely used due to its advantages such as small surgical trauma, short recovery time, and less pain for patients. Among them, minimally invasive surgical robots can avoid operation limitations with their characteristics of high dexterity, high control accuracy, and intuitive surgical images. For example, they can filter out tremors in the hand during operation. They can be widely applied to surgical areas such as the abdominal cavity, pelvic cavity, and thoracic cavity. The master-slave minimally invasive surgical robot widely used in minimally invasive surgical robots includes a master control arm and a slave control arm. The master control arm collects the operation signals of the doctor and generates control signals for the slave manipulator arm after being processed by the control system, and the slave manipulator arm performs surgical operations. During surgery, the doctor sits in front of the master control arm and operates the control input device to remotely control the instruments installed on the slave manipulator arm to perform surgical operations on different parts; among them, the control input device controls operations such as rotation, clamping, shearing, and suturing and knotting. To improve the safety of using the minimally invasive surgical robot, it is necessary to detect the opening and closing angle of the opening and closing clamp of the control input device, and after the doctor's hand leaves the opening and closing clamp, it is necessary to reset the opening and closing clamp.

[0003] In related technologies, for example, Chinese invention patent CN113180836A discloses an input device, a main operation device, and a surgical robot. The input device includes a support part, a handle, and a cordless electrical connector. A clamp is provided on the handle, and the clamp moves with a degree of freedom of opening and closing relative to the handle. The first clamping arm and the second clamping arm of the clamp are respectively pivotally connected to the handle, and an elastic member is provided between the first clamping arm and the second clamping arm. The elastic member is used to maintain the state of the clamp and provide an operating feel for the doctor's hand. The first clamping arm and the second clamping arm are connected to a sensor element through a first link, and the opening and closing angle of the first clamping arm and the second clamping arm is detected through the sensor element.

[0004] However, in related technologies, the direction of the elastic force provided by the elastic member forms an angle with the movement direction of the clamp, resulting in unstable force on the clamp by the elastic member, possible shaking, inaccurate detection of the opening and closing angle, and low safety. Summary of the Utility Model

[0005] Embodiments of this application provide a Chinese control input device, a doctor console, and a surgical robot, which can improve the stability of the forces received by the first opening and closing clamp and the second opening and closing clamp of the opening and closing joint, improve the accuracy of opening and closing angle detection, and thus improve the accuracy and safety of the surgical robot.

[0006] On the one hand, an embodiment of the present application provides a control input device, including:

[0007] A rotary joint, provided with a detection sensor therein;

[0008] An opening and closing joint, rotatably connected to the rotary joint along the axial direction; a first opening and closing clip and a second opening and closing clip are provided on the opening and closing joint, and the first opening and closing clip and the second opening and closing clip are symmetrically arranged on both sides of the opening and closing joint with respect to the axis of the opening and closing joint;

[0009] A first moving shaft, coaxially arranged with the opening and closing joint inside the opening and closing joint, and the first moving shaft extends and passes through the rotary joint; the first moving shaft is configured to be linked with the first opening and closing clip and the second opening and closing clip, so as to axially move relative to the opening and closing joint under the driving of the opening and closing of the first opening and closing clip and the second opening and closing clip, and the detection sensor detects the movement of the first moving shaft to obtain the opening and closing angles of the first opening and closing clip and the second opening and closing clip;

[0010] A reset member, cooperating with the first moving shaft, and the reset member is configured to provide an axial reset force to the first moving shaft, so that the first moving shaft provides a reset force to the first opening and closing clip and the second opening and closing clip.

[0011] In one implementation, the first opening and closing clip is movably connected to one side of the first moving shaft along the axis of the first moving shaft;

[0012] The second opening and closing clip is symmetrically connected to the other side of the first moving shaft along the axis of the first moving shaft with the first opening and closing clip; so that when the first moving shaft axially moves under the reset force of the reset member, the reset forces provided by the first moving shaft to the first opening and closing clip and the second opening and closing clip are of the same magnitude.

[0013] In one implementation, the opening and closing joint includes:

[0014] A first connecting rod, the first part of which is hinged to the first opening and closing clip at a first hinge point, and the second part of which is hinged to the first moving shaft;

[0015] A second connecting rod, the third part of which is hinged to the second opening and closing clip at a third hinge point, and the fourth part of which is hinged to the first moving shaft;

[0016] Wherein, the first hinge point and the third hinge point are axially symmetric with respect to the axis of the first moving shaft.

[0017] In one implementation, the opening and closing joint further includes:

[0018] An opening and closing connecting member, arranged at one end of the first moving shaft facing away from the rotary joint, the second part of which is hinged to the opening and closing connecting member at a second hinge point, and the fourth part of which is hinged to the opening and closing connecting member at a fourth hinge point, and the second hinge point and the fourth hinge point are axially symmetric with respect to the axis of the first moving shaft.

[0019] In one implementation, the reset member includes an elastic member that cooperates with the first moving shaft along the axial direction of the first moving shaft to provide an axial resetting force to the first moving shaft when the first moving shaft moves axially relative to the opening and closing joint.

[0020] In one implementation, the elastic member is a compression spring that is sleeved on the outer periphery of the first moving shaft, and the compression spring is located between the first moving shaft and the moving joint;

[0021] During the process of the first moving shaft moving away from the rotary joint, the first moving shaft compresses the compression spring so that the compression spring provides an axial resetting force to the first moving shaft.

[0022] In one implementation, a circuit board is provided inside the rotary joint, and the detection sensor is electrically connected to the circuit board;

[0023] An induction element is provided on the first moving shaft, and the induction element cooperates with the detection sensor so that when the first moving shaft moves axially relative to the opening and closing joint, the detection sensor triggers a detection signal, and the detection signal is configured to determine the opening and closing angles of the first opening and closing clip and the second opening and closing clip.

[0024] In one implementation, the detection sensor includes a Hall sensor, and the induction element includes a magnetic body.

[0025] In one implementation, the induction element and the first moving shaft are coaxially provided at an end of the first moving shaft facing the rotary joint, and the detection sensor is located on the axis of the first moving shaft.

[0026] In one implementation, a guiding member is further provided inside the rotary joint, the first moving shaft passes through the guiding member, and the guiding member provides mutually balanced forces to the first moving shaft on both sides along the axis of the first moving shaft.

[0027] On the other hand, an embodiment of the present application provides a doctor's console, including:

[0028] The control input device provided in the foregoing embodiment of the present application;

[0029] A support member, which is connected to the rotary joint of the control input device, and the support member is configured to be grounded.

[0030] On yet another aspect, an embodiment of the present application provides a surgical robot, including:

[0031] The doctor's console provided in the foregoing embodiment of the present application;

[0032] A slave manipulator, which is configured to connect to an end effector, and the slave manipulator manipulates the end effector according to a control signal of the doctor's console.

[0033] The control input device, doctor console, and surgical robot provided by the embodiments of the present application. Among them, the control input device rotatably arranges the opening and closing joint on the rotating joint along the axis. In this way, the opening and closing joint can rotate relative to the rotating joint, thereby controlling the control arm. By coaxially arranging the first movable shaft with the opening and closing joint, the first movable shaft penetrates through the rotating joint, and the first movable shaft cooperates with the detection sensor arranged inside the rotating joint. In this way, the detection sensor can detect the displacement of the first movable shaft linked with the first opening and closing clamp and the second opening and closing clamp, thereby determining the angles of the first opening and closing clamp and the second opening and closing clamp. By matching the reset member with the first movable shaft, and the reset member provides an axial reset force to the first movable shaft, so that the reset forces provided by the first movable shaft to the first opening and closing clamp and the second opening and closing clamp are consistent, which can ensure the uniform force on the first opening and closing clamp and the second opening and closing clamp, ensure the stability of the linkage between the first movable shaft and the first opening and closing clamp and the second opening and closing clamp, improve the accuracy of the detection sensor for detecting the opening and closing angle, and improve the accuracy and safety of the surgical robot. Description of the Drawings

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0035] Figure 1 is the overall structural schematic diagram of the control input device provided by some embodiments of the present application;

[0036] Figure 2 is the internal structural schematic diagram of the control input device provided by some embodiments of the present application;

[0037] Figure 3 is Figure 2 the partial enlarged view at A in

[0038] Figure 4 is the structural schematic diagram of the cooperation between the first opening and closing clamp, the second opening and closing clamp and the first movable shaft in the control input device provided by some embodiments of the present application;

[0039] Figure 5 is the cross-sectional view of the control input device provided by some embodiments of the present application.

[0040] Description of the Reference Numerals:

[0041] 10 - Control input device;

[0042] 100 - Rotating joint; 200 - Opening and closing joint; 300 - First movable shaft; 400 - Reset member; 500 - Circuit board;

[0043] 110 - Detection sensor; 120 - Guide; 210 - First opening and closing clamp; 220 - Second opening and closing clamp; 230 - First connecting rod; 240 - Second connecting rod; 250 - Opening and closing connecting member; 310 - Sensing element;

[0044] 231 - First hinge point; 241 - Third hinge point; 251 - Second hinge point; 252 - Fourth hinge point. Detailed implementation mode

[0045] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.

[0046] In this specification, many specific technical details are described in some places. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed descriptions should not be construed in a limiting sense, and the protection scope of the present application is only defined by the claims. In other places, well-known structures, circuits and other details are not shown in detail to avoid misunderstanding of the key points of the present application by the public.

[0047] In this specification, the accompanying drawings show schematic diagrams of several embodiments of the present application. However, the accompanying drawings are only schematic, and it should be understood that other embodiments or combinations can also be used, and changes in mechanical structure, physical composition, electrical and steps can be made without departing from the spirit and scope of the present application.

[0048] The terms used hereinbelow are only for describing specific embodiments and are not intended to limit the present application. Spatially relative terms, such as "below", "lower part", "above", "upper part", etc., may be used for convenience of description to describe the relationship between one element or feature and another element or feature illustrated in the drawings. It should be understood that spatially relative terms are intended to cover different orientations of the device in use or operation other than the orientation depicted in the drawings. For example, if the device in the drawing is turned over, the element described as "below" other elements or features will become "above" other elements or features. Therefore, the exemplary term "below" can cover both upward and downward orientations. And the device can be oriented in other ways (for example, rotated 90° or in other orientations), and the spatially relative descriptive terms used herein are interpreted accordingly.

[0049] As used herein, "a plurality of", the singular form of "one" and "the" are also intended to include the plural form unless the context otherwise indicates. It should be further understood that the terms "comprising" and / or "including" specify the presence of the described features, steps, operations, elements and / or components, without excluding the presence of one or more other features, steps, operations, elements, components and / or groups thereof.

[0050] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "part", "element", and "piece" may be used interchangeably.

[0051] The terms "instrument", "surgical instrument", and "surgical device" are used herein to describe a medical device configured to be inserted into a patient's body and used to perform a surgical or diagnostic procedure, including an end effector. The end effector can be a surgical tool associated with one or more surgical tasks, such as forceps, a needle holder, scissors, a bipolar cautery, a tissue stabilizer or retractor, a clip applier, an anastomosis device, an imaging device (e.g., an endoscope or an ultrasound probe), and the like. Some instruments used in embodiments of the present application further provide an articulated support (sometimes referred to as a "wrist") for the surgical tool, such that the position and orientation of the end effector can be manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Further, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or a knife that translates along a path. The instrument may also include information stored permanently or updatable by a surgical system (e.g., on a PCBA board within the instrument). Accordingly, the system may provide one-way or two-way information communication between the instrument and one or more system components.

[0052] The term "coupled" can be broadly understood to mean any situation in which two or more objects are connected in such a way that the coupled objects operate in conjunction with each other. It should be noted that coupling does not require a direct connection (e.g., a direct physical or electrical connection), but rather many objects or components can be used to couple two or more objects. For example, object A and B can be coupled by using object C. Further, the terms "detachably coupled" or "detachably mated" can be interpreted to mean a non-permanent coupling or mating situation between two or more objects. This means that the detachably coupled objects can be uncoupled and separated such that they no longer operate in conjunction.

[0053] Finally, the terms "or" and "and / or" used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B, or C" or "A, B, and / or C" means any of the following: A; B; C; A and B; A and C; B and C; A, B, and C. Exceptions to this definition will only occur when the combination of elements, functions, steps, or acts are mutually exclusive in some way.

[0054] Overview of the master-slave teleoperated laparoscopic surgical robot

[0055] A laparoscopic surgical robot generally includes a doctor control platform, a patient surgical platform, and an image platform. The surgeon sits at the doctor control platform, views two-dimensional or three-dimensional images of the surgical area transmitted by a laparoscope placed inside the patient, and manipulates the movement of the robotic arms on the patient surgical platform, as well as the surgical instruments or laparoscope attached to the robotic arms. The robotic arms are equivalent to simulating a human arm, and the surgical instruments are equivalent to simulating a human hand. The two provide a series of movements simulating the human wrist for the surgeon, and at the same time can filter out the tremors of the human hand itself.

[0056] The patient surgical platform includes a chassis, a column, robotic arms connected to the column, and one or more surgical instrument manipulators at the ends of the support assemblies of each robotic arm. The surgical instruments and / or laparoscope are detachably attached to the surgical instrument manipulators. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes operating at the surgical site inside the patient. The relevant surgical instruments can be provided in various forms that allow each surgical instrument manipulator to move in one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). Generally, each surgical instrument manipulator is restricted by mechanical or software constraints to rotate the relevant surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient. This center of motion is typically located at the position where the surgical instrument enters the body, and this center of motion is called the "telecentric point".

[0057] The image platform generally includes an endoscope with video image capture capabilities (commonly used) and one or more video displays for displaying the surgical instruments in the captured images. In some laparoscopic surgical robots, the laparoscope includes an optical device that transmits images from the patient's body to the distal end of the endoscope, and then through steps such as photoelectric conversion, the video images are transmitted to the host computer of the image platform. Subsequently, through image processing, the processed images are displayed on the video displays for the assistant to observe.

[0058] The doctor control platform can be at a single location in the surgical system composed of the laparoscopic surgical robot, or it can be distributed at two or more locations in the system. Remote master / slave operation can be completed according to the preset control level. In some embodiments, the doctor control platform includes one or more manually operated input devices, such as joysticks, exoskeleton gloves, power and gravity compensation manipulators, etc. These input devices collect the operation signals of the surgeon, and after being processed by the control system, generate control signals for the robotic arms and surgical instrument manipulators, thereby controlling the remote control motors on the surgical instrument manipulators, and the motors then control the movement of the surgical instruments.

[0059] Generally, the force generated by a remote-controlled motor is transmitted via a transmission system, transferring the force from the remote-controlled motor to the end effector of a surgical instrument. In some embodiments of remote surgery, the input device for controlling the manipulator can be set at a position far from the patient, inside or outside the room where the patient is located, or even in a different city. Then, the input signal of the input device is transmitted to the control system. Those familiar with remote manipulation, teleoperation, and telepresence surgery will understand such a system and its components.

[0060] In some examples of the embodiments of the present application, a surgical robot is provided. The surgical robot may include a doctor's console. The doctor can operate at the doctor's console.

[0061] In some examples, the surgical robot may include a slave manipulator arm. The slave manipulator arm can be connected to an end effector.

[0062] In some examples, the end effector may be referred to as an end instrument. The end instrument may include forceps, a needle holder, scissors, a bipolar cautery, a tissue stabilizer or retractor, a clip applicator, an anastomosis device, an imaging device (e.g., an endoscope or an ultrasonic probe), etc.

[0063] It can be understood that in some examples of the embodiments of the present application, the specific examples of the end instrument are only shown as some examples. In other examples of the embodiments of the present application, the end instrument may also be other types of surgical instruments, and the present application embodiments will not list them one by one.

[0064] In some examples, the slave manipulator arm can receive the control signal from the doctor's console. The slave manipulator arm can manipulate the end instrument according to the control signal from the doctor's console.

[0065] In some examples, the slave manipulator arm can be communicatively connected to the doctor's console.

[0066] In some examples, the slave manipulator arm can be communicatively connected to the doctor's console in a wired communication manner. For example, optical fibers, network cables, etc.

[0067] In some examples, the slave manipulator arm can be communicatively connected to the doctor's console in a wireless communication manner. For example, the slave manipulator arm and the doctor's console can be communicatively connected to the doctor's console through wireless local area network technology (Wireless-Fidelity, abbreviated as WIFI), Bluetooth, infrared communication, cellular mobile communication, satellite communication, digital microwave transmission, or analog microwave transmission, etc.

[0068] In some examples, when the doctor or operator operates at the doctor's console, the doctor's console can issue an operation control signal, and the slave manipulator arm manipulates the end instrument according to the control signal, thereby realizing various surgical operations.

[0069] Figure 1 It is a schematic diagram of the overall structure of a control input device provided according to some embodiments of the present application. Figure 2 It is a schematic diagram of the internal structure of a control input device provided according to some embodiments of the present application.

[0070] In some examples, referring to Figure 1 As shown, for the convenience of doctors to operate at the doctor console. The doctor console may include a control input device 10. A doctor or operator can input a control instruction through the control input device 10, and the doctor control platform can send the control instruction input by the doctor to the slave manipulator, so that the slave manipulator executes the corresponding operation.

[0071] In some examples, for the convenience of supporting the control input device 10, the doctor console may include a support member (not shown in the figure). The control input device 10 may be disposed on the support member.

[0072] In some examples, the support member can be supported on the ground.

[0073] In some examples, referring to Figure 1 As shown, the control input device 10 may include a rotary joint 100. The rotary joint 100 may be disposed on the support member.

[0074] In some examples, the rotary joint 100 can be grounded through the support member.

[0075] In some examples, the control input device 10 may include an opening and closing joint 200. The opening and closing joint 200 may be rotatably connected to the rotary joint 100.

[0076] In some examples, referring to Figure 1 As shown, the opening and closing joint 200 can rotate relative to the rotary joint 100 along axis i.

[0077] In some examples, the control input device 10 may include a main control arm. The main control arm is configured to engage the rotary joint 100 and the opening and closing joint 200.

[0078] In some examples, a doctor or operator can operate the opening and closing joint 200, and the control input device 10 detects the actions of the opening and closing joint 200, the rotary joint 100 and the main control arm, so as to generate a control signal for the slave manipulator. The control signal may be at least one of an opening and closing signal, a rotation signal, and an overall displacement.

[0079] In some examples, referring to Figure 1 and Figure 2 As shown, a first opening and closing clip 210 may be provided on the opening and closing joint 200. The first opening and closing clip 210 may be disposed on one side of the axis of the opening and closing joint 200.

[0080] In some examples, the first opening and closing clip 210 can perform an opening and closing movement relative to the opening and closing seat, so as to send a control signal to the slave manipulator arm.

[0081] In some examples, referring to Figure 1 and Figure 2 As shown, a second opening and closing clip 220 can be provided on the opening and closing joint 200. The second opening and closing clip 220 can be disposed on the other side of the opening and closing joint 200 opposite to the first opening and closing clip 210.

[0082] In some examples, the second opening and closing clip 220 and the first opening and closing clip 210 can be symmetrically arranged with respect to the axis i of the opening and closing joint 200. Thus, when the opening and closing joint 200 rotates relative to the rotating joint 100, it can ensure that the opening and closing joint 200 is in balanced force in the rotating direction, thereby ensuring the stability of the rotation of the opening and closing joint 200 and avoiding shaking, swinging or jitter of the opening and closing joint 200.

[0083] In some examples, a doctor or an operator can perform an opening and closing operation on the first opening and closing joint 200 and the second opening and closing joint 200 through fingers, so that the first opening and closing clip 210 and the second opening and closing clip 220 send a control signal to the slave manipulator arm.

[0084] In some examples, a doctor or an operator can rotate the opening and closing joint 200 to send a control signal to the slave manipulator arm.

[0085] In some examples, a doctor or an operator can operate the opening and closing joint 200, and the control input device 10 can detect the actions of the opening and closing joint 200, the rotating joint 100 and the main control arm, so as to generate a control signal for the slave manipulator arm. Among them, the control signal can include at least one of an opening and closing signal, a rotating signal and an overall displacement.

[0086] In some examples, for the convenience of detecting the opening and closing angle of the opening and closing joint 200, referring to Figure 2 As shown, the control input device 10 can include a first movable shaft 300.

[0087] In some examples, the first movable shaft 300 can be coaxial with the opening and closing joint 200. The first movable shaft 300 can be movably disposed within the opening and closing joint 200.

[0088] In some examples, the first movable shaft 300 can be partially disposed within the opening and closing joint 200. The first movable shaft 300 can extend towards the rotating joint 100 and pass through the rotating joint 100.

[0089] In some examples, the first movable shaft 300 can be linked with the opening and closing actions of the first opening and closing clip 210 and the second opening and closing clip 220.

[0090] That is to say, in some examples, the opening and closing actions of the first clamping clip 210 and the second clamping clip 220 can drive the first movable shaft 300 to move.

[0091] Or, in some examples, the movement of the first movable shaft 300 can drive the first clamping clip 210 and the second clamping clip 220 to move.

[0092] In some examples, the first movable shaft 300 can move relative to the opening and closing joint 200 along the axis i. For example, when a doctor or an operator operates the first clamping clip 210 and the second clamping clip 220 so that the first clamping clip 210 and the second clamping clip 220 perform a clamping operation towards each other, the first clamping clip 210 and the second clamping clip 220 can drive the first movable shaft 300 to move relative to the opening and closing joint 200 along the axis i.

[0093] In some examples, a detection sensor 110 can be provided inside the rotary joint 100. The detection sensor 110 can cooperate with the first movable shaft 300 to detect the opening and closing angle of the first clamping clip 210 and the second clamping clip 220. For example, when a doctor or an operator operates the first clamping clip 210 and the second clamping clip 220, and the first clamping clip 210 and the second clamping clip 220 drive the first movable shaft 300 to move along the axis i, the detection sensor 110 can detect the moving distance of the first movable shaft 300 to determine the opening and closing angle of the first clamping clip 210 and the second clamping clip 220.

[0094] Figure 3 Yes Figure 2 Partial enlarged view at location A in

[0095] In some examples, when a doctor operates the first clamping clip 210 and the second clamping clip 220, to provide operation feedback to the doctor's finger and to facilitate the reset of the first clamping clip 210 and the second clamping clip 220 when the doctor stops operating the first clamping clip 210 and the second clamping clip 220. Refer to Figure 2 And Figure 3 As shown, the control input device 10 can include a reset member 400.

[0096] In some examples, the reset member 400 can cooperate with the first movable shaft 300. The reset member 400 can be configured to provide a reset force to the first movable shaft 300 along the axial direction of the first movable shaft 300, so that the first movable shaft 300 provides a reset force to the first clamping clip 210 and the second clamping clip 220.

[0097] In some examples, when a doctor or operator operates the first clamping clip 210 and the second clamping clip 220 so that the first clamping clip 210 and the second clamping clip 220 move towards each other for clamping, the first clamping clip 210 and the second clamping clip 220 drive the first moving shaft 300 to move along the axis i; the detection sensor 110 detects the moving distance of the first moving shaft 300, thereby determining the opening and closing angle of the first clamping clip 210 and the second clamping clip 220. During the movement of the first moving shaft 300, the reset member 400 provides a reset acting force on the first moving shaft 300, so that the first clamping clip 210 and the second clamping clip 220 can provide a feedback acting force on the fingers of the doctor or operator.

[0098] In some examples, the reset member 400 provides a reset acting force on the first moving shaft 300 along the axial direction of the first moving shaft 300, and the first clamping clip 210 and the second clamping clip 220 are symmetrically arranged on both sides of the axis i, so that the acting forces decomposed to the first clamping clip 210 and the second clamping clip 220 are the same, and the same hand feeling can be provided for the fingers of the doctor or operator, improving the stability of the operation of the first clamping clip 210 and the second clamping clip 220 by the doctor or operator, thereby improving the accuracy of the detection sensor 110 for detecting the moving distance of the first moving shaft 300, and improving the accuracy and safety of the surgical robot.

[0099] The control input device 10 provided by the embodiment of the present application rotatably arranges the opening and closing joint 200 on the rotating joint 100 along the axial direction. In this way, the opening and closing joint 200 can rotate relative to the rotating joint 100, so as to control the slave control arm; by coaxially arranging the first moving shaft 300 with the opening and closing joint 200, the first moving shaft 300 penetrates through the rotating joint 100, and the first moving shaft 300 cooperates with the detection through hole arranged in the rotating joint 100. In this way, the detection sensor 110 can detect the displacement of the first moving shaft 300 linked with the first clamping clip 210 and the second clamping clip 220, thereby determining the angle of the first clamping clip 210 and the second clamping clip 220. By matching the reset member 400 with the first moving shaft 300, and the reset member 400 provides a reset acting force on the first moving shaft 300 along the axial direction of the first moving shaft 300, so that the reset acting force provided by the first moving shaft 300 on the first clamping clip 210 and the second clamping clip 220 is consistent, which can ensure the uniform force on the first clamping clip 210 and the second clamping clip 220, ensure the stability of the linkage between the first moving shaft 300 and the first clamping clip 210 and the second clamping clip 220, improve the accuracy of the detection sensor 110 for detecting the opening and closing angle, and improve the accuracy and safety of the surgical robot.

[0100] Figure 4 It is a schematic structural diagram of the cooperation between the first clamping clip, the second clamping clip and the first moving shaft in the control input device provided by some embodiments of the present application.Figure 5 It is a cross-sectional view of a control input device provided by some embodiments of the present application.

[0101] In some examples, with reference to Figure 4 and Figure 5 as shown, the first opening and closing clip 210 can be movably connected to one side of the first movable shaft 300 along the axis i of the first movable shaft 300.

[0102] In some examples, the first opening and closing clip 210 can perform an opening and closing movement relative to the first movable shaft 300.

[0103] In some examples, the second opening and closing clip 220 can be movably connected to the other side of the first movable shaft 300 along the axis i of the first movable shaft 300. The second opening and closing clip 220 can be symmetrically arranged with the first opening and closing clip 210 with respect to the axis i.

[0104] In some examples, when a doctor or operator operates the first opening and closing clip 210 and the second opening and closing clip 220, the first opening and closing clip 210 and the second opening and closing clip 220 perform a clamping action towards each other; the first opening and closing clip 210 and the second opening and closing clip 220 are symmetrically arranged on both sides of the first movable shaft 300. Thus, the radial acting forces of the first opening and closing clip 210 and the second opening and closing clip 220 on the first movable shaft 300 cancel each other out, and only an acting force is applied to the first movable shaft 300 in the axial direction of the first movable shaft 300, so that the first movable shaft 300 can move stably along the axial direction, thereby improving the accuracy of the detection sensor 110 for detecting the moving distance of the first movable shaft 300 and enhancing the safety of using the surgical robot.

[0105] In some examples, when the first opening and closing clip 210 and the second opening and closing clip 220 drive the first movable shaft 300 to move, the reset member 400 provides a reset acting force to the first movable shaft 300 in the axial direction, and the reset acting force can be evenly distributed to the symmetrically arranged first opening and closing clip 210 and the second opening and closing clip 220, so that the operation feel felt by the doctor or operator on the first opening and closing clip 210 and the second opening and closing clip 220 is consistent, and the stability of operating the first opening and closing clip 210 and the second opening and closing clip 220 can be maintained.

[0106] In some examples, after the doctor or operator stops the opening and closing operation of the first opening and closing clip 210 and the second opening and closing clip 220, the reset member 400 provides a reset force in the axial direction to the first movable shaft 300, causing the first movable shaft 300 to move axially. The axial movement of the first movable shaft 300 drives the first opening and closing clip 210 and the second opening and closing clip 220 to move away from each other and open. The symmetrically arranged first opening and closing clip 210 and the second opening and closing clip 220 are linked with the first movable shaft 300. When the first movable shaft 300 moves, the reset forces in the radial direction on the first opening and closing clip 210 and the second opening and closing clip 220 are of the same magnitude, so that the opening distances of the first opening and closing clip 210 and the second opening and closing clip 220 are the same, thereby improving the stability of the movement of the first movable shaft 300 and the accuracy of the detection sensor 110 for detecting the moving distance of the first movable shaft 300.

[0107] In some examples, referring to Figure 4 and Figure 5 as shown, the opening and closing joint 200 may include a first connecting rod 230. The first part of the first connecting rod 230 may be hinged to the first opening and closing clip 210 at the first hinge point 231.

[0108] In some examples, the first part may be the end of the first connecting rod 230.

[0109] In some examples, the first part may be any other part of the first connecting rod 230.

[0110] In some examples, the first hinge point 231 may be located in the middle of the first opening and closing clip 210.

[0111] In some examples, the first hinge point 231 may be located at one end of the middle of the first opening and closing clip 210 close to the doctor's operation.

[0112] In some examples, the second part of the first connecting rod 230 may be hinged to the first movable shaft 300. The second part may be other parts of the first connecting rod 230 different from the first part.

[0113] In some examples, the distance between the first part and the first opening and closing clip 210 is less than the distance between the second part and the opening and closing clip.

[0114] In some examples, the distance between the second part and the first movable shaft 300 is less than the distance between the first part and the first movable shaft 300.

[0115] In some examples, the first part may be the end of one end of the first connecting rod 230, and the second part is the end of the other end of the first connecting rod 230.

[0116] In some examples, when a doctor or an operator operates the first opening and closing clip 210, the first opening and closing clip 210 transmits power to the first link 230, and the first link 230 drives the first movable shaft 300 to move axially.

[0117] In some examples, the opening and closing joint 200 may include a second link 240. A third portion of the second link 240 may be hinged to the second opening and closing clip 220 at a third hinge point 241.

[0118] In some examples, the third hinge point 241 may be symmetric with respect to the axis i of the first movable shaft 300 to the first hinge point 231.

[0119] In some examples, a fourth portion of the second link 240 may be hinged to the first movable shaft 300.

[0120] In some examples, the positional relationship of the third portion with respect to the second link 240 may be the same, similar or analogous to the positional relationship of the first portion with respect to the first link 230. The positional relationship of the fourth portion with respect to the second link 240 may be the same, similar or analogous to the positional relationship of the second portion with respect to the first link 230. For details, reference may be made to the detailed description of the first portion and the second portion in the foregoing embodiments of the present application, and the embodiments of the present application will not elaborate herein.

[0121] In some examples, the hinge points of the first link 230 and the second link 240 with the first movable shaft 300 may coincide. That is to say, the first link 230 and the second link 240 may be hinged to the first movable shaft 300 at the same point.

[0122] In some examples, the hinge point of the first link 230 with the first movable shaft 300 may be located on one side of the axis i of the first movable shaft 300. The hinge point of the second link 240 with the first movable shaft 300 may be located on the other side of the axis i of the first movable shaft 300.

[0123] In some examples, the first link 230 and the second link 240 are symmetric with respect to the axis i of the first movable shaft 300.

[0124] In some examples of the embodiments of the present application, by providing a first connecting rod 230, a first part of the first connecting rod 230 is hinged to the first opening and closing clamp 210 at a first hinge point 231, and a second part is hinged to the first movable shaft 300; a second connecting rod 240 / 340, a third part of the second connecting rod 240 is hinged to the second opening and closing clamp 220 at a third hinge point 241, the third hinge point 241 is symmetric to the first hinge point 231, and a fourth part of the second connecting rod 240 is hinged to the first movable shaft 300; thus, when a doctor or an operator operates the first opening and closing clamp 210 and the second opening and closing clamp 220, the first opening and closing clamp 210 and the second opening and closing clamp 220 synchronously drive the first movable shaft 300 to move axially, that is, the acting forces of the first opening and closing clamp 210 and the second opening and closing clamp 220 on the first movable shaft 300 along the radial direction of the first movable shaft 300 are balanced, the stability of the movement of the first movable shaft 300 can be maintained, and the accuracy of detecting the moving distance of the first movable shaft 300 is improved, that is, the accuracy of detecting the opening and closing angles of the first opening and closing clamp 210 and the second opening and closing clamp 220 is improved.

[0125] In some examples, referring to Figure 4 and Figure 5 as shown, the opening and closing joint 200 may include an opening and closing connecting member 250. The opening and closing connecting member 250 may be provided at one end of the first movable shaft 300 facing away from the rotating joint 100.

[0126] In some examples, the opening and closing connecting member 250 may be fixedly connected to the first movable shaft 300.

[0127] In some examples, the opening and closing connecting member 250 and the first movable shaft 300 may be an integral part.

[0128] In some examples, the second part of the first connecting rod 230 may be hinged to the opening and closing connecting member 250 at a second connection point. Thus, the hinging of the second part to the first movable shaft 300 is realized.

[0129] In some examples, along the axis i of the first movable shaft 300, the second hinge point 251 may be located on one side of the opening and closing connecting member 250.

[0130] In some examples, the fourth part of the second connecting rod 240 may be hinged to the opening and closing connecting member 250 at a fourth hinge point 252. Thus, the hinging of the fourth part to the first movable shaft 300 is realized.

[0131] In some examples, the fourth hinge point 252 may be disposed opposite to the second hinge point 251 on the other side of the opening and closing connecting member 250. The fourth hinge point 252 and the second hinge point 251 may be symmetrically disposed with respect to the axis i.

[0132] In some examples of the embodiments of the present application, an opening and closing connecting member 250 is provided on the first movable shaft 300. In this way, the radial dimension of the first movable shaft 300 can be expanded, facilitating the hinged connection between the first connecting rod 230 and the second connecting rod 240 and the first movable shaft 300.

[0133] In some examples, the reset member 400 may include an elastic member. The elastic member can cooperate with the first movable shaft 300 along the axial direction of the first movable shaft 300. To provide a reset force to the first movable shaft 300 along the axial direction of the first movable shaft 300 when the first movable shaft 300 moves axially relative to the opening and closing joint 200.

[0134] In some examples, the elastic member can be sleeved on the outer periphery of the first movable shaft 300 along the axial direction of the first movable shaft 300.

[0135] In some examples, the elastic member can be connected to the end of the first movable shaft 300 along the axial direction of the first movable shaft 300.

[0136] In some examples, the elastic member can be connected to the end of the first movable shaft 300 facing the rotary joint 100.

[0137] In some examples, the elastic member can be connected to the end of the first movable shaft 300 facing the opening and closing joint 200.

[0138] In some examples, the elastic member can provide a reset force to the first movable shaft 300 along the axial direction of the first movable shaft 300.

[0139] In some examples of the embodiments of the present application, an elastic member is used as the reset member 400, and the elastic member is matched with the first movable shaft 300 along the axial direction of the first movable shaft 300, which simplifies the structure of the reset member 400 and facilitates the connection between the reset member 400 and the first movable shaft 300.

[0140] In some examples, the elastic member can be a spring. The spring can be sleeved on the outer periphery of the first movable shaft 300. One end of the spring can cooperate with the first movable shaft 300 along the axial direction, and the other end of the spring can cooperate with the opening and closing joint 200.

[0141] For example, the spring can be a compression spring, and the spring is arranged at the end of the first movable shaft 300 facing the opening and closing joint 200. When a doctor or operator operates the first opening and closing clip 210 and the second opening and closing clip 220, the first movable shaft 300 moves axially towards the opening and closing joint 200, and the first movable shaft 300 applies a force to the spring, causing the spring to compress; the compressed spring provides a reset force to the first movable shaft 300 along the axial direction.

[0142] In some examples of the embodiments of the present application, the elastic member is set as a compression spring, and the compression spring is disposed at one end of the first movable shaft 300 facing away from the rotary joint 100. In this way, the occupation of the space inside the rotary joint 100 can be reduced, which is convenient for the arrangement of other components inside the rotary joint 100.

[0143] In some examples, the elastic member can be a spring. The spring can be sleeved on the outer periphery of the first movable shaft 300. One end of the spring can be axially engaged with the first movable shaft 300, and the other end of the spring can be engaged with the rotary joint 100.

[0144] For example, the spring can be a tension spring, and the spring is disposed at the end of the first movable shaft 300 facing the rotary joint 100. When a doctor or an operator operates the first clamping clip 210 and the second clamping clip 220, the first movable shaft 300 moves axially towards the opening and closing joint 200, and the first movable shaft 300 applies a force to the spring, causing the spring to stretch; the stretched spring provides a reset force to the first movable shaft 300 axially.

[0145] In some examples, referring to Figure 4 and Figure 5 as shown, a circuit board 500 can be provided inside the rotary joint 100. The detection sensor 110 can be disposed on the circuit board 500.

[0146] In some examples, the circuit board 500 can be an integrated circuit board 500.

[0147] In some examples, the circuit board 500 can be a printed circuit board 500 (Printed Circuit Board, abbreviated as PCB).

[0148] In some examples, the detection sensor 110 can be electrically connected to the circuit on the circuit board 500 by an electrical signal. The detection sensor 110 can transmit signals through the circuit on the circuit board 500.

[0149] In some examples, the detection sensor 110 can include a proximity sensor.

[0150] In some examples, the detection sensor 110 can include an inductive sensor.

[0151] In some examples, the detection sensor 110 can include a Hall sensor.

[0152] It can be understood that in some examples of the embodiments of the present application, the specific type of the detection sensor 110 is only shown as some specific examples. In other examples of the embodiments of the present application, the detection sensor 110 can be other types of sensors, and the embodiments of the present application will not list them one by one.

[0153] In some examples, referring to Figure 4 andFigure 5 As shown, an induction element 310 may be provided on the first movable shaft 300. The induction element 310 may be fixedly connected to the first movable shaft 300 and move together with the first movable shaft 300 under the drive of the first movable shaft 300.

[0154] In some examples, the induction element 310 may cooperate with the detection sensor 110 to enable the detection sensor 110 to trigger a signal. For example, when the first movable shaft 300 moves axially, the detection sensor 110 triggers a detection signal. The detection signal may be configured to determine the opening and closing angles of the first clamping jaw 210 and the second clamping jaw 220.

[0155] In some examples, the detection signal may be the distance that the first movable shaft 300 moves axially.

[0156] In some examples of the embodiments of the present application, by providing a circuit board 500 inside the rotary joint 100 and arranging the detection sensor 110 on the circuit board 500; and arranging the induction element 310 on the first movable shaft 300. In this way, it is convenient to fix the detection sensor 110 and facilitate the cooperation between the first movable shaft 300 and the detection sensor 110 to determine the opening and closing angles of the first clamping jaw 210 and the second clamping jaw 220.

[0157] In addition, by arranging the circuit board 500 inside the rotary joint 100 and arranging the detection sensor 110 on the circuit board 500; extending the first movable shaft 300 into the rotary joint 100, and the induction element 310 on the first movable shaft 300 cooperates with the detection sensor 110, so as to detect the opening and closing angles of the first clamping jaw 210 and the second clamping jaw 220. In this way, the signal triggering position is fixed inside the rotary joint 100, eliminating the wire harness connection between the opening and closing joint 200 and the rotary joint 100, enabling the opening and closing joint 200 to rotate infinitely relative to the rotary joint 100, and facilitating the rotation operation of the opening and closing joint 200 relative to the rotary joint 100.

[0158] In some examples, taking the detection sensor 110 including a Hall sensor as an example for illustration. The induction element 310 may be a magnetic part. For example, the induction element 310 may be a permanent magnet.

[0159] In some examples, referring to Figure 5 As shown, the induction element 310 may be coaxially arranged with the first movable shaft 300 at the end of the first movable shaft 300 facing the rotary joint 100.

[0160] In some examples, a groove may be opened at the end of the first movable shaft 300, and the induction element 310 may be embedded in the groove.

[0161] In some examples, the sensing element 310 can be sleeved on the end of the first movable shaft 300.

[0162] In some examples, the detection sensor 110 can be located on the axis i of the first movable shaft 300.

[0163] In some examples of the embodiments of the present application, the sensing element 310 and the first movable shaft 300 are coaxially arranged at the end of the first movable shaft 300, and the detection sensor 110 is located on the axis i of the first movable shaft 300. In this way, when a doctor or an operator rotates the rotary joint 100, the relative positions of the detection sensor 110 and the sensing element 310 can remain unchanged, which can improve the accuracy of the detection sensor 110 in detecting the opening and closing angles of the first clamping clip 210 and the second clamping clip 220.

[0164] In some examples, referring to Figure 4 wait a minute Figure 5 As shown, a guiding member 120 can be provided inside the rotary joint 100. The first movable shaft 300 can pass through the guiding member 120.

[0165] In some examples, the forces provided by the guiding member 120 on both sides of the axis of the first movable shaft 300 can remain balanced with each other.

[0166] In some examples, the guiding member 120 can include a first elastic sheet. The first elastic sheet can be located on one side of the axis of the first movable shaft 300.

[0167] In some examples, the guiding member 120 can include a second elastic sheet. The second elastic sheet can be located on the other side of the axis of the first movable shaft 300.

[0168] In some examples, the first elastic sheet and the second elastic sheet can be symmetric with respect to the axis of the first movable shaft 300. The first elastic sheet and the second elastic sheet can clamp the first movable shaft 300 between the first elastic sheet and the second elastic sheet.

[0169] In some examples, the first elastic sheet can be an arc-shaped elastic sheet. The second elastic sheet can be an arc-shaped elastic sheet. The arc-shaped elastic sheets hold the outer periphery of the first movable shaft 300.

[0170] In some examples of the embodiments of the present application, by guiding and supporting the first movable shaft 300 through the guiding member 120, the stability of the first movable shaft 300 moving axially and / or rotating can be improved, thereby improving the accuracy of the detection sensor 110 in detecting the opening and closing angles of the first clamping clip 210 and the second clamping clip 220.

[0171] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

1. A control input device, characterized in that, Including: A rotary joint (100) internally provided with a detection sensor (110); An opening / closing joint (200) rotatably connected to the rotary joint (100) along the axis; a first opening / closing clamp (210) and a second opening / closing clamp (220) are provided on the opening / closing joint (200), and the first opening / closing clamp (210) and the second opening / closing clamp (220) are symmetrically arranged on both sides of the opening / closing joint (200) with respect to the axis of the opening / closing joint (200); A first movable shaft (300) coaxially arranged with the opening / closing joint (200) inside the opening / closing joint (200), and the first movable shaft (300) extends and passes through the rotary joint (100); the first movable shaft (300) is configured to be linked with the first opening / closing clamp (210) and the second opening / closing clamp (220) to move axially relative to the opening / closing joint (200) under the driving of the opening and closing of the first opening / closing clamp (210) and the second opening / closing clamp (220), and the detection sensor (110) detects the movement of the first movable shaft (300) to obtain the opening / closing angle of the first opening / closing clamp (210) and the second opening / closing clamp (220); A reset member (400) cooperating with the first movable shaft (300), and the reset member (400) is configured to provide an axial reset force to the first movable shaft (300) so that the first movable shaft (300) provides a reset force to the first opening / closing clamp (210) and the second opening / closing clamp (220).

2. The control input device according to claim 1, characterized in that The first opening / closing clamp (210) is movably connected to one side of the first movable shaft (300) along the axis of the first movable shaft (300); The second opening / closing clamp (220) is symmetrically connected to the other side of the first movable shaft (300) along the axis of the first movable shaft (300) with the first opening / closing clamp (210); so that when the first movable shaft (300) moves axially under the reset force of the reset member (400), the reset forces provided by the first movable shaft (300) to the first opening / closing clamp (210) and the second opening / closing clamp (220) are of the same magnitude.

3. The control input device according to claim 1, wherein The opening / closing joint (200) includes: A first connecting rod (230), the first part of which is hinged to the first opening / closing clamp (210) at a first hinge point (231), and the second part of which is hinged to the first movable shaft (300); A second connecting rod (240), the third part of which is hinged to the second opening / closing clamp (220) at a third hinge point (241), and the fourth part of which is hinged to the first movable shaft (300); Wherein, the first hinge point (231) and the third hinge point (241) are axisymmetric with respect to the axis of the first movable shaft (300).

4. The control input device according to claim 3, characterized in that, The opening / closing joint (200) further includes: The opening and closing connecting member (250) is provided at one end of the first movable shaft (300) facing away from the rotary joint (100). The second part is hinged to the opening and closing connecting member (250) at a second hinge point (251), and the fourth part is hinged to the opening and closing connecting member (250) at a fourth hinge point (252). The second hinge point (251) and the fourth hinge point (252) are axisymmetric with respect to the axis of the first movable shaft (300).

5. The control input device according to claim 1, wherein The reset member (400) includes an elastic member. The elastic member cooperates with the first movable shaft (300) along the axial direction of the first movable shaft (300) to provide an axial resetting force to the first movable shaft (300) when the first movable shaft (300) moves axially relative to the opening and closing joint (200).

6. The control input device according to claim 5, wherein The elastic member is a compression spring. The compression spring is sleeved on the outer periphery of the first movable shaft (300), and the compression spring is located between the first movable shaft (300) and the opening and closing joint (200). During the process of the first movable shaft (300) moving away from the rotary joint (100), the first movable shaft (300) compresses the compression spring so that the compression spring provides an axial resetting force to the first movable shaft (300).

7. The control input device according to any one of claims 1-6, characterized in that, A circuit board (500) is provided in the rotary joint (100), and the detection sensor (110) is electrically connected to the circuit board (500). An induction element (310) is provided on the first movable shaft (300). The induction element (310) cooperates with the detection sensor (110) so that when the first movable shaft (300) moves axially relative to the opening and closing joint (200), the detection sensor (110) triggers a detection signal, and the detection signal is configured to determine the opening and closing angle of the first opening and closing clip (210) and the second opening and closing clip (220).

8. The control input device according to claim 7, wherein, The detection sensor (110) includes a Hall sensor, and the induction element (310) includes a magnet.

9. The control input device according to claim 7, characterized in that, The induction element (310) and the first movable shaft (300) are coaxially arranged at the end of the first movable shaft (300) facing the rotary joint (100), and the detection sensor (110) is located on the axis of the first movable shaft (300).

10. The control input device according to any one of claims 1-6, characterized in that, A guiding member (120) is further provided in the rotary joint (100). The first movable shaft (300) passes through the guiding member (120), and the guiding member (120) provides mutually balanced forces to the first movable shaft (300) on both sides of the axis of the first movable shaft (300).

11. A doctor's console, characterized in that, Comprising: The control input device (10) according to any one of claims 1-10; A support member, connected to the rotary joint (100) of the control input device (10), and the support member is configured to be grounded.

12. A surgical robot, characterized in that, Comprising: The doctor console according to claim 11; A slave manipulator, the slave manipulator is configured to connect an end effector, and the slave manipulator manipulates the end effector according to the control signal of the doctor console.

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