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. The control input device comprises: a rotary joint, in which a driving member is arranged; the opening and closing joint is rotatably connected with the rotating joint in the axial direction, the opening and closing joint is provided with an opening and closing seat, a first opening and closing clamp and a second opening and closing clamp, the first opening and closing clamp is located on one side of the opening and closing seat along the axis of the opening and closing seat, and the second opening and closing clamp and the first opening and closing clamp are symmetrically arranged on the other side of the opening and closing seat relative to the axis of the opening and closing seat; the first movable shaft is arranged in the opening and closing joint, the first movable shaft extends into the rotating joint, and 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 that the opening and closing angles of the first opening and closing clamp and the second opening and closing clamp are determined through the moving distance of the first movable shaft in the axial direction; wherein the driving piece is in transmission connection with the opening and closing seat so as to drive the opening and closing joint to integrally rotate relative to the rotating joint.

Description

Technical Field

[0001] The present 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 precision, and intuitive surgical images. For example, they can filter hand tremors. 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 operation signal of the doctor collected by the master control arm is processed by the control system to generate a control signal for the slave control arm, and the surgical operation is performed by the slave manipulator arm. During the operation, 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.

[0003] In related technologies, for example, Chinese invention patent CN112638306A discloses a control switch position sensing across a rotary joint, including an actuator, and the actuator shaft is rigidly connected to a bevel gear; a bevel gear is provided on the main shaft of the handle, and the two bevel gears are meshed with each other, so that the handle is driven to rotate by the actuator. It can assist the doctor when the doctor rotates the handle.

[0004] However, in related technologies, when the actuator drives the handle to rotate, it may cause the rotating handle to shake, affecting the safety of using the surgical robot. Summary of the Utility Model

[0005] The embodiments of the present application provide a control input device, a doctor console, and a surgical robot, which can improve the stability of the opening and closing joint rotating relative to the rotating joint and enhance the safety of using the surgical robot.

[0006] On the one hand, the embodiments of the present application provide a control input device, including:

[0007] A rotating joint, which is internally provided with a driving member;

[0008] An opening and closing joint, which is rotatably connected to the rotating joint along the axis. The opening and closing joint has an opening and closing seat, a first opening and closing clip, and a second opening and closing clip. Along the axis of the opening and closing seat, the first opening and closing clip is located on one side of the opening and closing seat, and the second opening and closing clip is symmetrically arranged on the other side of the opening and closing seat relative to the axis of the opening and closing seat;

[0009] The first movable shaft is disposed within the opening and closing joint and extends into the rotating joint. The first movable shaft is configured to be linked with the first opening and closing clamp and the second opening and closing clamp to determine the opening and closing angle of the first opening and closing clamp and the second opening and closing clamp according to the axial movement distance of the first movable shaft.

[0010] Wherein, the driving member is in transmission connection with the opening and closing seat to drive the opening and closing joint to rotate integrally relative to the rotating joint.

[0011] In one implementation, a first gear is disposed within the rotating joint. The first gear is connected to the opening and closing seat and is coaxial with the opening and closing joint. The first gear is configured to drive the opening and closing seat to rotate.

[0012] One of a first detection sensor and an induction element is disposed on the first gear, and the other of the first detection sensor and the induction element is disposed on the rotating joint.

[0013] The first detection sensor is configured to cooperate with the induction element to determine the rotation angle of the opening and closing joint relative to the rotating joint.

[0014] In one implementation, the first detection sensor includes an encoder stator, and the induction element includes an encoder rotor.

[0015] In one implementation, a shaft hole is provided on the first gear.

[0016] A first connecting member is sleeved on the outer periphery of the first movable shaft. The first connecting member has a connecting shaft and a flange. The flange is located at one end of the connecting shaft facing the opening and closing seat. The flange is configured to be connected to the opening and closing seat. The connecting shaft passes through the shaft hole and is limited with the first gear along the circumferential direction of the first gear.

[0017] The first gear drives the opening and closing seat to rotate through the first connecting member.

[0018] In one implementation, a second detection sensor and an electrical connecting member are disposed within the rotating joint. The electrical connecting member is electrically connected to the second detection sensor. The electrical connecting member is located on the side of the first gear facing away from the opening and closing joint.

[0019] The first movable shaft is a conductive member. The first movable shaft extends to the electrical connecting member, and the electrical connecting member is configured to be electrically connected to the first movable shaft.

[0020] The opening and closing seat is insulated from the flange.

[0021] In one implementation, a second connecting member is provided on the side of the opening and closing seat facing the rotating joint. The second connecting member is configured to be connected to the flange.

[0022] Wherein, the second connecting member is an insulating member.

[0023] In one implementation, the axial direction of the output shaft of the driving member intersects with the axial direction of the opening and closing joint, and a second gear is provided on the output shaft of the driving member;

[0024] The first gear includes a first bevel gear, the second gear includes a second bevel gear, and the first bevel gear meshes with the second bevel gear.

[0025] In one implementation, a first circuit board is provided inside the rotating joint, the first detection sensor is electrically connected to the first circuit board, and a data communication interface is provided on the first circuit board;

[0026] The rotating joint is provided with a plug interface, and the plug interface is matched with the data communication interface; the plug interface is configured to insert a data cable to read the data information on the first circuit board through the data communication interface;

[0027] A plugging block is inserted into the plug interface.

[0028] On the other hand, an embodiment of the present application provides a doctor console, including:

[0029] The control input device provided in the foregoing embodiment of the present application;

[0030] A support member, which is connected to the rotating joint of the control input device, and the support member is configured to be grounded.

[0031] On yet another aspect, an embodiment of the present application provides a surgical robot, including:

[0032] The doctor console provided in the foregoing embodiment of the present application;

[0033] A slave manipulator, which is configured to connect to an end effector, and the slave manipulator manipulates the end effector according to the control signal of the doctor console.

[0034] According to the control input device, doctor console and surgical robot provided by the embodiment of the present application. Among them, the opening and closing joint of the control input device is rotatably connected to the rotating joint along the axial direction; the opening and closing joint has an opening and closing seat, a first opening and closing clamp and a second opening and closing clamp, and along the axis of the opening and closing seat, the first opening and closing clamp and the second opening and closing clamp are symmetrically arranged on both sides of the opening and closing seat. In this way, when the opening and closing joint rotates relative to the rotating joint, the centrifugal forces of the first opening and closing clamp and the second opening and closing clamp in the radial direction offset each other, which can ensure the stability of the rotation of the rotating joint. A first movable shaft is set in the opening and closing joint, and the first movable shaft extends to the rotating joint. The first movable shaft is linked with the first opening and closing clamp and the second opening and closing clamp, so that the opening and closing angles of the first opening and closing clamp and the second opening and closing clamp are determined by the moving distance of the first movable shaft in the axial direction. In this way, the opening and closing angles of the first opening and closing clamp and the second opening and closing clamp are detected in the rotating joint, which can save the signal transmission line for transmitting signals between the opening and closing joint and the rotating joint, so that the rotation between the opening and closing joint and the rotating joint is not constrained by beams, which is convenient for the opening and closing joint to rotate infinitely relative to the rotating joint. In addition, a driving member is arranged in the rotary joint, and the driving member is connected to the opening and closing seat by transmission, so as to drive the opening and closing joint to rotate as a whole relative to the rotary joint. In this way, compared with the related art in which the driving member drives the opening and closing joint to rotate by the first movable shaft, the driving member is connected to the opening and closing seat by transmission, and drives the entire opening and closing joint by driving the opening and closing seat to rotate, so that the power output by the driving member is on the opening and closing seat with a larger diameter, compared with driving the first movable shaft with a small diameter, which can improve the stability of the rotation of the opening and closing joint, thereby improving the safety of the surgical robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 is a schematic diagram of the overall structure of a control input device provided in some embodiments of the present application;

[0037] Figure 2 is a cross-sectional view of a control input device provided by some embodiments of the present application;

[0038] Figure 3 yes Figure 2 A partial enlarged view of point A in the middle;

[0039] Figure 4 is a schematic diagram of the internal structure of a control input device provided in some embodiments of the present application;

[0040] Figure 5 It is another cross-sectional view of the control input device provided by some embodiments of the present application.

[0041] Explanation of reference numerals:

[0042] 10 - Control input device;

[0043] 100 - Rotating joint; 200 - Opening and closing joint; 300 - First movable shaft; 400 - First connecting member; 500 - Second movable shaft;

[0044] 110 - Driving member; 120 - First gear; 130 - First circuit board; 140 - Second circuit board; 210 - Opening and closing seat; 220 - First opening and closing clip; 230 - Second opening and closing clip; 240 - Switch button group; 410 - Connecting shaft; 420 - Flange;

[0045] 111 - Second gear; 131 - First detection sensor; 132 - Inductive element; 133 - Data communication interface; 134 - Plugging block; 141 - Second detection sensor; 142 - Electrical connecting member; 211 - Second connecting member; 241 - First switch button; 242 - Second switch button. Detailed implementation manners

[0046] Next, the technical solutions in the embodiments of the present application will be described in conjunction with the accompanying drawings in the embodiments of the present application.

[0047] 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 regarded as restrictive, 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 the key points of the present application by the public.

[0048] 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 structures, physical compositions, electrical aspects, and steps can be made without departing from the spirit and scope of the present application.

[0049] The terms used hereinbelow are for describing specific embodiments only and are not intended to limit the present application. Spatially relative terms, such as "below", "lower", "above", "upper", etc., may be used for convenience in describing the relationship of one element or feature illustrated in the figures to another element or feature. It should be understood that spatially relative terms are intended to cover different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, the element described as "below" other elements or features will then be "above" the other elements or features. Thus, the exemplary term "below" can cover both an upper and a lower orientation. The device may be otherwise oriented (e.g., rotated 90° or in other orientations), and the spatially relative descriptors used herein are to be interpreted accordingly.

[0050] As used herein, "a plurality of", "a" in the singular form, and "the" are also intended to include the plural form unless the context otherwise indicates. It should be further understood that the terms "comprises" and / or "comprising" specify the presence of the stated features, steps, operations, elements, and / or components, but do not preclude the presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0051] 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.

[0052] The terms "instrument", "surgical instrument", and "surgical tool" 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 may be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cautery, tissue stabilizers or retractors, clip appliers, anastomosis devices, imaging devices (e.g., endoscopes or ultrasound probes), etc. 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 contain 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.

[0053] The term "engagement" can be broadly understood as any situation in which two or more objects are connected in such a way that the engaged objects operate in conjunction with each other. It should be noted that engagement does not require direct connection (e.g., direct physical or electrical connection), but rather that a number of objects or components can be used to engage two or more objects. For example, objects A and B can be engaged by using object C. Additionally, the terms "detachably coupled" or "detachably engaged" can be interpreted to mean a non-permanent coupling or engagement 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.

[0054] Finally, the terms "or" and "and / or" as used herein shall be construed 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.

[0055] Overview of the master-slave teleoperated laparoscopic surgical robot

[0056] 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 those robotic arms. The robotic arms are equivalent to simulating a human arm, and the surgical instruments are equivalent to simulating a human hand. Both provide a series of movements that simulate the human wrist for the surgeon, while also filtering out the tremors of the human hand itself.

[0057] 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 manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscope 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 referred to as the "centroid point".

[0058] An image platform typically includes a video image capture function (commonly an endoscope) and one or more video displays for showing surgical instruments in the captured images. In some laparoscopic surgical robots, the endoscope includes an optical device for transmitting an image from the patient's body to the distal end of the endoscope, and then through steps such as photoelectric conversion, the video image is transmitted to the host of the image platform. Subsequently, through image processing, the processed image is displayed on the video display for the assistant to observe.

[0059] The doctor control platform can be at a single location in a surgical system composed of laparoscopic surgical robots, or it can be distributed at two or more locations in the system. Remote master / slave operation can be completed according to a 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 arm and the surgical instrument manipulator, thereby controlling the remote control motor on the surgical instrument manipulator, and this motor further controls the movement of the surgical instrument.

[0060] Generally, the force generated by the remote control motor is transmitted via a transmission system to transfer the force from the remote control motor to the end effector of the surgical instrument. In some embodiments of remote surgical operations, 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 different cities. Then the input signal of the input device is transmitted to the control system. Those familiar with remote manipulation, teleoperation, and telepresence surgical operations will understand such a system and its components.

[0061] In some examples of the embodiments of the present application, a surgical robot is provided. The surgical robot can include a doctor console. The doctor can operate at the doctor console.

[0062] In some examples, the surgical robot can include a slave manipulator arm. The slave manipulator arm can be connected to an end effector.

[0063] In some examples, the end effector can be referred to as an end effector. The end effector can include forceps, needle holders, scissors, bipolar cautery, tissue stabilizers or retractors, clip appliers, anastomosis devices, imaging devices (such as endoscopes or ultrasonic probes), etc.

[0064] It can be understood that in some examples of the embodiments of the present application, the specific examples of the end effector are only shown as some examples. In other examples of the embodiments of the present application, the end effector can also be other types of surgical instruments, and the present application embodiments will not list them one by one.

[0065] In some examples, the slave manipulator can receive control signals from the doctor's console. The slave manipulator can manipulate the end effector according to the control signals from the doctor's console.

[0066] In some examples, the slave manipulator can be communicatively connected to the doctor's console.

[0067] In some examples, the slave manipulator can be communicatively connected to the doctor's console by means of wired communication. For example, optical fibers, network cables, etc.

[0068] In some examples, the slave manipulator can be communicatively connected to the doctor's console by means of wireless communication. For example, the slave manipulator and the doctor's console can be communicatively connected to the master control arm by means of 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.

[0069] In some examples, when the doctor or operator operates on the doctor's console, the doctor's console can issue operation control signals, and the slave manipulator manipulates the end effector according to the control signals, thereby realizing various surgical operations.

[0070] Figure 1 It is a schematic diagram of the overall structure of the control input device provided by some embodiments of the present application. Figure 2 It is a cross-sectional view of the control input device provided by some embodiments of the present application. Figure 3 is Figure 2 a partial enlarged view of part A in Figure 4 It is a schematic diagram of the internal structure of the control input device provided by some embodiments of the present application. Figure 5 It is another cross-sectional view of the control input device provided by some embodiments of the present application.

[0071] In some examples, referring to Figures 1-5 as shown, the doctor's console can include a control input device 10. The doctor or operator can input corresponding surgical operations on the control input device 10, and the doctor's console can send control signals to the slave manipulator according to the surgical operations input on the control input device 10.

[0072] In some examples, for the convenience of supporting the control input device 10, the doctor's console can include a support member (not shown in the figure). The control input device 10 can be disposed on the support member.

[0073] In some examples, the support member can be supported on the ground.

[0074] In some examples, referring to Figures 1-5As shown, the control input device 10 may include a rotary joint 100. The rotary joint 100 may be connected to the support.

[0075] In some examples, the rotary joint 100 may be grounded through the support.

[0076] In some examples, the control input device 10 may include an opening / closing joint 200. The opening / closing joint 200 may be rotatably connected to the rotary joint 100 along the axis. For example, referring to Figure 1 As shown, the opening / closing joint 200 may rotate relative to the rotary joint 100 about its own axis i.

[0077] In some examples, the opening / closing joint 200 may rotate Figure 1 in the direction shown by the arrow a in Figure 1 or in the opposite direction of the direction shown by the arrow a in

[0078] In some examples, referring to Figures 1-5 As shown, the opening / closing joint 200 may have an opening / closing seat 210. The opening / closing seat 210 may be rotatably connected to the rotary joint 100 along its own axis.

[0079] In some examples, the opening / closing joint 200 may include a first opening / closing clip 220. The first opening / closing clip 220 may be connected to the opening / closing seat 210.

[0080] In some examples, the first opening / closing clip 220 may perform an opening / closing movement relative to the opening / closing seat 210, so as to send a control signal from the manipulator arm.

[0081] In some examples, the opening / closing joint 200 may include a second opening / closing clip 230. The second opening / closing clip 230 may be connected to the opening / closing seat 210.

[0082] In some examples, the first opening / closing clip 220 may be provided on one side of the opening / closing seat 210. The second opening / closing clip 230 may be provided on the other side of the opening / closing seat 210 opposite to the first opening / closing clip 220.

[0083] In some examples, the first opening / closing clip 220 and the second opening / closing clip 230 may be symmetrically arranged with respect to the axis i of the opening / closing seat 210. In this way, when the opening / closing joint 200 rotates relative to the rotary joint 100, it can ensure that the opening / closing joint 200 is in a balanced force in the rotation direction, thus ensuring the stability of the rotation of the opening / closing joint 200 and avoiding shaking, swinging or jitter of the opening / closing joint 200.

[0084] In some examples, a doctor or an operator may perform an opening / closing operation on the first opening / closing clip 220 and the second opening / closing clip 230 through fingers, so that the first opening / closing clip 220 and the second opening / closing clip 230 send a control signal from the manipulator arm.

[0085] In some examples, a doctor or operator can rotate the opening and closing joint 200 to send an operation control signal from the manipulation arm.

[0086] In some examples, the control input device 10 can include a main control arm. The main control arm can be used to engage the rotating joint 100 and the opening and closing joint 200.

[0087] In some examples, a doctor or operator can operate the opening and closing joint 200. The control input device 10 can detect the movements 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 manipulation arm. The control signal can be at least one of an opening and closing signal, a rotating signal, and an overall displacement.

[0088] In some examples, for facilitating the detection of the opening and closing angles of the first opening and closing clamp 220 and the second opening and closing clamp 230, as shown in Figures 2-5 the control input device 10 can include a first movable shaft 300.

[0089] 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.

[0090] 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 into the rotating joint 100 and pass through the rotating joint 100.

[0091] In some examples, the first movable shaft 300 can be linked to the opening and closing actions of the first opening and closing clamp 220 and the second opening and closing clamp 230.

[0092] That is to say, in some examples, the opening and closing actions of the first opening and closing clamp 220 and the second opening and closing clamp 230 can drive the first movable shaft 300 to move.

[0093] Or, in some examples, the movement of the first movable shaft 300 can drive the opening and closing movements of the first opening and closing clamp 220 and the second opening and closing clamp 230.

[0094] In some examples, the first movable shaft 300 can move relative to the opening and closing joint 200 along axis i. For example, when a doctor or operator operates the first opening and closing clamp 220 and the second opening and closing clamp 230 such that the first opening and closing clamp 220 and the second opening and closing clamp 230 move towards each other for clamping operation, the first opening and closing clamp 220 and the second opening and closing clamp 230 can drive the first movable shaft 300 to move relative to the opening and closing joint 200 along axis i.

[0095] In some examples, the moving distance of the first movable shaft 300 along the axis i can represent the angle of the first opening and closing clip 220 and the second opening and closing clip 230. Thus, the opening and closing angles of the first opening and closing clip 220 and the second opening and closing clip 230 can be detected by detecting the moving distance of the first movable shaft 300 along the axis.

[0096] In some examples, in order to facilitate the doctor or operator to rotate the opening and closing joint 200, the force that the doctor or operator needs to apply when rotating the opening and closing joint 200 is reduced. Figures 2-5 As shown, a driving member 110 may be provided in the rotating joint 100. When a doctor or an operator performs a rotating operation on the opening and closing joint 200, the driving member 110 may drive the opening and closing joint 200, thereby compensating for the rotating operation of the doctor or the operator, and reducing the rotating force that the doctor or the operator needs to apply, making it easier for the doctor or the operator to perform the rotating operation.

[0097] In some examples, after the doctor or operator stops rotating the opening and closing joint 200, the driving member 110 can output a driving force to compensate for the gravity of the opening and closing joint 200, so that the opening and closing joint 200 remains in the current position, preventing the opening and closing joint 200 from rotating under the action of gravity, thereby improving the safety of the use of the surgical robot.

[0098] In some examples, when the driving member 110 drives the opening and closing joint 200 to rotate through the first movable shaft 300, the first movable shaft 300 is a slender shaft, and the end of the first movable shaft 300 facing away from the rotating joint 100 may swing or shake under the action of centrifugal force, which may cause the doctor's or operator's fingers to shake, affecting the safety of the use of the surgical robot.

[0099] For this purpose, refer to Figures 2-5 As described above, in some examples of the embodiments of the present application, the driving member 110 may be transmission-connected to the opening and closing seat 210 to drive the opening and closing joint 200 to rotate as a whole relative to the rotating joint 100 .

[0100] That is to say, in some examples of the embodiments of the present application, the driving member 110 can drive the opening and closing seat 210 with a larger diameter to rotate, and the opening and closing seat 210 drives the entire opening and closing joint 200 to rotate. In this way, compared with the driving member 110 driving the slender first movable shaft 300, the opening and closing seat 210 with a larger diameter is not easy to swing under the action of centrifugal force, which can improve the stability of the rotation of the opening and closing joint 200 relative to the rotating joint 100, and improve the safety of the surgical robot.

[0101] The opening and closing joint 200 of the control input device 10 provided by the embodiment of the present application is rotatably connected to the rotating joint 100 along the axis; the opening and closing joint 200 has an opening and closing seat 210, a first opening and closing clip 220 and a second opening and closing clip 230. Along the axis of the opening and closing seat 210, the first opening and closing clip 220 and the second opening and closing clip 230 are symmetrically arranged on both sides of the opening and closing seat 210. In this way, when the opening and closing joint 200 rotates relative to the rotating joint 100, the centrifugal forces acting radially on the opening and closing seat 210 by the first opening and closing clip 220 and the second opening and closing clip 230 cancel each other out, which can ensure the stability of the rotation of the rotating joint 100.

[0102] A first movable shaft 300 is arranged in the opening and closing joint 200. The first movable shaft 300 extends to the rotating joint 100. The first movable shaft 300 is linked with the first opening and closing clip 220 and the second opening and closing clip 230. Thus, by detecting the distance that the first movable shaft 300 moves along the axis, the opening and closing angles of the first opening and closing clip 220 and the second opening and closing clip 230 are determined. In this way, by detecting the opening and closing angles of the first opening and closing clip 220 and the second opening and closing clip 230 inside the rotating joint 100, the signal transmission line for transmitting signals between the opening and closing joint 200 and the rotating joint 100 can be omitted, enabling the rotation between the opening and closing joint 200 and the rotating joint 100 to be free of wire harness constraints, which is convenient for the opening and closing joint 200 to rotate infinitely relative to the rotating joint 100.

[0103] In addition, a driving member 110 is arranged inside the rotating joint 100. The driving member 110 is in transmission connection with the opening and closing seat 210, so as to drive the opening and closing joint 200 to rotate relative to the rotating joint 100. In this way, compared with the way of driving the opening and closing joint 200 by the driving member 110 through the first movable shaft 300 in the related art, the driving member 110 is in transmission connection with the opening and closing seat 210, and drives the entire opening and closing joint 200 by driving the opening and closing seat 210 to rotate. This makes the power output by the driving member 110 act on the larger-diameter opening and closing seat 210. Compared with driving the small-diameter first movable shaft 300, the stability of the rotation of the opening and closing joint 200 can be improved, thereby improving the safety of using the surgical robot.

[0104] In some examples, as shown in Figures 2-5 A first gear 120 can be arranged inside the rotating joint 100. The first gear 120 can be coaxially arranged with the opening and closing joint 200.

[0105] In some examples, a rotating bearing can be arranged inside the rotating joint 100. The first gear 120 is rotatably connected to the rotating joint 100 through the bearing. For example, the outer ring of the bearing can be fixedly connected to the inner wall of the rotating joint 100, and the inner ring of the bearing can be connected to the first gear 120. Thus, the first gear 120 can rotate relative to the rotating joint 100.

[0106] In some examples, the first gear 120 can be connected to the opening and closing seat 210, thereby driving the opening and closing seat 210 to rotate. That is to say, the first gear 120 and the opening and closing seat 210 have the same angular velocity, and the rotation angles of the first gear 120 and the opening and closing seat 210 are the same.

[0107] In some examples, to facilitate the detection of the rotation angle of the opening and closing joint 200 relative to the rotating joint 100, a first detection sensor 131 can be provided on the first gear 120, and an induction element 132 can be provided on the rotating joint 100. The induction element 132 cooperates with the first detection sensor 131 to determine the rotation angle of the first gear 120 relative to the rotating joint 100, so as to facilitate the determination of the rotation angle of the opening and closing joint 200 relative to the rotating joint 100.

[0108] In some examples, an induction element 132 can be provided on the first gear 120, and a first detection sensor 131 can be provided on the rotating joint 100. The induction element 132 cooperates with the first detection sensor 131 to determine the rotation angle of the first gear 120 relative to the rotating joint 100, so as to facilitate the determination of the rotation angle of the opening and closing joint 200 relative to the rotating joint 100.

[0109] In some examples of the embodiments of the present application, by arranging the first gear 120 inside the rotating joint 100, the first gear 120 is coaxial with the opening and closing joint 200, the first gear 120 is connected to the opening and closing seat 210, and drives the opening and closing seat 210 to rotate. And one of the first detection sensor 131 and the induction element 132 is provided on the first gear 120, and the other of the first detection sensor 131 and the induction element 132 is provided on the rotating joint 100; in this way, the detection of the rotation angle of the opening and closing joint 200 can be converted into the detection of the rotation angle of the first gear 120, and the signal transmission wire harness required when the induction element 132 or the first detection sensor 131 is arranged on the opening and closing joint 200 can be omitted, so that the opening and closing joint 200 can be free of wire harness constraints relative to the rotating joint 100, and the opening joint can rotate infinitely relative to the rotating joint 100, which is convenient for doctors or operators to perform rotation operations on the opening and closing joint 200.

[0110] In some examples, the first detection sensor 131 can include a Hall sensor. For example, in some examples, Hall sensors arranged side by side along the circumferential direction can be provided on the inner wall of the rotating joint 100 along the circumferential direction of the first gear 120.

[0111] In some examples, the sensing element 132 may include a magnetic body. The magnetic body may be disposed on the first gear 120. When the first gear 120 rotates relative to the rotary joint 100, the first gear 120 drives the magnetic body to rotate, and the Hall sensor determines the angle through which the first gear 120 has rotated by sensing the change in the magnetic field of the magnetic body.

[0112] In some examples, the sensing element 132 may be disposed on the first gear 120 and rotate with the first gear 120. The first detection sensor 131 may be disposed on the rotary joint 100.

[0113] In some examples, the first detection sensor 131 may include an encoder stator. The encoder stator may be disposed on the rotary joint 100.

[0114] In some examples, the sensing element 132 may include an encoder rotor. The encoder rotor may be disposed on the first gear 120. When the first gear 120 rotates relative to the rotary joint 100, it can drive the encoder rotor to rotate, and the encoder stator determines the rotation angle of the first gear 120 according to the rotation angle of the encoder rotor, thereby determining the rotation angle of the opening and closing joint 200 relative to the rotary joint 100.

[0115] In some examples, a first circuit board 130 may be provided inside the rotary joint. The first detection sensor 131 may be electrically connected to the first circuit board 130.

[0116] In some examples, the first detection sensor 131 may be disposed on the first circuit board 130.

[0117] In some examples, the first circuit board 130 may include an integrated circuit board.

[0118] In some examples, the first circuit board 130 may be a Printed Circuit Board (PCB for short).

[0119] In some examples, a data communication interface 133 may be provided on the first circuit board 130.

[0120] In some examples, the rotary joint may be provided with a socket. The socket may cooperate with the data communication interface 133.

[0121] In some examples, the socket may be disposed opposite to the data communication interface 133. The caliber of the socket may be the same as that of the data communication interface 133. Alternatively, the caliber of the socket may be slightly larger than that of the data communication interface 133.

[0122] In some examples, a doctor or operator can insert a data communication line into the insertion interface to connect to the data communication interface 133, so as to read the data information on the first circuit board 130. Or, write the data information onto the first circuit board 130.

[0123] In some examples, a plugging block 134 can be inserted into the insertion interface. The plugging block 134 can be configured to plug the insertion interface. Thus, moisture, dust, etc. can be prevented from entering the rotary joint 100.

[0124] In some examples, with reference to Figures 2-5 as shown, a shaft hole (not labeled in the figure) can be provided on the first gear 120.

[0125] In some examples, a first connecting member 400 can be sleeved on the outer periphery of the first movable shaft 300.

[0126] In some examples, the first movable shaft 300 can move axially relative to the first connecting member 400. For example, when the first opening and closing clamp 220 and the second opening and closing clamp 230 perform opening and closing actions, the first movable shaft 300 can move axially relative to the first connecting member 400 under the drive of the first opening and closing clamp 220 and the second opening and closing clamp 230.

[0127] In some examples, the first connecting member 400 can have a connecting shaft 410. The first connecting member 400 can pass through the shaft hole, so that the connecting shaft 410 and the first gear 120 are circumferentially limited.

[0128] In some examples, a first keyway (not shown in the figure) can be provided on the circumferential wall of the connecting shaft 410. The inner wall of the shaft hole can be provided with a second keyway (not shown in the figure).

[0129] In some examples, a key pin can be embedded in the first keyway, and a part of the key pin protrudes from the circumferential wall of the connecting shaft 410. The part of the key pin protruding from the circumferential wall of the connecting shaft 410 can extend into the second keyway, so as to realize the engagement between the connecting shaft 410 and the first gear 120.

[0130] In some examples, a protruding portion can be provided on the circumferential wall of the connecting shaft 410. A groove can be provided on the inner wall of the shaft hole. The protruding portion can be embedded in the groove, so as to realize the engagement between the connecting shaft 410 and the first gear 120.

[0131] In some examples, a groove can be provided on the circumferential wall of the connecting shaft 410. A protruding portion can be provided on the inner wall of the shaft hole. The protruding portion can be embedded in the groove, so as to realize the engagement between the connecting shaft 410 and the first gear 120.

[0132] In some examples, a spline can be provided on the circumferential wall of the connecting shaft 410. A spline groove can be provided on the inner wall of the shaft hole. The spline and the spline groove can be engaged, so as to realize the engagement between the connecting shaft 410 and the first gear 120.

[0133] In some examples, the cross-sectional shape of the connecting shaft 410 can be set to non-circular. The cross-sectional shape of the shaft hole can be set to match the cross-sectional shape of the connecting shaft 410, so that the connecting shaft 410 meshes with the first gear 120.

[0134] In some examples, referring to Figures 2-5 As shown, the first connecting member 400 has a flange 420. The flange 420 is located at one end of the connecting shaft 410 facing the opening and closing seat 210.

[0135] In some examples, the flange 420 and the connecting shaft 410 can be an integral part.

[0136] In some examples, the flange 420 can be connected to the opening and closing seat 210. For example, the flange 420 can be connected to the opening and closing seat 210 through connecting members such as bolts, screws or studs. In this way, it is convenient for the first gear 120 to drive the opening and closing seat 210 to rotate, thereby driving the opening and closing joint 200 to rotate.

[0137] In some examples of the embodiments of the present application, by providing a shaft hole on the first gear 120, the outer circumference of the first movable shaft 300 is sleeved with the first connecting member 400; the first connecting member 400 has a connecting shaft 410 and a flange 420. The connecting shaft 410 passes through the shaft hole, and along the circumferential direction of the first gear 120, the connecting shaft 410 meshes with the first gear 120; in this way, it is convenient for the first gear 120 to drive the opening and closing joint 200 through the first connecting member 400.

[0138] In some examples, to prevent the first gear 120 from displacing in the axial direction of the connecting shaft 410. The first gear 120 and the connecting shaft 410 can be limited in the axial direction.

[0139] In some examples, the connecting shaft 410 can be passed through the shaft hole, and then a snap ring can be provided on the peripheral wall of the connecting shaft 410 to limit the first gear 120 in the axial direction of the connecting shaft 410 through the snap ring.

[0140] In some examples, referring to Figures 2-5 As shown, a second detection sensor 141 can be provided in the rotary joint 100. The second detection sensor 141 can be configured to detect whether the hand of a doctor or an operator is in place.

[0141] In some examples, the second detection sensor 141 can include a photoelectric sensor.

[0142] In some examples, the second detection sensor 141 can include a resistive sensor.

[0143] In some examples, the second detection sensor 141 can include a capacitive sensor.

[0144] It can be understood that in some examples of the embodiments of the present application, the specific type of the second detection sensor 141 is only exemplified as some specific examples, and does not limit the specific type of the second detection sensor 141. In other examples of the embodiments of the present application, the second detection sensor 141 can also be other types of sensors, and the embodiments of the present application will not list them one by one.

[0145] In some examples, an electrical connector 142 can be provided inside the rotary joint 100. The electrical connector 142 can be electrically connected to the second detection sensor 141.

[0146] In some examples, a second circuit board 140 can be provided inside the rotary joint 100. The second detection sensor 141 and the electrical connector 142 can be arranged on the second circuit board 140.

[0147] In some examples, the second circuit board 140 can be an integrated second circuit board 140.

[0148] In some examples, the second circuit board 140 can be a printed circuit board 140 (Printed Circuit Board, abbreviated as PCB). The second detection sensor 141 and the electrical connector 142 can be electrically connected through the printed circuit on the PCB.

[0149] In some examples, for the convenience of setting the electrical connector 142 and the second detection sensor 141. The second circuit board 140 can be arranged on the side of the first gear 120 facing away from the opening and closing joint 200. That is, the electrical connector 142 and the second detection sensor 141 can be located on the side of the first gear 120 facing away from the opening and closing joint 200. In this way, the influence of the electrical connector 142 on the first connector 400 can be avoided, which is convenient for the first connector 400 to be connected to the opening and closing seat 210.

[0150] In some examples, the first movable shaft 300 can be a conductive member. The first movable shaft 300 can extend to the electrical connector 142 and be electrically connected to the electrical connector 142.

[0151] That is to say, in some examples, the first movable shaft 300 can pass through the shaft hole and extend to the side of the first gear 120 facing away from the opening and closing joint 200, so that the first movable shaft 300 is electrically connected to the electrical connector 142.

[0152] In some examples, the opening and closing joint 200 can be a conductive component. Thus, when a doctor's or operator's finger touches the opening and closing joint 200 (such as the first opening and closing clamp 220, the second opening and closing clamp 230, or the opening and closing base 210), the first detection sensor 131 can detect the potential change on the opening and closing joint 200 through the electrical connection member 142 and the first movable shaft 300, thereby determining the presence of the doctor's or operator's hand. This can improve the safety of using the surgical robot.

[0153] In some examples, the electrical connection member 142 can be a metal spring piece. The metal spring piece can be electrically connected to the first movable shaft 300 from both sides of the first movable shaft 300.

[0154] In some examples, the metal spring piece contacts the first movable shaft 300, and the acting forces exerted on the first movable shaft 300 cancel each other out.

[0155] In some examples, for facilitating the detection of the potential change on the opening and closing joint 200, the opening and closing base 210 and the flange 420 can be insulatedly connected.

[0156] In some examples of the embodiments of the present application, a second detection sensor 141 and an electrical connection member 142 are arranged inside the rotating joint 100. The electrical connection member 142 is electrically connected to the second detection sensor 141. The first movable shaft 300 is a conductive component, the first movable shaft 300 extends to the electrical connection member 142 and is electrically connected to the electrical connection member 142; the opening and closing base 210 and the flange 420 are insulatedly connected. Thus, it is convenient to detect whether the doctor's or operator's hand is present. This improves the safety of using the surgical robot.

[0157] In some examples, referring to Figures 2-5 As shown, a second connection member 211 can be provided on one side of the opening and closing base 210 facing the rotating joint 100. The second connection member 211 can be fixedly connected to the opening and closing base 210.

[0158] In some examples, the second connection member 211 can be configured to be connected to the flange 420. For example, the second connection member 211 can be connected to the flange 420 through bolts, screws or studs, etc.

[0159] In some examples, the second connection member 211 can be an insulating component. For example, the second connection member 211 can be an insulating component such as a plastic part, a rubber part or a ceramic part.

[0160] In some examples of the embodiments of the present application, by providing an insulating second connection member 211 on one side of the opening and closing base 210 facing the rotating joint 100. Thus, the second connection member 211 is connected to the flange 420. Thus, it is convenient to insulate the connection between the opening and closing base 210 and the first connection member 400.

[0161] In some examples, a switch button group 240 may be provided on the opening and closing joint 200. The switch button group 240 may be configured to move relative to the opening and closing joint 200 along the axial direction of the opening and closing joint 200 to control the signal output of the control input device 10.

[0162] In some examples, the switch button group 240 may include a first switch button 241. Along the axis i of the opening and closing joint 200, the first switch button 241 may be located on one side of the opening and closing seat 210.

[0163] In some examples, the switch button group 240 may include a second switch button 242. Along the axis i of the opening and closing joint 200, the second switch button 242 may be located on the other side of the opening and closing seat 210. The second switch button 242 and the first switch button 241 may be symmetrically arranged with respect to the axis i. In this way, when the opening and closing joint 200 rotates relative to the rotating joint 100, the centrifugal forces of the first switch button 241 and the second switch button 242 along the radial direction of the opening and closing joint 200 can cancel each other out, which can improve the rotation stability of the opening and closing joint 200.

[0164] In some examples, a second movable shaft 500 is sleeved on the outer periphery of the first movable shaft 300.

[0165] In some examples, along the radial direction of the first gear 120, the second movable shaft 500 may be located between the first connecting member 400 and the first movable shaft 300. That is to say, the second movable shaft 500 may be sleeved on the outer periphery of the first movable shaft 300, and the first connecting member 400 may be sleeved on the outer periphery of the second movable shaft 500.

[0166] In some examples, the switch button group 240 may be connected to the second movable shaft 500. When the switch button group 240 moves relative to the opening and closing joint 200 along the axial direction, it can drive the second movable shaft 500 to move relative to the first movable shaft 300.

[0167] That is to say, the second movable shaft 500 can move relative to the first movable shaft 300 along the axial direction of the first movable shaft 300.

[0168] In some examples, when the switch button group 240 drives the second movable shaft 500 to move axially, the second movable shaft 500 is configured to trigger a control signal to control the signal output of the control input device 10. In this way, when a doctor or an operator needs to adjust the position of the rotating joint 100, the second movable shaft 500 can be moved through the switch button group 240 to disconnect the communication connection between the control input device 10 and the slave manipulator, which is convenient for the doctor or the operator to adjust the position of the rotating joint 100. The safety of using the surgical robot can be improved.

[0169] In addition, in some examples of the embodiments of the present application, the operation of the switch button group 240 is extended into the rotary joint 100 through the second movable shaft 500, so as to trigger a signal within the rotary joint 100, which can eliminate the wire harness constraint between the opening and closing joint 200 and the rotary joint 100, facilitating the wireless rotation of the opening and closing joint 200 relative to the rotary joint 100.

[0170] In some examples, a third detection sensor (not shown in the figure) may be provided within the rotary joint 100. The third detection sensor may be located on the side of the first gear 120 facing away from the opening and closing joint 200.

[0171] In some examples, the third detection sensor may be located on the side of the first gear 120 facing away from the opening and closing joint 200.

[0172] In some examples, the second movable shaft 500 may move between a first position and a second position under the drive of the switch button group 240 to control the signal output of the control input device 10.

[0173] For example, when in the first position, the second movable shaft 500 may cooperate with the third detection sensor to conduct the signal output of the control input device 10. At this time, the communication connection between the control input device 10 and the slave manipulator is conducted, and the signal output by the control input device 10 can be received by the slave manipulator and perform surgical operations.

[0174] In some examples, when in the second position, the second movable shaft 500 may cooperate with the third detection sensor to disconnect the signal output of the control input device 10. At this time, the communication connection between the control input device 10 and the slave manipulator can be disconnected, and the control input device 10 cannot output a control signal; or, the signal output by the control input device 10 cannot be received by the slave manipulator. The slave manipulator will not be controlled by the control input device 10, facilitating the doctor or operator to adjust the position of the opening and closing joint 200.

[0175] In some examples, the third detection sensor may include an opposed sensor. When in the first position, the second movable shaft 500 may block the signal transmission path of the opposed sensor.

[0176] In some examples, the third detection sensor may include a proximity sensor.

[0177] In some examples, the third detection sensor may include an inductive sensor.

[0178] In some examples, the third detection sensor may include a Hall sensor.

[0179] In some examples, the third detection sensor may be disposed on the PCB described in the foregoing embodiments of the present application. The third detection sensor may be located on the side of the PCB facing the opening and closing joint 200. The second detection sensor 141 and the electrical connection member 142 may be disposed on the side of the PCB facing away from the opening and closing joint 200.

[0180] In some examples, referring to Figure 2 as shown, the axial direction of the output shaft of the driving member 110 may intersect the axial direction of the opening and closing joint 200.

[0181] In some examples, the axial direction of the output shaft of the driving member 110 may be orthogonal to the axial direction of the opening and closing joint 200. For example, referring to Figure 2 as shown, the axial direction of the output shaft of the driving member 110 may be along Figure 2 the direction shown by the y-axis in Figure 2 The axial direction of the opening and closing joint 200 may be along

[0182] the direction shown by the x-axis in

[0183] In some examples, the first gear 120 may include a first bevel gear (in some examples, it may also be referred to as a first helical gear). The second gear 111 may include a second bevel gear (in some examples, it may also be referred to as a second helical gear). The first bevel gear and the second bevel gear may mesh with each other.

[0184] In some examples, the conical surfaces of the first bevel gear and the second bevel gear mesh with each other, so as to facilitate the steering of the output power of the driving member 110, facilitate the setting of the driving member 110 within the rotary joint 100, and make full use of the effective space within the rotary joint 100.

[0185] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended 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 recorded 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 embodiments of the present application.

Claims

1. A control input device, characterized in that, Including: A rotary joint (100) with a driving member (110) provided therein; An opening / closing joint (200) rotatably connected to the rotary joint (100) along the axial direction. The opening / closing joint (200) has an opening / closing seat (210), a first opening / closing clip (220), and a second opening / closing clip (230). Along the axis of the opening / closing seat (210), the first opening / closing clip (220) is located on one side of the opening / closing seat (210), and the second opening / closing clip (230) is symmetrically arranged on the other side of the opening / closing seat (210) relative to the axis of the opening / closing seat (210) and opposite to the first opening / closing clip (220); A first movable shaft (300) provided in the opening / closing joint (200) and extending into the rotary joint (100). The first movable shaft (300) is configured to be linked with the first opening / closing clip (220) and the second opening / closing clip (230) so as to determine the opening / closing angle of the first opening / closing clip (220) and the second opening / closing clip (230) according to the moving distance of the first movable shaft (300) along the axial direction; Wherein, the driving member (110) is in transmission connection with the opening / closing seat (210) to drive the opening / closing joint (200) to rotate integrally relative to the rotary joint (100).

2. The control input device according to claim 1, characterized in that, A first gear (120) is provided in the rotary joint (100). The first gear (120) is connected to the opening / closing seat (210) and is coaxial with the opening / closing joint (200). The first gear (120) is configured to drive the opening / closing seat (210) to rotate; One of a first detection sensor (131) and an induction element (132) is provided on the first gear (120), and the other of the first detection sensor (131) and the induction element (132) is provided on the rotary joint (100); The first detection sensor (131) is configured to cooperate with the induction element (132) to determine the rotation angle of the opening / closing joint (200) relative to the rotary joint (100).

3. The control input device according to claim 2, wherein The first detection sensor (131) includes an encoder stator, and the induction element (132) includes an encoder rotor.

4. The control input device according to claim 2 or 3, characterized in that, A shaft hole is provided on the first gear (120); A first connecting member (400) is sleeved on the outer periphery of the first movable shaft (300). The first connecting member (400) has a connecting shaft (410) and a flange (420). The flange (420) is located at one end of the connecting shaft (410) facing the opening / closing seat (210). The flange (420) is configured to be connected to the opening / closing seat (210). The connecting shaft (410) passes through the shaft hole, and along the circumferential direction of the first gear (120), the connecting shaft (410) is limited with the first gear (120); The first gear (120) drives the opening / closing seat (210) to rotate through the first connecting member (400).

5. The control input device according to claim 4, characterized in that, A second detection sensor (141) and an electrical connector (142) are provided inside the rotary joint (100), and the electrical connector (142) is electrically connected to the second detection sensor (141); the electrical connector (142) is located on a side of the first gear (120) facing away from the opening and closing joint (200); The first movable shaft (300) is a conductive member, the first movable shaft (300) extends to the electrical connector (142), and the electrical connector (142) is configured to be electrically connected to the first movable shaft (300); The opening and closing seat (210) is insulated from the flange (420).

6. The control input device according to claim 5, characterized in that, A second connector (211) is provided on a side of the opening and closing seat (210) facing the rotary joint (100), and the second connector (211) is configured to be connected to the flange (420); Wherein, the second connector (211) is an insulating member.

7. The control input device according to claim 2, characterized in that, The axial direction of the output shaft of the driving member (110) intersects the axial direction of the opening and closing joint (200), and a second gear (111) is provided on the output shaft of the driving member (110); The first gear (120) includes a first bevel gear, the second gear (111) includes a second bevel gear, and the first bevel gear meshes with the second bevel gear.

8. The control input device according to claim 2, wherein A first circuit board (130) is provided inside the rotary joint (100), the first detection sensor (131) is electrically connected to the first circuit board (130), and a data communication interface (133) is provided on the first circuit board (130); The rotary joint (100) is provided with a jack, and the jack is matched with the data communication interface (133); the jack is configured to insert a data line to read data information on the first circuit board through the data communication interface (133); A plugging block (134) is inserted into the jack.

9. A doctor's console, characterized in that, Comprising: The control input device (10) according to any one of claims 1-8; A support member, connected to the rotary joint (100) of the control input device (10), and the support member is configured to be grounded.

10. A surgical robot, characterized in that, Comprising: The doctor console according to claim 9; A slave manipulator, configured to connect an end effector, and the slave manipulator manipulates the end effector according to a control signal of the doctor console.

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