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, a first detection sensor and an electric connecting piece, and the electric connecting piece is electrically connected with the first detection sensor; the first movable shaft is movably connected to the rotating joint, the first movable shaft is arranged in the electric connector in a penetrating mode, and the electric connector provides balanced acting force for the first movable shaft along the two sides of the axis of the first movable shaft so as to keep the first movable shaft to be electrically connected with the electric connector; and the opening and closing joint is connected to the rotating joint in an insulating manner and is configured to integrally rotate under the driving of the rotating joint, and the opening and closing joint is electrically connected with the first movable shaft. According to the control input device, the doctor console and the surgical robot provided by the invention, the stability of electric connection between the electric connecting piece and the first movable shaft can be improved, and the accuracy of a detection result of whether a hand is in place or not is improved.

Description

Technical Field

[0001] This application relates to the technical field of mechanical equipment, and particularly 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 more and more 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 of 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 manipulator arm. The operation signals of the doctor collected by the master control arm are processed by the control system to generate control signals for the slave manipulator arm, and the slave manipulator arm performs surgical operations. 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. To improve the safety of using minimally invasive surgical robots, it is necessary to detect whether the doctor's hand is in place to confirm whether the operations input by the control input device are effective.

[0003] In related technologies, for example, Chinese Patent CN114442179A discloses a capacitive sensing for the presence of a hand in a control input device. An electrical connection is provided between a rotating shaft and a capacitive sensor through a rotating electrical connector. The rotating electrical connector includes two contacts, and the two contacts are biased by a spring to maintain contact with both sides of the shaft, thereby maintaining the electrical connection between the contacts and the shaft, and the shaft and the holding member are set as conductors to detect whether the hand is in place.

[0004] However, in related technologies, the contact between the contact and the shaft is prone to separation, resulting in low accuracy of the detection result of whether the hand is in place. Utility Model Content

[0005] Embodiments of this application provide a control input device, a doctor console, and a surgical robot, which can improve the stability of the electrical connection between the electrical connector and the first moving shaft and improve the accuracy of the detection result of whether the hand is in place.

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

[0007] A rotary joint, provided with a first detection sensor and an electrical connector, and the electrical connector is electrically connected to the first detection sensor;

[0008] The first movable shaft is movably connected to the rotary joint. The electric connection of the first movable shaft is passed through the electric connector, and the electric connector provides mutually balanced acting forces on both sides of the first movable shaft along the axis of the first movable shaft to maintain the electrical connection between the first movable shaft and the electric connector;

[0009] The opening and closing joint is insulated and connected to the rotary joint and is configured to rotate integrally under the drive of the rotary joint. The opening and closing joint is electrically connected to the first movable shaft.

[0010] In one implementation, the electric connector includes:

[0011] The first elastic piece abuts against the peripheral wall on one side of the first movable shaft along the axis of the first movable shaft;

[0012] The second elastic piece abuts against the peripheral wall on the other side of the first movable shaft along the axis of the first movable shaft. The second elastic piece is symmetric with the first elastic piece with respect to the axis of the first movable shaft, so that the first elastic piece and the second elastic piece provide mutually balanced acting forces on the first movable shaft.

[0013] In one implementation, the first elastic piece has a first arc segment that holds the peripheral wall on one side of the first movable shaft;

[0014] The second elastic piece has a second arc segment that holds the peripheral wall on the other side of the first movable shaft. The second arc segment is symmetrically arranged with the first arc segment;

[0015] Wherein, the first elastic piece and the second elastic piece are integrally formed parts.

[0016] In one implementation, the first elastic piece has a first opening segment that is connected to the first arc segment;

[0017] The second elastic piece has a second opening segment that is connected to the second arc segment;

[0018] An opening is formed between the first opening segment and the second opening segment. The distance between the ends of the first arc segment and the second arc segment is smaller than the diameter of the first movable shaft. Along the radial direction of the first movable shaft and towards the direction of the first movable shaft, the opening is in a necked shape.

[0019] In one implementation, along the axial direction of the first movable shaft, the widths of the first elastic piece and the second elastic piece are greater than the arc length of any one of the first arc segment and the second arc segment.

[0020] In one implementation, the opening and closing joint includes:

[0021] The first opening and closing clip is movably connected to one side of the first movable shaft along the axis of the first movable shaft;

[0022] The second clamping clip is symmetrically connected to the other side of the first movable shaft along the axis of the first movable shaft with respect to the first clamping clip; so that when the first clamping clip and the second clamping clip drive the first movable shaft to move relative to the electrical connection member along the axis of the first movable shaft, the component forces received by the first movable shaft in the radial direction are offset from each other;

[0023] Wherein, the first clamping clip and the second clamping clip are electrically connected to the first movable shaft.

[0024] In one implementation, the opening and closing joint further includes:

[0025] The first connecting rod, one end of which is hinged to the first clamping clip at the first hinge point, and the other end of which is hinged to the first movable shaft at the second hinge point;

[0026] The second connecting rod, one end of which is hinged to the second clamping clip at the third hinge point, and the other end of which is hinged to the first movable shaft at the fourth hinge point;

[0027] The first hinge point and the third hinge point are symmetric with respect to the axis of the first movable shaft, and the second hinge point and the fourth hinge point are symmetric with respect to the axis of the first movable shaft.

[0028] In one implementation, the opening and closing joint further includes:

[0029] The opening and closing connecting member is disposed at one end of the first movable shaft facing away from the rotating joint. The second hinge point and the fourth hinge point are disposed on the opening and closing connecting member, and along the axis of the first movable shaft, the second hinge point is located on one side of the opening and closing connecting member, and the fourth hinge point is disposed opposite to the second hinge point on the other side of the opening and closing connecting member.

[0030] In one implementation, the opening and closing joint further includes:

[0031] The opening and closing seat is rotatably connected to the rotating joint; one end of the first movable shaft facing away from the rotating joint passes through the opening and closing seat;

[0032] The first clamping clip has a first end, the first end is hinged to the opening and closing seat, and the first end has a first gear;

[0033] The second clamping clip has a second end, the second end is hinged to the opening and closing seat, and the second end has a second gear;

[0034] The first gear meshes with the second gear, and the first clamping clip and the second clamping clip synchronously drive the first movable shaft to move axially, so that the component forces of the driving forces provided by the first clamping clip and the second clamping clip on the first movable shaft in the radial direction of the first movable shaft cancel each other out.

[0035] In one implementation, the control input device further includes:

[0036] An insulating connector is connected to the opening and closing seat, and the insulating connector is connected to the rotating shaft provided on the rotating joint, so that the opening and closing joint is rotatably and insulatedly connected to the rotating joint.

[0037] In one implementation, the opening and closing joint further includes:

[0038] A reset member, the reset member is coupled to the first movable shaft, and the reset member is configured to provide a reset acting force to the first movable shaft along the axial direction of the first movable shaft, so as to reset the first opening and closing clip and the second opening and closing clip.

[0039] In one implementation, the reset member includes an elastic member, the elastic member is connected to the first movable shaft along the axial direction of the first movable shaft, and the elastic member provides a reset acting force to the first movable shaft along the axial direction of the first movable shaft.

[0040] In one implementation, the elastic member is a compression spring, and the compression spring is sleeved on one end of the first movable shaft facing away from the rotating joint; when the first movable shaft moves axially relative to the electrical connector away from the rotating joint, the compression spring is compressed, so that the compression spring provides an axial reset acting force to the first movable shaft.

[0041] On the other hand, an embodiment of the present application provides a doctor's console, including:

[0042] The control input device provided in the foregoing embodiment of the present application;

[0043] A support member, which is connected to the rotating joint of the control input device, and the support member is configured to be grounded.

[0044] On yet another aspect, an embodiment of the present application provides a surgical robot, including:

[0045] The doctor's console provided in the foregoing embodiment of the present application;

[0046] A slave manipulator, the slave manipulator is configured to connect an end effector, and the slave manipulator manipulates the end effector according to a control signal of the doctor's console.

[0047] The control input device, doctor console, and surgical robot provided by the embodiments of the present application are configured such that a first detection sensor and an electrical connector are disposed on a rotary joint, and the electrical connector is electrically connected to the first detection sensor. A first movable shaft is movably connected to the rotary joint, and the first movable shaft is electrically connected to the electrical connector. In this way, an electrical connection relationship between the first movable shaft and the electrical connector can be established. The electrical connector provides mutually balanced acting forces on both sides of the first movable shaft along the axis of the first movable shaft. Thus, during the movement of the first movable shaft relative to the rotary joint (e.g., moving along the axial direction of the first movable shaft or rotating relative to the rotary joint), due to the mutually balanced acting forces provided by the electrical connector on both sides of the first movable shaft along the axial direction of the first movable shaft, the force on the first movable shaft in the radial direction is balanced, ensuring that the first movable shaft can move smoothly relative to the electrical connector (e.g., moving axially or rotating), reducing or avoiding swinging or torsion of the first movable shaft in the radial direction, and thereby improving the stability of the electrical connection between the first movable shaft and the electrical connector. The opening and closing joint is rotatably connected to the rotary joint, the opening and closing joint is electrically connected to the first movable shaft, and the opening and closing joint is insulated from the rotary joint. Thus, when the hand of the operator contacts the opening and closing joint, the potential on the opening and closing joint changes, and the changed potential is detected by the first detection sensor electrically connected to the first movable shaft, thereby determining that the hand of the operator is in place. Compared with the related art, the control input device, doctor console, and surgical robot provided by the embodiments of the present application improve the stability of the electrical connection between the electrical connector and the first movable shaft, and therefore can improve the accuracy of the detection result of whether the hand is in place. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the following will briefly introduce the drawings required for use in the description of the embodiments or the related art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0049] Figure 1 is a schematic diagram of the overall structure of a control input device according to some embodiments of the present application;

[0050] Figure 2 is a schematic diagram of the structure of the control input device removing the rotary joint cover according to some embodiments of the present application;

[0051] Figure 3 is Figure 2 a partial enlarged structural schematic diagram at A in

[0052] Figure 4 is a schematic diagram of the structure 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 according to some embodiments of the present application;

[0053] Figure 5 is a cross-sectional view of a control input device for controlling an opening / closing joint according to an embodiment of the present application;

[0054] Figure 6 is Figure 4 a partial enlarged structural schematic diagram at position B in

[0055] Description of reference numerals:

[0056] 10 - control input device;

[0057] 100 - rotating joint; 200 - first movable shaft; 300 - opening / closing joint; 400 - insulating connecting member;

[0058] 110 - joint seat; 120 - rotating joint cover; 130 - circuit board; 310 - first opening / closing clamp; 320 - second opening / closing clamp; 330 - first connecting rod; 340 - second connecting rod; 350 - opening / closing connecting member; 360 - opening / closing seat; 370 - reset member;

[0059] 131 - first detection sensor; 132 - electrical connecting member; 133 - avoidance notch; 311 - first hinge point; 312 - first gear; 321 - third hinge point; 322 - second gear; 331 - second hinge point; 341 - fourth hinge point;

[0060] 1321 - first elastic piece; 1322 - second elastic piece; 1323 - opening;

[0061] 1321a - first arc segment; 1321b - first opening segment; 1322b - second opening segment. Detailed implementation manners

[0062] Next, the technical solutions in the embodiments of the present application will be described with reference to the accompanying drawings in the embodiments of the present application.

[0063] 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 limiting, 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 misleading the key points of the present application by the public.

[0064] 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.

[0065] The terms used hereinafter are for the purpose of describing particular 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 shown in the drawings to another element or feature. It should be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the drawings. For example, if the device in the drawing is turned over, an element described as "below" other elements or features will then be "above" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation above and below. The device may be otherwise oriented (e.g., rotated 90° or in other orientations), and the spatially relative descriptive terms used herein are to be interpreted accordingly.

[0066] As used herein, "a plurality of", "a" in the singular form, and "the" are also intended to include the plural form unless the context indicates otherwise. 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.

[0067] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "portion", "part", and "piece" may be used interchangeably.

[0068] 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 can 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), 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 blade 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 can provide one-way or two-way information communication between the instrument and one or more system components.

[0069] The term "cooperate" can be broadly understood as any situation in which two or more objects are connected in such a way that the cooperating objects operate in conjunction with each other. It should be noted that cooperation does not require direct connection (e.g., direct physical or electrical connection), but rather many objects or components can be used to cooperate two or more objects. For example, object A and B can be cooperated by using object C. Additionally, the term "detachably coupled" or "detachably cooperate" can be interpreted to mean a non-permanent coupling or cooperation 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.

[0070] Finally, the terms "or" and "and / or" as used herein shall 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.

[0071] Overview of the master-slave teleoperated laparoscopic surgical robot

[0072] 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. Both 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.

[0073] 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 with 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 "centroid point".

[0074] An image platform typically includes a device with video image capture capabilities (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 optics for transmitting 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 of the image platform. Subsequently, through image processing, the processed images are displayed on the video display for the assistant to observe.

[0075] The doctor control platform can be at a single location in the 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.

[0076] 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 location far from the patient, inside or outside the room where the patient is located, or even in a different city. Then the input signals of the input device are transmitted to the control system. Those familiar with remote manipulation, teleoperation, and telepresence surgical operations will understand such a system and its components.

[0077] In some examples of the embodiments of the present application, a surgical robot is provided. The surgical robot may include a doctor console. The doctor can operate at the doctor console.

[0078] In some examples, the surgical robot may include a slave manipulator arm. The slave manipulator arm can be connected to the end effector.

[0079] In some examples, the end effector may be referred to as the end instrument. The end instrument may include forceps, needle holders, scissors, bipolar cautery devices, tissue stabilizers or retractors, clip appliers, anastomosis devices, imaging devices (such as endoscopes or ultrasonic probes), etc.

[0080] 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 can also be other types of surgical instruments, and the embodiments of the present application will not list them one by one.

[0081] 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.

[0082] In some examples, the slave manipulator can be communicatively connected to the doctor's console.

[0083] In some examples, the slave manipulator can be communicatively connected to the doctor's console by means of wired communication.

[0084] 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 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.

[0085] 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, so as to implement various surgical operations.

[0086] Figure 1 It is a schematic diagram of the overall structure of the control input device provided according to some embodiments of the present application.

[0087] In some examples, referring to Figure 1 As shown, for the convenience of the doctor to operate on the doctor's console. The doctor's console can include a control input device 10. The doctor or operator can input control instructions through the control input device 10, and the doctor control platform can send the control instructions input by the doctor to the slave manipulator, so that the slave manipulator performs corresponding operations.

[0088] 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.

[0089] In some examples, the support member can be supported on the ground.

[0090] In some examples, referring to Figure 1 As shown, the control input device can include a rotary joint 100. The rotary joint 100 can be disposed on the support member.

[0091] In some examples, the rotary joint 100 can be grounded through the support member.

[0092] In some examples, the control input device 10 can include an opening and closing joint 300. The opening and closing joint 300 can be rotatably connected to the rotary joint 100.

[0093] In some examples, the control input device 10 may include a main control arm. The main control arm is used to engage the rotary joint 100 and the opening / closing joint 300.

[0094] In some examples, a doctor or an operator may operate the opening / closing joint 300, and the control input device 10 detects the actions of the opening / closing joint 300, 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 / closing signal, a rotation signal, and an overall displacement.

[0095] In some examples, to ensure the safety of using the surgical robot, it is necessary to detect whether a doctor or an operator is operating the control input device 10. For example, it is detected whether the hand of the doctor or the operator is in contact with the opening / closing joint 300. When the hand of the doctor or the operator is not in contact with the opening / closing joint 300, the doctor console is prohibited from manipulating the slave manipulator, thereby improving the safety of using the surgical robot.

[0096] Figure 2 is a schematic structural diagram of the control input device removing the rotary joint cover according to some embodiments of the present application. Figure 3 is Figure 2 a partial enlarged structural diagram at A in

[0097] In some examples, the rotary joint 100 may include a joint seat 110. The joint seat 110 may be connected to a support member.

[0098] In some examples, the rotary joint 100 may include a rotary joint cover 120. The rotary joint cover 120 may be disposed at the opening 1323 of the joint seat 110. The rotary joint cover 120 can protect the components inside the joint seat 110.

[0099] In some examples, referring to Figure 2 and Figure 3 as shown, a first detection sensor 131 may be provided inside the rotary joint 100.

[0100] In some examples, referring to Figure 2 and Figure 3 as shown, a circuit board 130 may be provided inside the rotary joint 100. The circuit board 130 may be fixed inside the rotary joint 100.

[0101] In some examples, the circuit board 130 may be an integrated circuit board 130 or a printed circuit board 130 (Printed Circuit Board, abbreviated as PCB).

[0102] In some examples, the first detection sensor 131 may be disposed on the circuit board 130.

[0103] In some examples, the first detection sensor 131 may include a capacitive touch sensor.

[0104] In some examples, the first detection sensor 131 may include a resistive touch sensor.

[0105] In some examples, the first detection sensor 131 may include a pressure touch sensor.

[0106] In some examples, the first detection sensor 131 may include a surface acoustic wave touch sensor.

[0107] In some examples, the first detection sensor 131 may be electrically connected to a circuit on the circuit board 130.

[0108] In some examples, an electrical connector 132 may be provided inside the rotary joint 100. The electrical connector 132 may be electrically connected to the first detection sensor 131.

[0109] In some examples, the electrical connector 132 may be provided on the circuit board 130. The electrical connector 132 may be electrically connected to a circuit on the circuit board 130. The electrical connector 132 may be electrically connected to the first detection sensor 131 through a circuit on the circuit board 130.

[0110] In some examples, the control input device 10 may include a first movable shaft 200. The first movable shaft 200 may be movably connected to the rotary joint 100.

[0111] In some examples, one end of the first movable shaft 200 may be movably connected to the rotary joint 100. The other end of the first movable shaft 200 may extend to the opening / closing joint 300 and be connected to the opening / closing joint 300.

[0112] In some examples, the first movable shaft 200 may be electrically connected to the electrical connector 132. For example, the electrical connector 132 may abut against the peripheral wall of the first movable shaft 200, thereby realizing the electrical connection between the first movable shaft 200 and the electrical connector 132.

[0113] In some examples, the opening / closing joint 300 may be electrically connected to the first movable shaft 200.

[0114] In some examples, referring to Figure 1 As shown, the opening / closing joint 300 may include a first opening / closing clip 310. The doctor may operate the first opening / closing clip 310 to send a control signal.

[0115] In some examples, referring to Figure 1 As shown, the opening / closing joint 300 may include a second opening / closing clip 320. The doctor may operate the second opening / closing clip 320 to send a control signal.

[0116] In some examples, the doctor can operate the first opening and closing clip 310 and the second opening and closing clip 320 simultaneously, thereby sending a control signal.

[0117] In some examples, the doctor can operate at any position of the opening and closing joint 300, thereby sending a control signal.

[0118] It can be understood that in some examples, when the doctor operates the doctor console, the doctor's hand mainly contacts the opening and closing joint 300. Therefore, in some examples of the embodiments of the present application, the first movable shaft 200 can be electrically connected to the opening and closing joint 300 through the first opening and closing clip 310 and / or the second opening and closing clip 320, so as to detect whether the doctor's hand contacts the opening and closing joint 300 through the first movable shaft 200.

[0119] In some examples, the first movable shaft 200 can be made of a conductive material. For example, the first movable shaft 200 can be made of a metal material. Or, in some examples, to improve the conductivity of the first movable shaft 200, surface treatment processes such as anodic oxidation or micro-arc oxidation can be used to treat the first movable shaft 200. Or, in some examples, a conductive layer can be coated, sprayed, or pasted on the surface of the first movable shaft 200.

[0120] In some examples, the first opening and closing clip 310 and the second opening and closing clip 320 can be made of a conductive material. Or, the materials used to make the first opening and closing clip 310 and the second opening and closing clip 320 can be the same as, similar to, or close to those of the first movable shaft 200. This is not elaborated in the embodiments of the present application.

[0121] In some examples, the finger rests on the first opening and closing clip 310 and the second opening and closing clip 320 can be made of conductive rubber.

[0122] In some examples, taking the first detection sensor 131 including a capacitive sensor as an example, when the hand of the doctor or operator contacts at least one of the first opening and closing clip 310 and the second opening and closing clip 320, the potential on the first opening and closing clip 310 and the second opening and closing clip 320 changes, so that the first detection sensor 131 can detect the potential change on the first opening and closing clip 310 and the second opening and closing clip 320 through the electrical connection member 132 and the first movable shaft 200, thereby determining that the doctor's hand is in place.

[0123] In some examples, to facilitate the movement of the first opening and closing clip 310 and the second opening and closing clip 320, when the first opening and closing clip 310 and the second opening and closing clip 320 make an opening and closing movement under the operation of the doctor, they can drive the first movable shaft 200 to move axially relative to the electrical connection member 132.

[0124] In some examples, when the opening and closing joint 300 rotates relative to the rotating joint 100, the first opening and closing clamp 310 and the second opening and closing clamp 320 can drive the first movable shaft 200 to rotate relative to the electrical connector 132.

[0125] In some examples, to improve the stability of the movement of the first movable shaft 200 and the stability of the electrical connection between the first movable shaft 200 and the electrical connector 132, the electrical connector 132 can provide forces to the first movable shaft 200 on both sides of the axis of the first movable shaft 200.

[0126] In some examples, the forces provided by the electrical connector 132 to the first movable shaft 200 on both sides of the axis of the first movable shaft 200 can be balanced, so that the force on the first movable shaft 200 in the radial direction is balanced. When the first movable shaft 200 moves, it only receives the axial forces from the first opening and closing clamp 310 and the second opening and closing clamp 320, thereby avoiding the torsion of the first movable shaft 200 in the radial direction, improving the stability of the movement of the first movable shaft 200, and thus improving the stability of the electrical connection between the first movable shaft 200 and the electrical connector 132.

[0127] In some examples, to ensure the effectiveness of the hand-in-place detection by the first detection sensor 131. Or, to ensure that the potential changes on the first opening and closing clamp 310 and the second opening and closing clamp 320 can be detected by the first detection sensor 131. It is necessary to ensure that the opening and closing joint 300 is not grounded.

[0128] In some examples of the embodiments of the present application, the opening and closing joint 300 can be insulatively connected to the rotating joint 100.

[0129] According to some examples provided by embodiments of the present application, the control input device 10 is provided. By disposing a first detection sensor 131 and an electrical connector 132 on the rotary joint 100, the electrical connector 132 is electrically connected to the first detection sensor 131; the first movable shaft 200 is movably connected to the rotary joint 100, and the first movable shaft 200 is electrically connected to the electrical connector 132; in this way, an electrical connection relationship between the first movable shaft 200 and the electrical connector 132 can be established; the electrical connector 132 provides mutually balanced acting forces on both sides of the first movable shaft 200 along the axis of the first movable shaft 200; in this way, during the process of the first movable shaft 200 moving relative to the rotary joint 100 (for example, moving axially along the first movable shaft 200 or rotating relative to the rotary joint 100), since the electrical connector 132 provides mutually balanced acting forces on both sides of the first movable shaft 200 along the axial direction of the first movable shaft 200, the force on the first movable shaft 200 in the radial direction is balanced, which can ensure the stable movement of the first movable shaft 200 relative to the electrical connector 132 (for example, moving axially or rotating), and can reduce or avoid the swing or torsion of the first movable shaft 200 in the radial direction, thereby being able to improve the stability of the electrical connection between the first movable shaft 200 and the electrical connector 132; the opening and closing joint 300 is rotatably connected to the rotary joint 100, the opening and closing joint 300 is electrically connected to the first movable shaft 200, and the opening and closing joint 300 is insulated from the rotary joint 100; in this way, when the hand of the operating object contacts the opening and closing joint 300, the potential on the opening and closing joint 300 changes, and the changed potential is detected by the first detection sensor 131 electrically connected to the first movable shaft 200, thereby determining that the hand of the operator is in place. Compared with the related art, the control input device 10 provided by the embodiments of the present application improves the stability of the electrical connection between the electrical connector 132 and the first movable shaft 200. Therefore, the accuracy of the detection result of whether the hand is in place can be improved.

[0130] In some examples, with reference to Figure 3 as shown, the electrical connector 132 may include a first elastic piece 1321.

[0131] In some examples, the electrical connector 132 may be a sheet metal part. One end of the sheet metal part may be bent to form the first elastic piece 1321.

[0132] In some examples, the first elastic piece 1321 may abut against the peripheral wall on one side of the first movable shaft 200 along the axis of the first movable shaft 200.

[0133] In some examples, the electrical connector 132 may include a second elastic piece 1322.

[0134] In some examples, the second elastic piece 1322 may be formed by bending the other end of the sheet metal part. That is to say, the second elastic piece 1322 and the first elastic piece 1321 may be an integrally formed part.

[0135] In some examples, the second elastic piece 1322 can abut against the circumferential wall on the other side of the first movable shaft 200 along the axis of the first movable shaft 200.

[0136] In some examples, the first elastic piece 1321 and the second elastic piece 1322 can be symmetrically arranged with respect to the axis of the first movable shaft 200. In this way, the first elastic piece 1321 and the second elastic piece 1322 can provide balanced forces to the first movable shaft 200.

[0137] In some examples, the distance between the first elastic piece 1321 and the second elastic piece 1322 can be slightly smaller than the diameter of the first movable shaft 200. In this way, when the first movable shaft 200 is arranged between the first elastic piece 1321 and the second elastic piece 1322, the first elastic piece 1321 and the second elastic piece 1322 can have a clamping force on the first movable shaft 200 along the radial direction of the first movable shaft 200. Since the first elastic piece 1321 and the second elastic piece 1322 are symmetrically arranged with respect to the axis of the first movable shaft 200, the radial forces of the first elastic piece 1321 and the second elastic piece 1322 on the first movable shaft 200 are balanced with each other.

[0138] In this way, when the first movable shaft 200 moves between the first elastic piece 1321 and the second elastic piece 1322, due to the balanced forces provided by the first elastic piece 1321 and the second elastic piece 1322 to the first movable shaft 200, the first movable shaft 200 can move stably and maintain a stable electrical connection with the first elastic piece 1321 and the second elastic piece 1322, and the situation that the first movable shaft 200 is separated from the first elastic piece 1321 and the second elastic piece 1322 can be avoided, which can improve the accuracy of detecting the presence of the opponent.

[0139] In some examples, referring to Figure 3 As shown, the first elastic piece 1321 can have a first arc segment 1321a. The first arc segment 1321a can hold the circumferential wall on one side of the first movable shaft 200.

[0140] In some examples, the first arc segment 1321a can be in contact with the circumferential wall of the first movable shaft 200. That is to say, the radius of the first arc segment 1321a can be the same as, close to or approximate to the radius of the first movable shaft 200. Thus, the first arc segment 1321a can be better in contact with the circumferential wall of the first movable shaft 200.

[0141] In some examples, the second elastic piece 1322 can have a second arc segment (not labeled in the figure). The second arc segment can hold the circumferential wall on the other side of the first movable shaft 200.

[0142] In some examples, the second arc segment can be arranged in the same, similar or analogous manner as the first arc segment 1321a. For details, reference can be made to the detailed description of the first arc segment 1321a in the foregoing embodiments of the present application, and the embodiments of the present application will not repeat it here.

[0143] In some examples, the second arc segment and the first arc segment 1321a can be symmetric with respect to the axis of the first movable shaft 200.

[0144] In some examples, the second arc segment and the first arc segment 1321a can be axially symmetric with respect to the axis of the first movable shaft 200.

[0145] In some examples of the embodiments of the present application, by providing the first arc segment 1321a on the first elastic piece 1321, the first arc segment 1321a holds the circumferential wall on one side of the first movable shaft 200; in this way, on the circumferential wall of the first movable shaft 200, the first arc segment 1321a can be in contact with the first movable shaft 200 as a whole, increasing the contact area between the first elastic piece 1321 and the first movable shaft 200, and improving the stability of the electrical connection between the first movable shaft 200 and the first elastic piece 1321. By providing the second arc segment on the second elastic piece 1322, the second arc segment holds the circumferential wall on the other side of the second movable shaft; in this way, on the circumferential wall of the first movable shaft 200, the second arc segment can be in contact with the first movable shaft 200 as a whole, increasing the contact area between the second elastic piece 1322 and the first movable shaft 200, and improving the stability of the electrical connection between the first movable shaft 200 and the second elastic piece 1322.

[0146] In addition, the first arc segment 1321a and the second arc segment are symmetric with respect to the axis of the first movable shaft 200; in this way, it can be ensured that the acting forces of the first elastic piece 1321 and the second elastic piece 1322 on the first movable shaft 200 in the radial direction are balanced with each other, avoiding the radial torsion of the first movable shaft 200 during movement, thus improving the stability of the electrical connection between the first movable shaft 200 and the first elastic piece 1321 and the second elastic piece 1322, and improving the accuracy of the in-place detection of the opponent.

[0147] In some examples, continue to refer to Figure 3 As shown, the first elastic piece 1321 can have a first opening segment. The first opening segment can be connected to the first arc segment 1321a.

[0148] In some examples, the first opening segment can be connected to the end of the first arc segment 1321a.

[0149] In some examples, the end of the first opening segment can be inclined in a direction away from the second arc segment.

[0150] In some examples, the second elastic piece 1322 can have a second opening segment. The second opening segment can be connected to the second arc segment.

[0151] In some examples, the second opening segment may be connected to the end of the second arc segment.

[0152] In some examples, the end of the second opening segment may be inclined in a direction away from the first arc segment 1321a.

[0153] In some examples, an opening 1323 is formed between the first opening segment and the second opening segment. The distance between the first arc segment 1321a and the end of the second arc segment may be less than the diameter of the first movable shaft 200.

[0154] In some examples, along the radial direction of the first movable shaft 200 towards the first movable shaft 200, the opening 1323 may be constricted. In this way, when installing the first movable shaft 200 between the first arc segment 1321a and the second arc segment, the first movable shaft 200 can be placed in the opening 1323, and the first movable shaft 200 is squeezed or pressed along the constricted direction of the opening 1323. The peripheral wall of the first movable shaft 200 exerts a force on the first opening segment and the second opening segment in a direction away from the first movable shaft 200, so that the first elastic piece 1321 and the second elastic piece 1322 are separated from each other, and the first movable shaft 200 enters between the first arc segment 1321a and the second arc segment.

[0155] In some examples, after the first movable shaft 200 enters between the first arc segment 1321a and the second arc segment, the first elastic piece 1321 and the second elastic piece 1322 are clamped on the peripheral wall of the first movable shaft 200 under the action of the elastic restoring force, so as to form a stable electrical connection with the first movable shaft 200.

[0156] In some examples of the embodiments of the present application, by providing a first opening segment on the first elastic piece 1321, the first opening segment is connected to the first arc segment 1321a, and a second opening segment is provided on the second elastic piece 1322, the second opening segment is connected to the second arc segment; an opening 1323 is formed between the first opening segment and the second opening segment, and the opening 1323 is constricted. In this way, it is convenient to install the first movable shaft 200 from the constricted opening 1323 between the first arc segment 1321a and the second arc segment, and the installation and assembly efficiency between the first movable shaft 200 and the first elastic piece 1321 and the second elastic piece 1322 is improved.

[0157] In some examples, referring to Figure 3 As shown, an avoidance notch 133 may be provided on the circuit board 130. The first elastic piece 1321 and the second elastic piece 1322 may be provided at the avoidance notch 133. The first movable shaft 200 may pass through the avoidance notch 133. In this way, it is convenient for the first movable member to be electrically connected to the electrical connector 132.

[0158] In some examples, continue to refer to Figure 3As described above, along the axial direction of the first movable shaft 200, the first elastic piece 1321 may have a first width.

[0159] In some examples, the first width may be greater than the arc length of the first arc segment 1321a. Thus, along the axial direction of the first movable shaft 200, the length of contact between the first elastic piece 1321 and the first movable shaft 200 may be greater than the circumferential contact length along the first movable shaft 200. When the first movable shaft 200 twists radially, the longer contact length between the first movable shaft 200 and the first elastic piece 1321 in the axial direction enables the first elastic piece 1321 to limit the position of the first movable shaft 200. Even if the first movable shaft 200 twists radially, the contact between the first movable shaft 200 and the first elastic piece 1321 can be maintained, and the separation between the first movable shaft 200 and the first elastic piece 1321 can be avoided, improving the stability of the electrical connection between the first movable shaft 200 and the first elastic piece 1321.

[0160] In some examples, along the axial direction of the first movable shaft 200, the second elastic piece 1322 may have a second width.

[0161] In some examples, the second width may be greater than the arc length of the second arc segment. Thus, along the axial direction of the first movable shaft 200, the length of contact between the second elastic piece 1322 and the first movable shaft 200 may be greater than the circumferential contact length along the first movable shaft 200. When the first movable shaft 200 twists radially, the longer contact length between the first movable shaft 200 and the second elastic piece 1322 in the axial direction enables the second elastic piece 1322 to limit the position of the first movable shaft 200. Even if the first movable shaft 200 twists radially, the contact between the first movable shaft 200 and the second elastic piece 1322 can be maintained, and the separation between the first movable shaft 200 and the second elastic piece 1322 can be avoided, improving the stability of the electrical connection between the first movable shaft 200 and the second elastic piece 1322.

[0162] In some examples of the embodiments of the present application, the first width of the first elastic piece 1321 along the axial direction of the first movable shaft 200 is set to be greater than the length of the first arc segment 1321a, and the second width of the second elastic piece 1322 along the axial direction of the first movable shaft 200 is set to be greater than the length of the second arc segment; thus, the contact lengths between the first elastic piece 1321 and the second elastic piece 1322 and the first movable shaft 200 in the axial direction of the first movable shaft 200 are increased, enabling the first elastic piece 1321 and the second elastic piece 1322 to limit the radial twist of the first movable shaft 200, improving the stability of the movement of the first movable shaft 200, thereby improving the stability of the electrical connection between the first movable shaft 200 and the rotating connector, and improving the accuracy of the in-position detection of the hand.

[0163] Figure 4It is a schematic structural diagram of the cooperation of the first opening and closing clip, the second opening and closing clip and the first movable shaft in the control input device according to some embodiments of the present application.

[0164] In some examples, the opening and closing joint 300 may include a first opening and closing clip 310. The first opening and closing clip 310 may be movably connected to one side of the first movable shaft 200 along the axis of the first movable shaft 200.

[0165] In some examples, the first opening and closing clip 310 may rotate relative to the first movable shaft 200.

[0166] In some examples, during the rotation of the first opening and closing clip 310 relative to the first movable shaft 200, the first opening and closing clip 310 may drive the first movable shaft 200 to move axially.

[0167] In some examples, the first opening and closing clip 310 may be electrically connected to the first movable shaft 200. The first opening and closing clip 310 may be a conductive member.

[0168] In some examples, the opening and closing joint 300 may include a second opening and closing clip 320. The second opening and closing clip 320 may be movably connected to the other side of the first movable shaft 200 along the axis of the first movable shaft 200.

[0169] In some examples, the second opening and closing clip 320 may rotate relative to the first movable shaft 200.

[0170] In some examples, during the rotation of the second opening and closing clip 320 relative to the first movable shaft 200, the second opening and closing clip 320 may drive the first movable shaft 200 to move axially.

[0171] In some examples, the second opening and closing clip 320 may be electrically connected to the first movable shaft 200. The second opening and closing clip 320 may be a conductive member.

[0172] In some examples, referring to Figure 4 As shown, the first opening and closing clip 310 and the second opening and closing clip 320 may be oppositely arranged.

[0173] In some examples, the driving forces provided by the first opening and closing clip 310 and the second opening and closing clip 320 to the first movable shaft 200 may have a component force along the radial direction of the first movable shaft 200.

[0174] In some examples, the component forces of the driving forces provided by the first clamping clip 310 and the second clamping clip 320 on the first movable shaft 200 in the radial direction of the first movable shaft 200 are balanced with each other. In this way, when a doctor or an operator operates the first clamping clip 310 and the second clamping clip 320, the first clamping clip 310 and the second clamping clip 320 drive the first movable shaft 200 to move axially. Since the acting forces of the first clamping clip 310 and the second clamping clip 320 on the first movable shaft 200 in the radial direction are balanced with each other, the force on the first movable shaft 200 in the radial direction is balanced, and the first movable shaft 200 will not be subjected to a radial acting force when moving axially, that is, no radial torsion will occur, so that the stability of the electrical connection between the first movable shaft 200 and the first elastic piece 1321 and the second elastic piece 1322 can be ensured, that is, the accuracy of the in-position detection of the hand can be improved.

[0175] In some examples, continuing to refer to Figure 4 as shown, the opening and closing joint 300 may include a first connecting rod 330. The first connecting rod 330 may be connected between the first clamping clip 310 and the first movable shaft 200.

[0176] In some examples, one end of the first connecting rod 330 may be hinged to the first clamping clip 310 at a first hinge point 311.

[0177] In some examples, the first hinge point 311 may be located in the middle of the first clamping clip 310.

[0178] In some examples, the first hinge point 311 may be located at one end of the middle of the first clamping clip 310 close to the operation of the doctor.

[0179] In some examples, the other end of the first connecting rod 330 may be hinged to the first movable shaft 200 at a second hinge point 331.

[0180] In some examples, the second hinge point 331 may be located on the side of the first hinge point 311 facing the rotary joint 100. During the closing process of the first clamping clip 310 and the second clamping clip 320, the first clamping clip 310 and the second clamping clip 320 may drive the first movable shaft 200 to move toward the rotary joint 100.

[0181] In some examples, the second hinge point 331 may be located on the side of the first hinge point 311 facing away from the rotary joint 100. During the closing process of the first clamping clip 310 and the second clamping clip 320, the first clamping clip 310 and the second clamping clip 320 may drive the first movable shaft 200 to move away from the rotary joint 100. For example, referring to Figure 4 as shown, during the closing process of the first clamping clip 310 and the second clamping clip 320 along the Figure 4 direction indicated by the arrow x inFigure 4 move in the direction indicated by arrow y.

[0182] In some examples, with continued reference to Figure 4 As shown, the opening and closing joint 300 may include a second link 340. The second link 340 may be connected between the second opening and closing clip 320 and the first movable shaft 200.

[0183] In some examples, one end of the second link 340 may be hinged to the second opening and closing clip 320 at a third hinge point 321.

[0184] In some examples, the setting of the third hinge point 321 may be the same as, similar to, or close to that of the first hinge point 311. For specific details, reference may be made to the detailed description of the first hinge point 311, and details thereof will not be elaborated in the embodiments of the present application.

[0185] In some examples, the other end of the second link 340 may be hinged to the first movable shaft 200 at a fourth hinge point 341.

[0186] In some examples, the setting of the fourth hinge point 341 may be the same as, similar to, or close to that of the second hinge point 331. For specific details, reference may be made to the detailed description of the second hinge point 331, and details thereof will not be elaborated in the embodiments of the present application.

[0187] In some examples, the fourth hinge point 341 and the second hinge point 331 may be the same hinge point. For example, the second hinge point 331 and the fourth hinge point 341 are arranged on the radial direction of the first movable shaft 200. In this way, the fourth hinge point 341 and the second hinge point 331 may be coaxial. It can also be understood that the fourth hinge point 341 and the second hinge point 331 are the same hinge point.

[0188] In some examples, the first hinge point 311 and the third hinge point 321 may be symmetric with respect to the axis of the first movable shaft 200.

[0189] In some examples, the first hinge point 311 and the third hinge point 321 may be axially symmetric with respect to the axis of the first movable shaft 200.

[0190] In some examples, the second hinge point 331 and the fourth hinge point 341 may be symmetric with respect to the axis of the first movable shaft 200.

[0191] In some examples, the second hinge point 331 and the fourth hinge point 341 may be axially symmetric with respect to the axis of the first movable shaft 200.

[0192] In some examples of the embodiments of the present application, by providing a first connecting rod 330, one end of the first connecting rod 330 is hinged to the first opening and closing clip 310 at a first hinge point 311, and the other end is hinged to the first movable shaft 200 at a second hinge point 331; a second connecting rod 340, one end of the second connecting rod 340 is hinged to the second opening and closing clip 320 at a third hinge point 321, the third hinge point 321 is symmetric to the first hinge point 311, and the other end of the second connecting rod 340 is hinged to the first movable shaft 200 at a fourth hinge point 341, the fourth hinge point 341 is symmetric to the second hinge point 331; thus, when a doctor operates the first opening and closing clip 310 and the second opening and closing clip 320, the first opening and closing clip 310 and the second opening and closing clip 320 synchronously drive the first movable shaft 200 to move axially, that is, the acting forces of the first opening and closing clip 310 and the second opening and closing clip 320 on the first movable shaft 200 along the radial direction of the first movable shaft 200 are balanced, the stability of the movement of the first movable shaft 200 can be maintained, and the accuracy of the in-position detection of the object is improved.

[0193] In some examples, continue to refer to Figure 4 As shown, to facilitate the connection of the first connecting rod 330 and the second connecting rod 340 to the first movable shaft 200. The opening and closing joint 300 may include an opening and closing connecting member 350. The opening and closing connecting member 350 may be provided at one end of the first movable shaft 200 facing away from the rotating joint 100.

[0194] In some examples, the opening and closing connecting member 350 may be fixedly connected to the first movable shaft 200.

[0195] In some examples, the opening and closing connecting member 350 and the first movable shaft 200 may be an integral part.

[0196] In some examples, along the axis of the first movable shaft 200, the second hinge point 331 may be located on one side of the opening and closing connecting member 350.

[0197] In some examples, the fourth hinge point 341 may be disposed opposite to the second hinge point 331 on the other side of the opening and closing connecting member 350.

[0198] In some examples of the embodiments of the present application, by providing the opening and closing connecting member 350 on the first movable shaft 200. Thus, the radial dimension of the first movable shaft 200 can be expanded, which facilitates the hinging of the first connecting rod 330 and the second connecting rod 340 to the first movable shaft 200.

[0199] Figure 5 is a cross-sectional view of the opening and closing joint in the control input device provided according to the embodiments of the present application. Figure 6 is Figure 4 a partial enlarged structural schematic diagram at position B in

[0200] In some examples, refer to Figure 1 andFigure 5 As shown, the opening and closing joint 300 may include an opening and closing seat 360. The opening and closing seat 360 may be rotatably connected to the rotating joint 100.

[0201] In some examples, referring to Figure 5 As shown, one end of the first movable shaft 200 facing away from the rotating joint 100 may pass through the opening and closing seat 360.

[0202] In some examples, when the opening and closing seat 360 rotates relative to the rotating joint 100, it may drive the first movable shaft 200 to rotate relative to the rotating joint 100, so that the first movable shaft 200 rotates relative to the electrical connector 132.

[0203] It can be understood that in some examples of the embodiments of the present application, when the first movable shaft 200 rotates relative to the rotating joint 100, the first movable shaft 200 may swing. In some examples of the embodiments of the present application, by forming a holding and positioning of the first movable shaft 200 through the first arc segment 1321a and the second arc segment, it is possible to avoid the first movable shaft 200 from swinging or shaking when rotating. In addition, the width of the first elastic piece 1321 in the axial direction is set to be greater than the length of the first arc segment 1321a, and the width of the second elastic piece 1322 in the axial direction is set to be greater than the length of the second arc segment; thus, the radial torsion of the first movable shaft 200 can be restricted by the first elastic piece 1321 and the second elastic piece 1322, so that it is possible to avoid the first movable shaft 200 from swinging or twisting when rotating, and the stability of the electrical connection between the first movable shaft 200 and the electrical connector 132 is improved.

[0204] In some examples, referring to Figure 5 As shown, the first opening and closing clip 310 may have a first end. The first end may be hinged to the opening and closing seat 360.

[0205] In some examples, the first end may be the end of the first opening and closing clip 310 facing away from the rotating joint 100.

[0206] In some examples, referring to Figure 5 and Figure 6 As shown, the first end may be provided with a first gear 312.

[0207] In some examples, referring to Figure 5 As shown, the second opening and closing clip 320 may have a second end. The second end may be hinged to the opening and closing seat 360.

[0208] In some examples, the second end may be the end of the second opening and closing clip 320 facing away from the rotating joint 100.

[0209] In some examples, referring to Figure 5 and Figure 6 As shown, the second end may have a second gear 322.

[0210] In some examples, with reference to Figure 5 and Figure 6 as shown, the first gear 312 and the second gear 322 can mesh with each other.

[0211] In some examples, when the first opening and closing clip 310 and the second opening and closing clip 320 move in an opening and closing manner relative to each other, the first opening and closing clip 310 and the second opening and closing clip 320 can maintain synchronous movement through the meshing of the first gear 312 and the second gear 322.

[0212] In some examples, when the first opening and closing clip 310 and the second opening and closing clip 320 move synchronously, they can synchronously drive the first movable shaft 200 to move axially. Thus, the driving forces provided by the first opening and closing clip 310 and the second opening and closing clip 320 to the first movable shaft 200 are balanced in the radial direction of the first movable shaft 200.

[0213] In some examples of the embodiments of the present application, by providing the first gear 312 at the first end of the first opening and closing clip 310 and the second gear 322 at the second end of the second opening and closing clip 320, the first gear 312 meshes with the second gear 322; in this way, when the first opening and closing clip 310 and the second opening and closing clip 320 move in an opening and closing manner, the first opening and closing clip 310 and the second opening and closing clip 320 maintain synchronous axial driving of the first movable shaft 200, so that the forces on the first movable shaft 200 in the radial direction are balanced, the stability of the movement of the first movable shaft 200 can be maintained, and the accuracy of the in-position detection of the hand can be improved.

[0214] In some examples, with reference to Figure 5 as shown, to ensure the effectiveness of the in-position detection of the hand. It is necessary that the opening and closing joint 300 is not grounded.

[0215] In some examples, the rotating joint 100 is grounded through a support. The control input device 10 may include an insulating connection member 400. The insulating connection member 400 may be connected to the opening and closing seat 360.

[0216] In some examples, the insulating connection member 400 may be fixedly connected to one end of the opening and closing seat 360 facing the rotating joint 100.

[0217] In some examples, the insulating connection member 400 may be connected to the rotating shaft provided on the rotating joint 100.

[0218] In some examples, the rotating shaft drives the insulating connection member 400 to rotate, thereby driving the opening and closing seat 360 and the opening and closing joint 300 to rotate relative to the rotating joint 100.

[0219] In some examples of the embodiments of the present application, the opening and closing seat 360 is connected to the rotation axis of the rotary joint 100 through an insulating connector 400. In this way, an insulating connection is achieved between the opening and closing seat 360 and the rotary joint 100, which can prevent the opening and closing seat 360 and the opening and closing joint 300 from being grounded. It can ensure that the first detection sensor 131 can effectively detect the potential change of the opening and closing joint 300, so as to accurately determine whether the hand is in place, and improve the accuracy of detecting whether the hand is in place.

[0220] In some examples, after the first opening and closing clamp 310 and the second opening and closing clamp 320 are closed and the surgical operation is completed, it is necessary to reset the first opening and closing clamp 310 and the second opening and closing clamp 320 for the next surgical operation.

[0221] In some examples, referring to Figure 4 and Figure 5 as shown, the opening and closing joint 300 may include a reset member 370. The reset member 370 may be coupled to the first movable shaft 200.

[0222] In some examples, the reset member 370 may be configured to provide a reset force to the first movable shaft 200 along the axial direction of the first movable shaft 200 to reset the first opening and closing clamp 310 and the second opening and closing clamp 320.

[0223] In some examples, the reset force provided by the reset member 370 to the first movable shaft 200 may be in the opposite direction to the force provided to the first movable shaft 200 when the first opening and closing clamp 310 and the second opening and closing clamp 320 are closed. For example, referring to Figure 4 as shown, when the first opening and closing clamp 310 and the second opening and closing clamp 320 are closed, a force in the direction shown by the arrow y in Figure 4 may be provided to the first movable shaft 200 to move the first movable shaft 200 in the direction shown by the arrow y. The reset member 370 may provide a reset force to the first movable shaft 200 in the opposite direction of the arrow y.

[0224] In some examples, after the hand of the doctor or operator leaves the first opening and closing clamp 310 and the second opening and closing clamp 320, the reset force of the reset member 370 on the first movable shaft 200 can push the first movable shaft 200 to move axially in the opposite direction of the direction shown by the arrow y in Figure 4 . The axial movement of the first movable shaft 200 drives the first opening and closing clamp 310 and the second opening and closing clamp 320 to open in the opposite direction of the arrow x in Figure 4 , thereby realizing the reset of the first opening and closing clamp 310 and the second opening and closing clamp 320.

[0225] In some examples of the embodiments of the present application, by providing a reset member 370, the reset member 370 is coupled to the first movable shaft 200, and the reset member 370 provides an axial reset force to the first movable shaft 200; thus, after the first opening and closing clip 310 and the second opening and closing clip 320 are closed to complete the surgical operation, the reset member 370 can drive the first movable shaft 200 to move, so that the first opening and closing clip 310 and the second opening and closing clip 320 open to complete the reset.

[0226] In addition, the reset member 370 provides a reset force to the first movable shaft 200 along the axial direction of the first movable shaft 200, so that during the reset movement of the first movable shaft 200, the force received radially is in balance, and the first movable shaft 200 will not swing or twist radially, which can ensure the stability of the electrical connection between the first movable shaft 200 and the rotary electrical connector, thereby improving the accuracy of in-situ detection of the hand.

[0227] In some examples, the reset member 370 may include an elastic member. The elastic member may be axially connected to the end of the first movable shaft 200 along the axial direction of the first movable shaft 200.

[0228] In some examples, the elastic member may be connected to the end of the first movable shaft 200 facing the rotary joint 100.

[0229] In some examples, the elastic member may be connected to the end of the first movable shaft 200 facing the opening and closing joint 300.

[0230] In some examples, the elastic member may provide a reset force to the first movable shaft 200 along the axial direction of the first movable shaft 200.

[0231] In some examples of the embodiments of the present application, an elastic member is used as the reset member 370, and the elastic member is axially connected to the end of the first movable shaft 200 along the axial direction of the first movable shaft 200, which simplifies the structure of the reset member 370 and facilitates the connection between the reset member 370 and the first movable shaft 200.

[0232] In some examples, the elastic member may be a spring.

[0233] In some examples, the elastic member may be a compression spring.

[0234] In some examples, the elastic member may be a tension spring.

[0235] In some examples, taking the elastic member as a compression spring as an example for illustration. The compression spring may be sleeved on the end of the first movable shaft 200 facing away from the rotary joint 100.

[0236] In some examples, referring to Figure 5As shown, the other end of the compression spring can abut against the opening and closing seat 360. When the first movable shaft 200 moves axially relative to the electrical connector 132 away from the rotary joint 100, the compression spring can be compressed by the first movable shaft 200. The compression spring stores energy and provides an axial resetting force to the first movable shaft 200.

[0237] In some examples of the embodiments of the present application, the elastic member is set as a compression spring, and the compression spring is arranged at one end of the first movable shaft 200 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 arranging other components inside the rotary joint 100.

[0238] 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 for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions 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, Comprising: A rotary joint (100) provided with a first detection sensor (131) and an electrical connector (132), the electrical connector (132) being electrically connected to the first detection sensor (131); A first movable shaft (200) movably connected to the rotary joint (100), the electrical connection of the first movable shaft (200) passing through the electrical connector (132), and the electrical connector (132) providing mutually balanced acting forces on both sides of the axis of the first movable shaft (200) to maintain the electrical connection between the first movable shaft (200) and the electrical connector (132); An opening and closing joint (300) insulatedly connected to the rotary joint (100) and configured to rotate integrally under the drive of the rotary joint (100), the opening and closing joint (300) being electrically connected to the first movable shaft (200).

2. The control input device according to claim 1, characterized in that, The electrical connector (132) includes: A first elastic piece (1321) abutted against the peripheral wall on one side of the first movable shaft (200) along the axis of the first movable shaft (200); A second elastic piece (1322) abutted against the peripheral wall on the other side of the first movable shaft (200) along the axis of the first movable shaft (200), the second elastic piece (1322) being symmetric with the first elastic piece (1321) with respect to the axis of the first movable shaft (200), so that the first elastic piece (1321) and the second elastic piece (1322) provide mutually balanced acting forces on the first movable shaft (200).

3. The control input device according to claim 2, wherein, The first elastic piece (1321) has a first arc segment (1321a) that holds the peripheral wall on one side of the first movable shaft (200); The second elastic piece (1322) has a second arc segment that holds the peripheral wall on the other side of the first movable shaft (200), and the second arc segment is symmetrically arranged with the first arc segment (1321a); Wherein, the first elastic piece (1321) and the second elastic piece (1322) are integrally formed.

4. The control input device according to claim 3, wherein The first elastic piece (1321) has a first opening segment connected to the first arc segment (1321a); The second elastic piece (1322) has a second opening segment connected to the second arc segment; An opening (1323) is formed between the first opening segment and the second opening segment, and the distance between the ends of the first arc segment (1321a) and the second arc segment is smaller than the diameter of the first movable shaft (200). Along the radial direction of the first movable shaft (200) towards the first movable shaft (200), the opening (1323) is in a constricted shape.

5. The control input device according to claim 3, characterized in that, Axially along the first movable shaft (200), the widths of the first elastic piece (1321) and the second elastic piece (1322) are greater than the arc length of any one of the first arc segment (1321a) and the second arc segment.

6. The control input device according to any one of claims 1-5, characterized in that, The opening and closing joint (300) includes: The first clamping jaw (310) is movably connected to one side of the first movable shaft (200) along the axis of the first movable shaft (200); The second clamping jaw (320) is symmetrically connected to the other side of the first movable shaft (200) along the axis of the first movable shaft (200) with respect to the first clamping jaw (310); so that when the first clamping jaw (310) and the second clamping jaw (320) drive the first movable shaft (200) to move relative to the electrical connector (132) along the axis of the first movable shaft (200), the component forces received by the first movable shaft (200) in the radial direction cancel each other out; Wherein, the first clamping jaw (310) and the second clamping jaw (320) are electrically connected to the first movable shaft (200).

7. The control input device according to claim 6, wherein The opening and closing joint (300) further includes: A first connecting rod (330), one end of which is hinged to the first clamping jaw (310) at a first hinge point (311), and the other end is hinged to the first movable shaft (200) at a second hinge point (331); A second connecting rod (340), one end of which is hinged to the second clamping jaw (320) at a third hinge point (321), and the other end is hinged to the first movable shaft (200) at a fourth hinge point (341); The first hinge point (311) and the third hinge point (321) are symmetric with respect to the axis of the first movable shaft (200), and the second hinge point (331) and the fourth hinge point (341) are symmetric with respect to the axis of the first movable shaft (200).

8. The control input device according to claim 7, wherein The opening and closing joint (300) further includes: An opening and closing connecting member (350), provided at one end of the first movable shaft (200) facing away from the rotary joint (100), the second hinge point (331) and the fourth hinge point (341) are provided on the opening and closing connecting member (350), and along the axis of the first movable shaft (200), the second hinge point (331) is located on one side of the opening and closing connecting member (350), and the fourth hinge point (341) is disposed opposite to the second hinge point (331) on the other side of the opening and closing connecting member (350).

9. The control input device according to claim 6, characterized in that, The opening and closing joint (300) further includes: An opening and closing seat (360), rotatably connected to the rotary joint (100); one end of the first movable shaft (200) facing away from the rotary joint (100) passes through the opening and closing seat (360); The first clamping jaw (310) has a first end, the first end is hinged to the opening and closing seat (360), and the first end has a first gear (312); The second clamping jaw (320) has a second end, the second end is hinged to the opening and closing seat (360), and the second end has a second gear (322); The first gear (312) meshes with the second gear (322), and the first opening and closing clamp (310) and the second opening and closing clamp (320) synchronously drive the first movable shaft (200) to move axially, so that the component forces of the driving forces provided by the first opening and closing clamp (310) and the second opening and closing clamp (320) on the first movable shaft (200) in the radial direction of the first movable shaft (200) cancel each other out.

10. The control input device according to claim 9, characterized in that, The control input device further includes: An insulating connector (400) is connected to the opening and closing seat (360), and the insulating connector (400) is connected to the rotating shaft of the rotating joint (100), so that the opening and closing joint (300) is rotatably and insulatedly connected to the rotating joint (100).

11. The control input device according to claim 6, wherein The opening and closing joint (300) further includes: A reset member (370) is coupled to the first movable shaft (200), and the reset member (370) is configured to provide a reset acting force to the first movable shaft (200) along the axial direction of the first movable shaft (200), so that the first opening and closing clamp (310) and the second opening and closing clamp (320) are reset.

12. The control input device according to claim 11, wherein The reset member (370) includes an elastic member, and the elastic member is axially connected to the first movable shaft (200) along the axial direction of the first movable shaft (200), and the elastic member provides a reset acting force to the first movable shaft (200) along the axial direction of the first movable shaft (200).

13. The control input device according to claim 12, wherein, The elastic member is a compression spring, and the compression spring is sleeved on one end of the first movable shaft (200) facing away from the rotating joint (100); when the first movable shaft (200) moves axially relative to the electrical connector (132) and away from the rotating joint (100), the compression spring is compressed, so that the compression spring provides a reset acting force along the axial direction to the first movable shaft (200).

14. A doctor's console, characterized in that, Comprising: The control input device (10) according to any one of claims 1-13; A support member is connected to the rotating joint (100) of the control input device, and the support member is configured to be grounded.

15. A surgical robot, characterized in that, Comprising: The doctor console according to claim 14; A slave manipulator is 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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