Master manipulator clamping mechanism, master manipulator and surgical robot system

Abstract

The utility model relates to the field of medical instruments, and discloses a main manipulator clamping mechanism, a main manipulator and a surgical robot system. The clamping mechanism comprises a main body, a first clamping handle, a second clamping handle and a first non-contact sensor assembly, the main body comprises openings located in the two opposite sides, the near ends of the two clamping handles are hinged to the interior of the near end of the main body respectively, and the two clamping handles can be opened and closed mutually; the first non-contact sensor assembly comprises a first induction piece arranged on one clamping handle and a first sensor arranged in the main body, and the first sensor is used for detecting the change of the distance between the first sensor and the first induction piece so as to detect the opening and closing information of the clamping handles. The opening and closing angle of the first clamping handle or the second clamping handle is directly detected through the first non-contact sensor assembly, the detection mode is more direct, a connecting rod mechanism does not need to be additionally arranged, and the main operator clamping mechanism is simpler in structure and smaller in detection error.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular to a main manipulator clamping mechanism, a main manipulator and a surgical robot system. Background Art

[0002] Robots are high-end, intelligent equipment products. For industrial robots and medical robots that require higher accuracy and precision, most of them are master-slave teleoperation structures, that is, the master operator is operated by a person, and the movement of the slave mechanism is controlled by remote communication and computers. For medical robots, remote teleoperation reduces the possibility of patient infection, avoids the adverse consequences caused by doctors' misoperation (such as dizziness, fatigue, emotions, etc.), and reduces the accuracy and precision of the operation process.

[0003] The master manipulator clamping mechanism is an important part of the robot, used to control the clamping and other actions of the remote operation system. The clamping mechanism is electrically connected to the robot's execution end, which is used to perform actions such as clamping. By detecting the position and posture of the master manipulator's clamping mechanism in spatial motion, and then mapping the position and posture of the master manipulator to the slave actuator through kinematic calculation, the slave actuator can reproduce the human hand movements in real time to complete the corresponding operation.

[0004] The existing main operator clamping mechanism generally uses a connecting rod mechanism to convert the opening and closing rotational motion of the main operator clamping mechanism into linear motion, and detects the displacement distance of the linear motion to calculate the opening and closing angle of the main operator clamping mechanism. This setting makes it easier for the main operator clamping mechanism to produce errors during movement, reducing the accuracy of the slave actuator. In addition, in order to measure the displacement of the main operator clamping mechanism, a driver is usually used to directly push, pull or rotate the contact position sensor. Due to the mechanical structure of the contact position sensor and other reasons, it will have a certain service life. In actual use, the remote-controlled main operator is frequently operated, which can easily cause serious wear of the sensor. After the sensor is replaced, it is easy to cause a decrease in accuracy, causing the slave actuator to misoperate. Utility Model Content

[0005] Based on the above problems, the purpose of the present disclosure is to provide a main operator clamping mechanism, comprising:

[0006] A body including a first opening on a first side and a second opening on a second side;

[0007] A first clamping handle and a second clamping handle, wherein the proximal ends of the first clamping handle and the second clamping handle are respectively hinged in the proximal end of the main body and are configured to be able to open and close with each other; and

[0008] The first non-contact sensor assembly includes a first sensor and a first sensing member arranged at intervals. The first sensing member is arranged on the first clamping handle or the second clamping handle, and the first sensor is arranged in the main body corresponding to the first sensing member. The first sensor is used to detect the change in distance between the first sensing member and the first sensor to detect the opening and closing information of the first clamping handle or the second clamping handle.

[0009] In some embodiments, the main body includes:

[0010] A first shaft, fixedly arranged along the transverse direction of the main body, and the first clamping handle is rotatably connected to the first shaft; and

[0011] A second shaft, fixedly arranged along the transverse direction of the main body, and the second clamping handle is rotatably connected to the second shaft. The first shaft and the second shaft are arranged in parallel at intervals.

[0012] In some embodiments, it further includes:

[0013] A first elastic member, with two ends respectively connected to the proximal ends of the first clamping handle and the second clamping handle, for keeping the first clamping handle and the second clamping handle in an open state.

[0014] In some embodiments, it further includes:

[0015] A first tooth structure, fixedly connected to the proximal end of the first clamping handle;

[0016] A second tooth structure, fixedly connected to the proximal end of the second clamping handle, and the second tooth structure meshes with the first tooth structure.

[0017] In some embodiments, it further includes:

[0018] A first finger sleeve, detachably arranged at the distal end of the first clamping handle; and

[0019] A second finger sleeve, detachably arranged at the distal end of the second clamping handle.

[0020] In some embodiments, the first finger sleeve and the second finger sleeve include at least one of a silicone finger sleeve, a sheepskin finger sleeve, and a Velcro finger sleeve.

[0021] In some embodiments, it further includes:

[0022] At least one clutch switch, slidably arranged on the main body;

[0023] The second non-contact sensor assembly includes a second sensor and at least one second sensing element arranged at intervals, wherein the at least one second sensing element is arranged on the at least one clutch switch, and the at least one clutch switch is used to drive the at least one second sensing element to slide along the axial direction of the main body, and the second sensor is arranged in the main body corresponding to the at least one second sensing element, and the second sensor is used to detect the distance between the at least one second sensing element and the second sensor.

[0024] In some embodiments, the at least one clutch switch comprises:

[0025] A first clutch switch, comprising a first toggle portion, a first lateral extension portion connected to the first toggle portion, and a first protrusion connected to the first lateral extension portion;

[0026] The second clutch switch comprises a second toggle portion, a second lateral extension portion connected to the second toggle portion, and a second protrusion connected to the second lateral extension portion;

[0027] The subject also includes:

[0028] A third opening is axially arranged along a third side of the main body, the first toggle portion is slidably arranged outside the third opening, and the first transverse extension portion extends into the third opening;

[0029] The fourth opening is axially arranged along the fourth side of the main body, the fourth opening is symmetrically arranged with the third opening, the second shifting portion is slidably arranged outside the fourth opening, and the second transverse extension portion extends into the fourth opening.

[0030] In some embodiments, it also includes:

[0031] a second elastic member and a third elastic member;

[0032] The main body also includes a third protrusion and a fourth protrusion, the third protrusion is arranged at the proximal end of the third opening, the fourth protrusion is arranged at the proximal end of the fourth opening, the two ends of the second elastic member are respectively connected to the first protrusion and the third protrusion, and the two ends of the third elastic member are respectively connected to the second protrusion and the fourth protrusion.

[0033] In some embodiments, the first lateral extension portion and the second lateral extension portion are L-shaped protruding toward the distal end, and two second sensing members are respectively arranged at the distal ends of the L-shape of the first lateral extension portion and the second lateral extension portion, and the second sensor is arranged inside the distal end of the main body corresponding to the two second sensing members, and the second sensor is used to respectively sense the distance between the two second sensing members and the second sensor.

[0034] In some embodiments, the first non-contact sensor assembly includes an electromagnetic sensor assembly, the first sensing member includes a magnet, and the first sensor includes a magnetic sensor.

[0035] In some embodiments, the second non-contact sensor assembly includes an electromagnetic sensor assembly, the second sensing member includes a magnet, and the second sensor includes a magnetic sensor.

[0036] In some embodiments, it further includes:

[0037] At least one microswitch, which is respectively arranged on the inner sides of the first clamping handle and the second clamping handle;

[0038] A trigger platform corresponding to the at least one microswitch is arranged in the main body. When the first clamping handle and the second clamping handle are in a fully closed state, the trigger platform abuts against the at least one microswitch to trigger the at least one microswitch.

[0039] In some embodiments, the present disclosure further provides a master manipulator, including:

[0040] A multi-degree-of-freedom robotic arm; and

[0041] The master manipulator clamping mechanism as described in any embodiment of the present disclosure, and the master manipulator clamping mechanism is rotatably arranged at the end of the multi-degree-of-freedom robotic arm.

[0042] In some embodiments, the present disclosure further provides a surgical robot system, including:

[0043] A master manipulator, including a multi-degree-of-freedom robotic arm; and

[0044] The master manipulator clamping mechanism as described in any embodiment of the present disclosure, and the master manipulator clamping mechanism is rotatably arranged at the end of the multi-degree-of-freedom robotic arm;

[0045] A slave end actuator; and

[0046] A controller, which is communicatively connected to the master manipulator clamping mechanism and the slave end actuator.

[0047] Some embodiments of the present disclosure have one or more of the following beneficial effects: 1. By directly detecting the opening and closing angles of the first clamping handle or the second clamping handle through the first non-contact sensor assembly, the detection method is more direct, and there is no need to additionally set up a linkage mechanism, making the structure of the clamping mechanism of the master manipulator simpler and the detection error smaller; 2. By adopting the non-contact sensor assembly, it is also possible to avoid wear on the sensor caused by frequent operations and extend the service life of the clamping mechanism of the master manipulator; 3. By providing tooth structures that mesh with each other, the first clamping handle and the second clamping handle can be synchronized in opening and closing and maintain the same opening and closing angles; 4. The finger sleeve is detachably arranged on the clamping handle to facilitate different operators to replace finger sleeves of different materials or specifications to meet the needs of different operators; 5. By respectively arranging clutch switches on opposite sides of the main body, even when the main body rotates 360°, the operator can still easily trigger the clutch switch on one side to actuate for operation control. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for description in the embodiments of the present disclosure. The following drawings only show some embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other embodiments can also be obtained based on the content of the embodiments of the present disclosure and these drawings.

[0049] Figure 1 A top view showing the clamping mechanism of the master manipulator in an open state according to some embodiments of the present disclosure;

[0050] Figure 2 A schematic structural view showing the clamping mechanism of the master manipulator in a closed state according to some embodiments of the present disclosure;

[0051] Figure 3 A schematic structural view showing the clamping mechanism of the master manipulator in an open state according to some embodiments of the present disclosure;

[0052] Figure 4 A partial schematic structural view showing the clamping mechanism of the master manipulator according to some embodiments of the present disclosure;

[0053] Figure 5 A longitudinal sectional view showing the clutch switch in a triggered state according to some embodiments of the present disclosure;

[0054] Figure 6 A longitudinal sectional view showing the clutch switch in a non-triggered state according to some embodiments of the present disclosure;

[0055] Figure 7 A longitudinal sectional view showing the first clutch switch according to some embodiments of the present disclosure;

[0056] Figure 8 A longitudinal cross-sectional view showing a partial structure of a clamping mechanism of a main operator according to some embodiments of the present disclosure;

[0057] Figure 9 A schematic diagram showing the structure of a main operator according to some embodiments of the present disclosure is shown;

[0058] Figure 10 A schematic diagram of the structure of a surgical robot system according to some embodiments of the present disclosure is shown.

[0059] List of reference numerals:

[0060] 100. Main operator clamping mechanism;

[0061] 110, main body; 111, first axis; 112, second axis; 113, second opening; 114, curved piece; 115, third opening; 116, fourth opening; 117, third protrusion; 118, fourth protrusion; 119, triggering platform;

[0062] 121. first clamping handle; 122. second clamping handle;

[0063] 130. First non-contact sensor assembly; 131. First sensor; 132. First sensing element;

[0064] 141, first elastic member; 142, second elastic member; 143, third elastic member; 151, first tooth structure; 152, second tooth structure; 161, first finger sleeve; 162, second finger sleeve;

[0065] 170, clutch switch; 171, first clutch switch; 1711, first toggle portion; 1712, first protrusion; 1713, first lateral extension portion; 1714, first flange; 172, second clutch switch; 1721, second toggle portion; 1722, second protrusion; 1723, second lateral extension portion; 1724, second flange;

[0066] 180, second non-contact sensor assembly; 181, second sensor; 182, second sensing element;

[0067] 190. Micro switch;

[0068] 200, main manipulator; 210, multi-degree-of-freedom motion arm; 211, end;

[0069] 1000, surgical robot system; 300, main control trolley; 310, trolley body; 500, surgical trolley; 520, robotic arm; 530, surgical instrument; 531, tool arm body; 532, slave end actuator. Detailed Implementation Modes

[0070] To make the technical problems solved, the technical solutions adopted, and the technical effects achieved by the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0071] In the description of the present disclosure, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0072] In the description of the present disclosure, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium; it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific situations. In the present disclosure, the end close to the operator (such as a doctor) is defined as the proximal end, the proximal part, the rear end, or the rear part, and the end opposite to the proximal end, the proximal part, the rear end, or the rear part is defined as the distal end, the distal part, the front end, or the front part. Alternatively, the end close to the operated object (such as a surgical patient) is defined as the distal end, the distal part, the front end, or the front part, and the end opposite to the distal end, the distal part, the front end, or the front part is defined as the proximal end, the proximal part, the rear end, or the rear part. Those skilled in the art can understand that the embodiments of the present disclosure can be used for medical devices or surgical robots, and can also be used for other non-medical devices.

[0073] The present disclosure provides a main operator clamping mechanism. Figure 1 A top view showing the main operator clamping mechanism 100 in an open state according to some embodiments of the present disclosure, Figure 2 A schematic structural view showing the main operator clamping mechanism 100 in a closed state according to some embodiments of the present disclosure, Figure 3 A schematic structural view showing the main operator clamping mechanism 100 in an open state according to some embodiments of the present disclosure, Figure 4 A partial schematic structural view showing the main operator clamping mechanism 100 according to some embodiments of the present disclosure. Among them, for the sake of clear illustration, Figure 4The outer shell of the main body 110 of the main operating device clamping mechanism 100 is hidden.

[0074] like Figures 1-4 As shown, the main operator clamping mechanism 100 may include a main body 110, a first clamping handle 121, a second clamping handle 122, and a first non-contact sensor assembly 130. The main body 110 may include a first opening (not shown) located on the first side and a second opening 113 on the second side. The proximal ends of the first clamping handle 121 and the second clamping handle 122 are respectively hinged in the proximal end of the main body 110, and are configured to be able to open and close with each other. It should be understood that the proximal ends of the first clamping handle 121 and the second clamping handle 122 are respectively hinged to the first side and the second side of the main body 110, and the distal ends of the first clamping handle 121 and the second clamping handle 122 extend outward from the first opening and the second opening 113, respectively, and extend away from each other. The distal ends of the first clamping handle 121 and the second clamping handle 122 can be clamped by the operator's fingers, and the opening and closing are achieved under the control of the clamping and opening actions of the user's fingers.

[0075] In some embodiments, the main body 110 may be cylindrical and have a receiving cavity inside. Figure 3 As shown, the proximal end of the main body 110 may further include a curved piece 114. The curved piece 114 may match the curvature of the palm or the base of the hand to better fit the hand. In this way, when the operator presses the clamping mechanism, the proximal end of the main body 110 (e.g., the curved piece 114) abuts against the palm or the base of the hand of the operator, thereby providing support for the hand to relieve hand fatigue.

[0076] In some embodiments, Figure 4 As shown, the first non-contact sensor assembly 130 may include a first sensor 131 and a first sensing member 132 that are spaced apart. The first sensing member 132 is disposed on the first clamping handle 121 or the second clamping handle 122, and the first sensor 131 corresponds to the first sensing member 132 and is disposed in the main body 110. In some embodiments, the first sensing member 132 may be disposed on the inner side of the first clamping handle 121 or the second clamping handle 122, and closer to the proximal end of the first clamping handle 121 or the second clamping handle 122. It should be understood that the inner side of the clamping handle in the present disclosure may be the side facing the interior of the main body 110, or the side of the clamping handle that is away from the finger sleeve, and conversely, the outer side of the clamping handle may be the side away from the interior of the main body 110, or the side of the clamping handle that is used to set the finger sleeve. For example, Figure 4As shown, the first sensing element 132 is disposed inside the first clamping handle 121. It should be understood that the first sensing element 132 can also be disposed in the middle or other positions of the clamping handle, which is not limited herein. The first sensor 131 is used to detect the change in distance between the first sensing element 132 and the first sensor 131 to detect the opening and closing information of the first clamping handle 121 or the second clamping handle 122.

[0077] In some embodiments, the first non-contact sensor assembly 130 can employ any non-contact sensor suitable for sensing displacement changes in the art, such as a photoelectric sensor or an electromagnetic sensor. In some embodiments, the opening and closing information can include the opening and closing angles or the opening and closing states of the first clamping handle 121 and / or the second clamping handle 122. For example, the opening and closing angles of the first clamping handle 121 and / or the second clamping handle 122 can be collected by the first non-contact sensor assembly 130, and the opening and closing angles can be used to control the opening and closing angles of a surgical tool (such as a clamp). For another example, the opening and closing state can be judged according to a pre-set angle threshold. When the detected opening and closing angle is higher than the threshold, the opening and closing state is "open", and when the detected opening and closing angle is lower than the threshold, the opening and closing state is "closed". The opening and closing state can be used to display the state information of the clamp to the user.

[0078] It should be understood that the user's fingers grip the first clamping handle 121 and the second clamping handle 122 to open and close, thereby driving the first sensing element 132 to move in a direction closer to or farther from the first sensor 131. The opening and closing angles of the first clamping handle 121 and the second clamping handle 122 are converted into the change in distance between the first sensing element 132 and the first sensor 131, so as to directly detect the opening and closing angles of the first clamping handle 121 or the second clamping handle 122 through the first non-contact sensor assembly 130. Compared with the prior art in which the opening and closing movement of the clamping mechanism is converted into a linear movement through a linkage mechanism, and the opening and closing angle of the clamping mechanism is calculated by detecting the displacement distance of the linear movement, the detection method in the embodiments of the present disclosure is more direct, does not require an additional linkage mechanism to be provided, makes the structure of the clamping mechanism 100 of the master manipulator simpler, and has a smaller detection error. By using a non-contact sensor assembly, it is also possible to avoid wear of the sensor caused by frequent operations and extend the service life of the clamping mechanism of the master manipulator hand.

[0079] In some embodiments, the first non-contact sensor assembly 130 can include an electromagnetic sensor assembly, and the first sensing element 132 can include a magnet, such as a magnet. The first sensor 131 includes a magnetic sensor, such as a Hall sensor.

[0080] In some embodiments, such as Figure 4As shown, the main body 110 may include a first shaft 111 and a second shaft 112. The first shaft 111 is fixedly arranged along the transverse direction of the main body 110, and the first clamping handle 121 is rotatably connected to the first shaft 111. The second shaft 112 is fixedly arranged along the transverse direction of the main body 110, and the second clamping handle 122 is rotatably connected to the second shaft 112. The first shaft 111 and the second shaft 112 are arranged in parallel and at intervals. In some embodiments, a pair of first shaft holes may be arranged transversely at the proximal end of the first clamping handle 121, the first shaft 111 is inserted into the corresponding pair of shaft holes, and both ends of the first shaft 111 are fixedly connected to the main body 110 respectively. A pair of second shaft holes may be arranged transversely at the proximal end of the second clamping handle 122, the second shaft 112 is inserted into the corresponding pair of shaft holes, and both ends of the second shaft 112 are fixedly connected to the main body 110 respectively. The first clamping handle 121 and the second clamping handle 122 are used to rotate around the first shaft 111 and the second shaft 112 respectively under the clamping action of the operator.

[0081] In some embodiments, as Figure 4 shown, the main operator clamping mechanism 100 may further include a first elastic member 141. For example, the first elastic member 141 may be a spring or other elastic member. Both ends of the first elastic member 141 are respectively connected to the proximal ends of the first clamping handle 121 and the second clamping handle 122, and are used to keep the first clamping handle 121 and the second clamping handle 122 in an open state. It should be understood that the first elastic member 141 may be a spring in a pre-compressed state, and under the action of the first elastic member 141, the first clamping handle 121 and the second clamping handle 122 are kept in a fully open state. In the working state, the operator can press and clamp the first clamping handle 121 and the second clamping handle 122 to make the first clamping handle 121 and the second clamping handle 122 fully closed. After the operator stops pressing, the first clamping handle 121 and the second clamping handle 122 are reset to the fully open state under the restoring force of the first elastic member 141.

[0082] In some embodiments, as Figure 4As shown, the master manipulator clamping mechanism 100 may further include a first tooth structure 151 and a second tooth structure 152. The first tooth structure 151 is fixedly connected to the proximal end of the first clamping handle 121, the second tooth structure 152 is fixedly connected to the proximal end of the second clamping handle 122, and the second tooth structure 152 meshes with the first tooth structure 151. In some embodiments, the first tooth structure 151 and the second tooth structure 152 may be half gears. It should be understood that the first tooth structure 151 and the second tooth structure 152 may be relatively arranged between the proximal ends of the first clamping handle 121 and the second clamping handle 122 (for example, between the first shaft 111 and the second shaft 112). When the first clamping handle 121 and the second clamping handle 122 rotate along the first shaft 111 and the second shaft 112 respectively, they drive the first tooth structure 151 and the second tooth structure 152 to rotate respectively. It should be understood that in the present disclosure, the fixed connection may include being fixedly connected by various suitable means, and may also include being integrally formed. By providing the first tooth structure 151 and the second tooth structure 152 that mesh with each other, the first clamping handle 121 and the second clamping handle 122 can be synchronized to open and close, and maintain the same opening and closing angle. In this way, only by detecting the opening and closing information of one of the clamping handles, the opening and closing information of the two clamping handles can be obtained.

[0083] In some embodiments, the outer distal ends of the first clamping handle 121 and the second clamping handle 122 are arc-shaped, and the arc-shaped recessed part is convenient for the operator's fingers to hold, so that the operator's fingers feel more comfortable when operating the clamping mechanism. In some embodiments, as Figures 1-4 shown, the master manipulator clamping mechanism 100 may further include a first finger sleeve 161 and a second finger sleeve 162. The first finger sleeve 161 is detachably arranged at the distal end of the first clamping handle 121 (for example, the outer side of the distal end), and the second finger sleeve 162 is detachably arranged at the distal end of the second clamping handle 122 (for example, the outer side of the distal end). By providing finger sleeves, it is convenient for the operator's fingers to perform clamping operations on the first clamping handle 121 and the second clamping handle 122, so as to prevent the fingers from slipping off the clamping handles. The first finger sleeve 161 and the second finger sleeve 162 are detachably arranged, so that different operators can replace finger sleeves of different materials or specifications to meet the needs of different operators.

[0084] In some embodiments, the first finger sleeve 161 and the second finger sleeve 162 may include at least one of a silicone finger sleeve, a sheepskin finger sleeve, and a Velcro finger sleeve. It should be understood that the finger sleeve may also be made of other elastic materials. By providing finger sleeves of various different materials, the operating experience of the operator can be increased.

[0085] In some embodiments, as Figure 4 shown, the master manipulator clamping mechanism 100 may further include at least one clutch switch 170 and a second non-contact sensor assembly 180. Figure 5A longitudinal cross-sectional view showing a clutch switch 170 in a triggered state according to some embodiments of the present disclosure, Figure 6 FIG. 1 is a longitudinal cross-sectional view showing a clutch switch 170 in a non-triggered state according to some embodiments of the present disclosure. Figures 4-6 As shown, at least one clutch switch 170 is slidably disposed on the main body 110, for example, it can be slidably disposed along the axial direction (for example, the length direction) of the main body 110. The second non-contact sensor assembly 180 includes a second sensor 181 and at least one second sensing element 182 disposed at intervals, at least one second sensing element 182 is disposed on at least one clutch switch 170, and at least one clutch switch 170 is used to drive at least one second sensing element 182 to slide along the axial direction of the main body 110. The second sensor 181 is disposed in the main body 110 corresponding to at least one second sensing element 182, and the second sensor 181 is used to detect the distance between at least one second sensing element 182 and the second sensor 181.

[0086] It should be understood that when the clutch switch 170 is in a non-trigger state, the master operator clamping mechanism 100 can be remotely connected to the slave actuator, and when the clutch switch 170 is in a triggered state, the master operator clamping mechanism 100 can be disconnected from the slave actuator. For example, in the non-trigger state, the second sensing member 182 is closer to the second sensor 181, and the distance between the two is less than or equal to the preset threshold. In the triggered state, the second sensing member 182 is away from the second sensor 181, and the distance between the two is greater than the preset threshold.

[0087] It should be understood that the clutch switch 170 can be triggered by the operator's finger. In a non-trigger state (for example, the master manipulator clamping mechanism 100 matches the remote operation of the slave actuator), the operator can press and hold the first clamping handle 121 and the second clamping handle 122 by fingers to open and close, thereby controlling the opening and closing of the slave actuator (for example, a surgical clamp). When the operator's hand triggers the clutch switch 170, the remote operation of the master manipulator clamping mechanism 100 and the slave actuator is disconnected, and the clamping mechanism is disconnected from the slave surgical clamp. By setting the clutch switch 170, it is convenient for the operator to switch between different surgical operating arms, and it can also avoid the operator's misoperation during the operation to actuate the clamping mechanism, thereby causing the movement of the slave surgical clamp, causing safety hazards.

[0088] In some embodiments, Figure 5 and Figure 6 As shown, at least one clutch switch 170 may include a first clutch switch 171 and a second clutch switch 172, which are respectively disposed on the third side opposite to the main body 110 (eg, Figure 5 and Figure 6 The upper side shown) and the fourth side (as shown Figure 5 andFigure 6 lower side as shown). Figure 7 FIG. 1 shows a longitudinal cross-sectional view of the first clutch switch 171 according to some embodiments of the present disclosure. It should be understood that the structure of the second clutch switch 172 may be similar to that of the first clutch switch 171. Figures 5-7 As shown, the first clutch switch 171 may include a first toggle portion 1711, a first lateral extension portion 1713 connected to the first toggle portion 1711, and a first protrusion 1712 connected to the first lateral extension portion 1713. The second clutch switch 172 may include a second toggle portion 1721, a second lateral extension portion 1723 connected to the second toggle portion 1721, and a second protrusion 1722 connected to the second lateral extension portion 1723. It should be understood that the first toggle portion 1711, the first lateral extension portion 1713, and the first protrusion 1712 may be fixedly connected, such as integrally formed, and the second toggle portion 1721, the second lateral extension portion 1723, and the second protrusion 1722 may be fixedly connected, such as integrally formed. The first clutch switch 171 and the second clutch switch 172 may be symmetrically arranged in a non-triggered state. By arranging clutch switches on two opposite sides, when the main body 110 rotates 360°, the operator can still easily trigger (for example, by flicking with a finger) the clutch switch on one side to achieve operational control.

[0089] In some embodiments, Figures 5-7 As shown, the first lateral extension portion 1713 can extend inwardly (for example, in a direction extending into the interior of the main body 110) perpendicular to the first toggle portion 1711, and the first protrusion 1712 is disposed on the first lateral extension portion 1713 and extends toward the proximal end (for example, toward the direction extending into the interior of the main body 110). Figure 7 The second lateral extension portion 1723 may extend inwardly (e.g., in a direction extending into the interior of the body 110) perpendicular to the second toggle portion 1721, and the second protrusion 1722 is disposed on the second lateral extension portion 1723 and extends proximally. The above is only an example, and it should be understood that the first lateral extension portion 1713 may also extend inwardly at an angle to the first toggle portion 1711, and the second lateral extension portion 1723 may also extend inwardly at an angle to the second toggle portion 1721, which is not limited here. In some embodiments, as Figures 5-7 As shown, the first lateral extension portion 1713 and the second lateral extension portion 1723 may be in an "L-shape" protruding toward the distal end, and the end of the "L-shape" may be disposed toward the distal end (e.g. Figure 5 and Figure 6 left side shown).

[0090] In some embodiments, Figure 5As shown, at least one first flange 1714 disposed in a transverse direction may be provided on the outer side of the first toggle portion 1711, and at least one second flange 1724 disposed in a transverse direction may be provided on the outer side of the second toggle portion 1721. By providing the flanges, it is convenient for the operator's fingers to toggle the clutch switch.

[0091] Figure 8 A longitudinal cross-sectional view of a portion of the structure of the main manipulator clamping mechanism 100 according to some embodiments of the present disclosure is shown. For clarity of description, Figure 8 The clutch switch 171 is omitted. Figure 5 and Figure 8 As shown, the main body 110 may further include a third opening 115 and a fourth opening 116. The third opening 115 is axially arranged along the third side of the main body 110, the first toggle portion 1711 is slidably arranged outside the third opening 115, and the first lateral extension portion 1713 extends into the third opening 115. The fourth opening 116 is axially arranged along the fourth side of the main body 110, the fourth opening 116 is symmetrically arranged with the third opening 115, the second toggle portion 1721 is slidably arranged outside the fourth opening 116, and the second lateral extension portion 1723 extends into the fourth opening 116.

[0092] In some embodiments, Figure 5 and Figure 6 As shown, the main operator clamping mechanism 100 may further include a second elastic member 142 and a third elastic member 143. The main body 110 may further include a third protrusion 117 and a fourth protrusion 118, the third protrusion 117 is arranged at the proximal end of the third opening 115, and the fourth protrusion 118 is arranged at the proximal end of the fourth opening 116, the two ends of the second elastic member 142 are respectively connected to the first protrusion 1712 and the third protrusion 117, and the two ends of the third elastic member 143 are respectively connected to the second protrusion 1722 and the fourth protrusion 118. It should be understood that the second elastic member 142 and the third elastic member 143 can be springs or other elastic members. It should be understood that in the non-triggered state, the second elastic member 142 and the third elastic member 143 can be in the original length or pre-compressed state. In the triggered state, the second elastic member 142 and the third elastic member 143 are compressed, as shown in FIG. Figure 5 The second elastic member 142 is used to reset the first clutch switch 171 after the operator releases the finger, and the third elastic member 143 is used to reset the second clutch switch 172 after the operator releases the finger.

[0093] In some embodiments, Figure 5 and Figure 6As shown, two second sensing members 182 are respectively disposed at the L-shaped distal ends of the first laterally extending portion 1713 and the second laterally extending portion 1723. For example, the first laterally extending portion 1713 and the second laterally extending portion 1723 may be in an "L shape", and the second sensing member 182 may be disposed at the end of the "L shape". The second sensor 181 is correspondingly disposed inside the distal end of the main body 110 for the two second sensing members 182, and the second sensor 181 is used to sense the distances between the two second sensing members 182 and the second sensor 181 respectively.

[0094] In some embodiments, the second non-contact sensor assembly 180 may include an electromagnetic sensor assembly, and the second sensing member 182 may include a magnet, such as a permanent magnet. The second sensor 181 includes a magnetic sensor, such as a Hall sensor. In some embodiments, the second non-contact sensor assembly 180 may include a photoelectric sensor assembly, the second sensing member 182 may include a photoelectric sensor sensing member, and the second sensor 181 includes a photoelectric sensor.

[0095] It should be understood that when the operator toggles or releases the clutch switch 170 (the first clutch switch 171 or the second clutch switch 172), the second sensing member 182 moves in a direction closer to or farther from the second sensor 181 along with the clutch switch 170. When the relative distance between the second sensor 181 and the second sensing member 182 is greater than a preset value, the clutch switch 170 is triggered to disconnect the teleoperation connection between the main operator clamping mechanism 100 and the slave end actuator, thereby cutting off the control of the main operator clamping mechanism over the slave end actuator.

[0096] In some embodiments, as Figure 4 shown, the main operator clamping mechanism 100 may further include at least one microswitch 190. The at least one microswitch 190 is respectively disposed inside the first clamping handle 121 and the second clamping handle 122. In some embodiments, one microswitch 190 is symmetrically provided on each of the first clamping handle 121 and the second clamping handle 122. For example, the microswitch 190 may be respectively disposed at positions close to the proximal ends of the first clamping handle 121 and the second clamping handle 122. The microswitch 190 may extend into the main body 110 from the first opening and the second opening 113 of the main body 110 respectively when the first clamping handle 121 and the second clamping handle are closed.

[0097] As Figure 4As shown, a trigger platform 119 corresponding to at least one microswitch 190 is provided inside the main body 110. When the first clamping handle 121 and the second clamping handle 122 are in a fully closed state, the trigger platform 119 abuts against at least one microswitch 190 to trigger at least one microswitch 190. It should be understood that after being triggered, the microswitch 190 can bring feedback to the operator's hand in the form of vibration, sound or other forms to prompt the operator that the clamping handle is in a fully closed state.

[0098] In some embodiments, the present disclosure also provides a master manipulator. Figure 9 The structural schematic diagram of the master manipulator 200 according to some embodiments of the present disclosure is shown. As Figure 9 shown, the master manipulator 200 may include a multi-degree-of-freedom robotic arm 210 and the master manipulator clamping mechanism 100 in any embodiment of the present disclosure. The master manipulator clamping mechanism 100 is rotatably provided at the end of the multi-degree-of-freedom robotic arm 210. For example, the master manipulator clamping mechanism 100 is rotatably provided at the end 211 of the multi-degree-of-freedom robotic arm 210 by 360°. In some embodiments, the multi-degree-of-freedom robotic arm 210 may include a plurality of active joints and linkages, having a plurality of degrees of freedom, and the multi-degree-of-freedom robotic arm 210 is used to adjust the position and posture of the master manipulator clamping mechanism 100.

[0099] In some embodiments, the present disclosure also provides a surgical robot system. Figure 10 The structural schematic diagram of the surgical robot system 1000 according to some embodiments of the present disclosure is shown. As Figure 10 shown, the surgical robot system 1000 may include a master manipulator 200, the master manipulator clamping mechanism 100 in any embodiment of the present disclosure, a slave end actuator 532, and a controller (not shown in the figure). The master manipulator 200 may include a multi-degree-of-freedom robotic arm 210, and the master manipulator clamping mechanism 100 is rotatably provided at the end of the multi-degree-of-freedom robotic arm 210. The controller is communicatively connected to the master manipulator clamping mechanism 100 and the slave end actuator 532. In some embodiments, the slave end actuator 532 may include a surgical actuator and an endoscope, and the surgical actuator includes, but is not limited to, for example, a clamp, a grasping forceps, scissors, a separator, and the like. In some embodiments, as Figure 9 and Figure 10 shown, the surgical robot system 1000 may include two master manipulators 200, and the master manipulator clamping mechanisms 100 are respectively provided on the two master manipulators 200 for the two hands of the operator to operate respectively.

[0100] It should be understood that the controller can be communicatively connected to the first non-contact sensor assembly 130 of the master manipulator clamping mechanism 100 and the slave end actuator 532. During operation, when the first clamping handle 121 and the second clamping handle 122 are forced to rotate towards or away from the near body 110, the first sensing member 132 generates a first signal regarding the position change as it approaches or moves away from the first sensor 131 along with the movement of the first clamping handle 121 or the second clamping handle 122. The first sensor 131 receives the first signal and sends it to the controller, which is configured to control the operation of the slave end actuator 532 (such as the opening and closing of the clamp) according to the position change information contained in the first signal when receiving the first signal sent from the first sensor 131.

[0101] It should be understood that the controller can be communicatively connected to the second non-contact sensor assembly 180 of the master manipulator clamping mechanism 100 and the slave end actuator 532. In the working state, teleoperation can be implemented on the slave end actuator 532 through the master manipulator clamping mechanism 100. When the operator triggers one of the clutch switches (such as the first clutch switch 171 or the second clutch switch 172), the second sensing member 182 generates a second signal regarding the position change as it moves away from the second sensor 181 along with the movement of the clutch switch. The second sensor 181 receives the second signal and sends it to the controller, which is configured to control the teleoperation connection between the master manipulator clamping mechanism 100 and the slave end actuator 532 to remain connected or disconnected according to the position information contained in the second signal when receiving the second signal sent from the second sensor 181. For example, the controller can obtain the relative distance between the second sensor 181 and the second sensing member 182 by processing the second signal. When the relative distance between the second sensor 181 and the second sensing member 182 is greater than a preset value stored or set by the user input, the controller is configured to disconnect the teleoperation connection between the master manipulator clamping mechanism 100 and the slave end actuator 532, thereby cutting off the control of the master manipulator clamping mechanism 100 over the slave end actuator 532.

[0102] In some embodiments, as Figure 10 shown, the surgical robot system 1000 can include a main control cart 300. The main control cart 300 can include a cart body 310 and at least one master manipulator 200. At least one master manipulator 200 can be symmetrically arranged on the cart body 310 for the operator's left and right hands to operate respectively.

[0103] In some embodiments, as Figure 10As shown, the surgical robot system 1000 may further include a surgical trolley 500. The surgical trolley 500 may include at least one robotic arm 520. In some embodiments, at least one surgical instrument 530 may be disposed at the distal end of the at least one robotic arm 520. In some embodiments, the at least one surgical instrument 530 may include a tool arm body 531 and a distal end actuator 532 (e.g., forceps, curved scissors, endoscope, etc.). It should be understood that the robotic arm 520 may include a plurality of movable joints (e.g., a plurality of translational joints and / or a plurality of rotational joints) and linkages, and form a remote center of motion at the distal end of the robotic arm 520. The robotic arm 520 is used to adjust the position and posture of one or more surgical instruments 530 (e.g., the distal end actuator 532). As Figure 10 shown, the surgical trolley 500 may include one robotic arm 520. It should be understood that the surgical trolley 500 may also include a plurality of robotic arms 520. Specifically, no limitation is made here. Those skilled in the art can understand that the surgical robot system 1000 provided in this embodiment may be any suitable surgical robot including a laparoscopic surgical robot.

[0104] In some embodiments, the master trolley 300 is communicatively connected to the surgical trolley 500, for example, by means of wired transmission or wireless transmission. At least one master operator 200 on the master trolley 300 may be used to receive the operations of the operator. During the surgery, the operator may control the surgical instrument 530 included in the surgical trolley 500 to perform a surgical operation by operating at least one master operator 200 in the master trolley 300. The surgical trolley 500 is usually located on the patient side and responds to the control instructions of the master trolley 300 to perform a surgical operation on the patient. In some embodiments, the operator may control the movement (e.g., bending or rotating) of the distal end actuator 532 through the master operator 200, or control the opening and closing of the distal end actuator 532 (e.g., forceps) by operating the clamping mechanism 100 of the master operator.

[0105] Note that the above are only exemplary embodiments of the present disclosure and the applied technical principles. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments here, and various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments only. Without departing from the concept of the present disclosure, more other equivalent embodiments may be included, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A clamping mechanism for a master manipulator, characterized in that include: A body including a first opening on a first side and a second opening on a second side; A first clamping handle and a second clamping handle, wherein the proximal ends of the first clamping handle and the second clamping handle are respectively hinged in the proximal end of the main body and are configured to be able to open and close with each other; and The first non-contact sensor assembly includes a first sensor and a first sensing element that are arranged at intervals, wherein the first sensing element is arranged on the first clamping handle or the second clamping handle, and the first sensor is arranged in the main body corresponding to the first sensing element, and the first sensor is used to detect a change in the distance between the first sensing element and the first sensor, so as to detect the opening and closing information of the first clamping handle or the second clamping handle.

2. The master manipulator clamping mechanism according to claim 1, wherein The subject includes: A first shaft is fixedly arranged in a lateral direction of the main body, and the first clamping handle is rotatably connected to the first shaft; and The second shaft is fixedly arranged along the lateral direction of the main body, the second clamping handle is rotatably connected to the second shaft, and the first shaft and the second shaft are arranged in parallel and spaced apart.

3. The master manipulator clamping mechanism according to claim 1, characterized in that, Also includes: The first elastic member has two ends respectively connected to the proximal ends of the first clamping handle and the second clamping handle, and is used to keep the first clamping handle and the second clamping handle in an open state.

4. The master manipulator clamping mechanism according to claim 1, characterized in that, Also includes: a first tooth structure fixedly connected to the proximal end of the first clamping handle; The second tooth structure is fixedly connected to the proximal end of the second clamping handle, and the second tooth structure is meshed with the first tooth structure.

5. The master manipulator clamping mechanism according to claim 1, characterized in that, Also includes: A first finger sleeve, detachably disposed at the distal end of the first clamping handle; as well as The second finger sleeve is detachably arranged at the distal end of the second clamping handle.

6. The main operating device clamping mechanism according to claim 5, characterized in that: The first finger sleeve and the second finger sleeve include at least one of a silicone finger sleeve, a sheepskin finger sleeve, and a Velcro finger sleeve.

7. The master manipulator clamping mechanism according to claim 1, wherein, Also includes: at least one clutch switch, wherein the at least one clutch switch is slidably disposed on the body; The second non-contact sensor assembly includes a second sensor and at least one second sensing element arranged at intervals, wherein the at least one second sensing element is arranged on the at least one clutch switch, and the at least one clutch switch is used to drive the at least one second sensing element to slide along the axial direction of the main body, and the second sensor is arranged in the main body corresponding to the at least one second sensing element, and the second sensor is used to detect the distance between the at least one second sensing element and the second sensor.

8. The main operating device clamping mechanism according to claim 7, characterized in that: The at least one clutch switch comprises: A first clutch switch, comprising a first toggle portion, a first lateral extension portion connected to the first toggle portion, and a first protrusion connected to the first lateral extension portion; The second clutch switch comprises a second toggle portion, a second lateral extension portion connected to the second toggle portion, and a second protrusion connected to the second lateral extension portion; The subject also includes: A third opening is axially arranged along a third side of the main body, the first toggle portion is slidably arranged outside the third opening, and the first transverse extension portion extends into the third opening; The fourth opening is axially arranged along the fourth side of the main body, the fourth opening is symmetrically arranged with the third opening, the second shifting portion is slidably arranged outside the fourth opening, and the second transverse extension portion extends into the fourth opening.

9. The master manipulator clamping mechanism according to claim 8, characterized in that Also includes: a second elastic member and a third elastic member; The main body also includes a third protrusion and a fourth protrusion, the third protrusion is arranged at the proximal end of the third opening, the fourth protrusion is arranged at the proximal end of the fourth opening, the two ends of the second elastic member are respectively connected to the first protrusion and the third protrusion, and the two ends of the third elastic member are respectively connected to the second protrusion and the fourth protrusion.

10. The master manipulator clamping mechanism according to claim 8, characterized in that, The first lateral extension portion and the second lateral extension portion are L-shaped and protrude toward the distal end. The two second sensing members are respectively arranged at the distal ends of the L-shape of the first lateral extension portion and the second lateral extension portion. The second sensor is arranged inside the distal end of the main body corresponding to the two second sensing members. The second sensor is used to respectively sense the distance between the two second sensing members and the second sensor.

11. The main manipulator clamping mechanism according to claim 1, characterized in that: The first non-contact sensor assembly includes an electromagnetic sensor assembly, the first induction member includes a magnet, and the first sensor includes a magnetic sensor.

12. The main operating device clamping mechanism according to claim 7, characterized in that: The second non-contact sensor assembly includes an electromagnetic sensor assembly, the second induction member includes a magnet, and the second sensor includes a magnetic sensor.

13. The master manipulator clamping mechanism according to claim 1, characterized in that, Also includes: At least one micro switch, respectively disposed on the inner side of the first clamping handle and the second clamping handle; A trigger platform corresponding to the at least one micro switch is disposed in the main body, and when the first clamping handle and the second clamping handle are in a fully closed state, the trigger platform abuts against the at least one micro switch to trigger the at least one micro switch.

14. A master manipulator, characterized in that, include: Multi-degree-of-freedom motion arm; as well as The main manipulator clamping mechanism according to any one of claims 1 to 13, wherein the main manipulator clamping mechanism is rotatably disposed at the end of the multi-degree-of-freedom motion arm.

15. A surgical robot system, characterized in that, include: A main manipulator, including a multi-degree-of-freedom motion arm; as well as The main manipulator clamping mechanism according to any one of claims 1 to 13, wherein the main manipulator clamping mechanism is rotatably arranged at the end of the multi-degree-of-freedom motion arm; A slave actuator; and A controller is communicatively connected with the master operator clamping mechanism and the slave actuator.

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