Slave hand device and surgical robot

Abstract

The utility model provides a slave hand device and a surgical robot, and relates to the technical field of medical equipment. The slave hand device comprises a base, a guide assembly, a telescopic assembly and a limiting assembly. The guide assembly is connected with the base, and the telescopic assembly is connected with the guide assembly, so that the telescopic assembly and the guide assembly can be fixedly installed. One end of the telescopic assembly can be connected with the surgical instrument piece, the telescopic assembly moves relative to the guide assembly in the telescopic direction, the surgical instrument piece can also move in the telescopic direction, and therefore the surgical instrument piece can be conveniently adjusted to the designated position. The limiting assembly can limit the telescopic assembly in the telescopic direction of the telescopic assembly, and excessive stretching of the telescopic assembly in the telescopic direction can be avoided. After the guiding assembly, the telescopic assembly and the limiting assembly are assembled in advance, the guiding assembly and the limiting assembly are installed on the base, then the telescopic assembly, the guiding assembly and the limiting assembly are installed in a matched mode, and therefore the modularization degree and the integration degree of the slave manipulator device are higher.

Description

Technical Field

[0001] The present application relates to a hand device and a surgical robot, belonging to the technical field of medical equipment. Background Art

[0002] The end of a single-port minimally invasive surgical robot generally consists of a robotic arm, a puncture device, and surgical instruments. The puncture device provides an instrument channel for minimally invasive surgery and is fixed to the end of the robotic arm. The robotic arm at the end has a telescopic function, so that the robotic arm can be extended manually / automatically when needed. When not in use, the robotic arm can be retracted, which is convenient for storage and transportation in hospitals. At the same time, the telescopic function is also conducive to the installation of sterile covers before surgery.

[0003] At present, the robotic arm of a surgical robot not only needs to perform telescopic movements, but also needs to carry instruments such as a puncture device. Therefore, a robotic arm structure with better structural strength is needed so that the robotic arm has good stability and reliability. Utility Model Content

[0004] The present application provides a hand device and a surgical robot, which solve the problem of poor stability and reliability of the mechanical arm of the surgical robot in the related art.

[0005] In a first aspect, the present application provides a hand device, comprising:

[0006] Pedestal;

[0007] A guide assembly connected to the base;

[0008] A telescopic assembly, comprising a first shell and a support portion, wherein one end of the first shell is connected to the base, the support portion is disposed in the first shell, and the support portion is supported by the inner wall of the first shell, one end of the support portion extends out of the first shell and is movably connected to the guide assembly, the telescopic assembly is configured to be driven to reciprocate relative to the guide assembly in a telescopic direction, and the guide assembly is configured to guide the telescopic assembly in the telescopic direction;

[0009] The puncture tube is connected to a side of the telescopic assembly facing away from the guide assembly.

[0010] In the slave device proposed in this application, the guiding component is connected to the base, and the telescopic component is connected to the guiding component, enabling both the telescopic component and the guiding component to be fixedly installed. The supporting part of the telescopic component is arranged inside the first housing, and the supporting part supports the first housing, enabling the overall telescopic component to have better structural strength. The supporting part is connected to the guiding component, enabling the connection between the telescopic component and the guiding component to be more stable and reliable. One end of the telescopic component facing away from the guiding component can be connected to the puncture cylinder. The supporting part moves relative to the guiding component along the telescopic direction, enabling the puncture cylinder arranged on the telescopic component to also move along the telescopic direction, so that the puncture cylinder can be conveniently adjusted to a specified position. The supporting part is reliably connected to the guiding component, enabling the puncture cylinder to remain stable during the movement to the specified position and the movement effect to be precise.

[0011] In some embodiments, the base has a fixing groove, and one end of the supporting part passes through the fixing groove and is connected to the guiding component.

[0012] In some embodiments, the guiding component includes a second housing and a guide rail. One end of the second housing is connected to the side of the base facing away from the first housing. The guide rail is located inside the second housing, and one end of the supporting part extends into the second housing and is movably connected to the guide rail.

[0013] In some embodiments, the supporting part includes a first supporting section and a second supporting section. The first supporting section is connected to the guiding component, and the second supporting section is connected to the side of the first supporting section facing away from the guiding component. The first supporting section and the second supporting section are bent, and the first housing is bent along the direction from the first supporting section to the second supporting section.

[0014] In some embodiments, the first supporting section and the second supporting section are of an integral structure.

[0015] In some embodiments, positioning posts are arranged on the inner wall of the first housing, and the positioning posts penetrate through the supporting part.

[0016] In some embodiments, the first housing includes opposite first sub-housing parts and second sub-housing parts. The positioning posts include a first column body and a second column body. The first column body is arranged on the first sub-housing part, the second column body is arranged on the second sub-housing part, and the second column body passes through the supporting part and is detachably connected to the first column body.

[0017] In some embodiments, at least part of the first housing is located in the fixing groove, and the outer wall of the first housing abuts against the inner wall of the fixing groove.

[0018] In some embodiments, the puncture tube is connected to a side of the support portion facing away from the guide assembly, and the puncture tube is located outside the first shell.

[0019] In a second aspect, the present application also provides a surgical robot, comprising a master hand device and the above-mentioned slave hand device, wherein the master hand device is connected to the slave hand device.

[0020] The surgical robot proposed in the present application has better operating accuracy and stability due to the application of the above-mentioned slave device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and other purposes, features and advantages of the embodiments of the present application will become more easily understood through the following detailed description with reference to the accompanying drawings. In the accompanying drawings, multiple embodiments of the present application will be described in an exemplary and non-limiting manner, wherein:

[0022] Figure 1A A schematic diagram of a slave device according to an embodiment of the present application;

[0023] Figure 1B A schematic diagram of the internal structure of a telescopic component of a slave hand device according to an embodiment of the present application;

[0024] Figure 1C A schematic diagram of a first housing of a slave device according to an embodiment of the present application;

[0025] Figure 2 This is a schematic diagram of a guide assembly and a limit assembly of a slave device according to an embodiment of the present application;

[0026] Figure 3 A schematic diagram of a guide rail and a guide block of a slave device according to an embodiment of the present application;

[0027] Figure 4 A schematic diagram of the damping rack and the damping gear of the slave device according to an embodiment of the present application;

[0028] Figure 5 A schematic diagram of a position limiting assembly of a slave device according to an embodiment of the present application;

[0029] Figure 6 A schematic diagram of the cooperation between the limiting plate and the limiting portion of the slave device according to an embodiment of the present application;

[0030] Figure 7 A schematic top view of a slave device according to an embodiment of the present application;

[0031] Figure 8 for Figure 7 Schematic diagram of the cross section of AA;

[0032] Figure 9 for Figure 8Schematic diagram of the enlarged view of area B;

[0033] Figure 10 Schematic diagram of the overall structure of the button assembly of the slave device according to an embodiment of the present application;

[0034] Figure 11 Schematic diagram of the guiding part of the slave device according to an embodiment of the present application.

[0035] Reference numerals:

[0036] 100 - Base, 110 - Fixed groove, 111 - First opening, 112 - Second opening, 120 - Positioning groove,

[0037] 200 - Guiding assembly, 210 - Guide rail, 220 - Damping rack, 221 - Fixed hole, 230 - Elastic member, 240 - Second housing,

[0038] 300 - Telescopic assembly, 310 - First housing, 311 - First sub - housing part, 312 - Second sub - housing part, 320 - Support part, 321 - First support section, 322 - Second support section, 330 - Guide block, 340 - Damping gear, 350 - Limiting part, 360 - Positioning post, 361 - First cylinder, 362 - Second cylinder,

[0039] 400 - Limiting assembly, 410 - Limiting plate, 411 - Limiting groove, 420 - Substrate, 421 - Positioning hole, 430 - Driving part, 431 - Driver, 432 - Traction rope,

[0040] 500 - Button assembly, 510 - Micro - switch, 520 - Pressing part, 530 - Elastic restoring part, 540 - Switch base, 541 - Guide hole, 550 - Guiding part, 551 - Limiting protrusion, 560 - Limiting post, 570 - Limiting bottom plate,

[0041] 600 - Puncture cylinder. Detailed implementation manners

[0042] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the drawings, in which the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application, and should not be construed as a limitation to the present application.

[0043] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application 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 on the present application.

[0044] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0045] In the present application, unless otherwise clearly specified and limited, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0046] In the present application, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0047] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0048] The end of a single-port minimally invasive surgical robot generally consists of a robotic arm, a trocar, and surgical instruments. The trocar provides an instrument channel for minimally invasive surgery and is fixed at the end of the robotic arm. The robotic arm at the end has a telescopic function, so that this section of the robotic arm can be manually / automatically extended when needed. And when not needed, this section of the robotic arm can be retracted, which is beneficial for hospital storage and transportation. At the same time, this telescopic function is also beneficial for the installation of the sterile cover during preoperative preparation.

[0049] Currently, the structure of surgical robots is relatively complex and assembled from a huge number of components. Currently, each part needs to be assembled separately, resulting in a complex preparation and assembly process for surgical robots.

[0050] In the slave hand device proposed in this application, the guiding component is connected to the base, and the telescopic component is connected to the guiding component, so that both the telescopic component and the guiding component can be fixedly installed. The supporting part of the telescopic component is arranged in the first housing, and the supporting part supports the first housing, so that the overall telescopic component has better structural strength. The supporting part is connected to the guiding component, so that the connection stability and reliability between the telescopic component and the guiding component are better. One end of the telescopic component facing away from the guiding component can be connected to the puncture cylinder. The supporting part moves relative to the guiding component in the telescopic direction, so that the puncture cylinder arranged on the telescopic component can also move in the telescopic direction, so that the puncture cylinder can be conveniently adjusted to a specified position. The supporting part is reliably connected to the guiding component, so that the puncture cylinder can remain stable during the movement to the specified position, and the movement effect is accurate.

[0051] The following will describe in detail the slave hand device and surgical robot provided in this application with reference to specific embodiments.

[0052] An embodiment of this application proposes a slave hand device, refer to Figures 1A to 2 As shown, it includes a base 100, a guiding component 200, a telescopic component 300, and a puncture cylinder 600. This slave hand device can be applied to surgical robots.

[0053] Among them, the base 100 is the basic component of the slave hand device of the present application. The base 100 can provide an installation basis for at least some other components of the slave hand device and serve the purpose of protecting at least some other components. The base 100 can be prepared from a metal material, so that the base 100 has better structural strength, thereby making the durability and reliability of the base 100 better. Of course, the base 100 can also be prepared from a polymer material, so that while having a certain structural strength, the base 100 has a relatively light weight.

[0054] The guiding assembly 200 is rotatably connected to the base 100, so that the base 100 can support the guiding assembly 200 to enable the guiding assembly 200 to be fixedly installed. One end of the telescopic assembly 300 is movably connected to the guiding assembly 200, so that the telescopic assembly 300 can be fixed to the base 100 through the guiding assembly 200, so that the telescopic assembly 300 can also be fixedly installed. The other end of the telescopic assembly 300 can be used to connect to the puncture cylinder 600. Specifically, the puncture cylinder 600 can be a puncture device. Of course, the puncture cylinder 600 can also be other types of instrument parts. In this regard, the present application does not make any restrictions. The telescopic assembly 300 is configured to be driven to reciprocate relative to the guiding assembly 200 in the telescopic direction. Thus, the puncture cylinder 600 connected to the telescopic assembly 300 can also reciprocate in the telescopic direction, so that the position of the puncture cylinder 600 can be adjusted to a specified position. Specifically, the specified position can be the diseased part of the patient during the operation. When there are multiple diseased parts, the telescopic assembly 300 can reciprocate in the telescopic direction as needed multiple times, so that the puncture cylinder 600 can be moved to multiple diseased parts respectively.

[0055] The guiding assembly 200 is configured to guide the telescopic assembly 300 in the telescopic direction. Specifically, the guiding assembly 200 can limit the moving direction of the telescopic assembly 300, so that the telescopic assembly 300 can only move in the telescopic direction relative to the guiding assembly 200. This can prevent the telescopic assembly 300 from deviating from the telescopic direction during the movement, and further avoid the puncture cylinder 600 connected to the telescopic assembly 300 from being unable to reach the specified position. Thus, when the telescopic assembly 300 moves relative to the guiding assembly 200, the puncture cylinder 600 can accurately reach the specified position.

[0056] The telescopic assembly 300 of the present application may specifically include a support portion 320 and a first housing 310. The support portion 320 is disposed within the first housing 310 and is connected to the first housing 310. In this way, the support portion 320 can serve to support the inner wall of the first housing 310 within the first housing 310, thereby enabling the telescopic assembly 300 to have better structural strength. One end of the support portion 320 can extend out of the first housing 310, and one end of the support portion 320 can be movably connected to the guiding assembly 200. In this way, the support portion 320 can reciprocate relative to the guiding assembly 200 along the telescopic direction, so that the telescopic assembly 300 can reciprocate relative to the guiding assembly 200 along the telescopic direction. The connection between the support portion 320 and the guiding assembly 200 can make the connection reliability between the telescopic assembly 300 and the guiding assembly 200 better, and at the same time can reduce the external force received by the first housing 310, so that the structural strength requirement of the first housing 310 is lower, and the first housing 310 can be prepared from a lighter material to reduce the weight and manufacturing cost of the handling device of the present application.

[0057] One end of the support portion 320 facing away from the guiding assembly 200 can be located within the first housing 310. The puncture cylinder 600 can be connected to the support portion 320 so that the puncture cylinder 600 can be stably and reliably connected to the telescopic assembly 300. Specifically, the puncture cylinder 600 can be connected to the side of the support portion 320 facing away from the guiding assembly 200. In this way, the support portion 320 is stable and reliable during the movement relative to the guiding assembly 200, so that the puncture cylinder 600 can also remain stable and reliable during the movement and can accurately reach the designated position. In addition, the force received by the housing 310 can be further reduced, thereby further reducing the structural strength requirement of the first housing 310, so that the housing 310 can be prepared from a lighter material.

[0058] In some embodiments, referring to Figure 2 and Figure 3 As shown, the base 100 in the present application has a fixing groove 110, and the fixing groove 110 is a through groove structure that penetrates the base 100. After the guiding assembly 200 is connected to the base 100, one end of the support portion 320 of the telescopic assembly 300 can pass through the fixing groove 110 of the base 100 and then be connected to the guiding assembly 200. In this way, the inner wall of the fixing groove 110 of the base 100 can also serve to limit the telescopic assembly 300, so that the telescopic assembly 300 can be better connected to the base 100 through the guiding assembly 200.

[0059] Specifically, the fixing groove 110 has a first opening 111 and a second opening 112. The first opening 111 and the second opening 112 are located on both sides of the base 100. The supporting part 320 of the telescopic assembly 300 can pass through the fixing groove 110 from the first opening 111 and pass out from the second opening 112. There is a gap between the outer wall of the part of the supporting part 320 passing through the fixing groove 110 of the base 100 and the inner wall of the fixing groove 110. Thus, it can be avoided that the supporting part 320 contacts and rubs against the inner wall of the fixing groove 110 when reciprocatingly moving in the telescopic direction, so that the telescopic assembly 300 moves smoothly and the telescopic assembly 300 and the base 100 are prevented from contacting and wearing each other.

[0060] The telescopic direction in this application may specifically include a first direction and a second direction, and the first direction and the second direction are opposite to each other. When the telescopic assembly 300 moves relative to the guiding assembly 200 in the first direction, the end of the telescopic assembly 300 connected to the puncture cylinder 600 can move away from the guiding assembly 200; when the telescopic assembly 300 moves relative to the guiding assembly 200 in the second direction, the end of the telescopic assembly 300 connected to the surgical instrument can move closer to the guiding assembly 200, so that the telescopic assembly 300 can telescopically relative to the guiding assembly 200, and thus the specific position of the puncture cylinder 600 arranged on the telescopic assembly 300 can be controlled.

[0061] In some embodiments, the guiding assembly 200 of this application may be provided to include a guide rail 210 and a second housing 240. The second housing 240 is connected to the base 100, and the guide rail 210 may be arranged in the second housing 240, so that the second housing 240 can serve the purpose of protecting the guide rail 210. One end of the supporting part 320 can pass through the base 100 and extend into the second housing 240 to be connected to the guide rail 210, so that the connection part of the supporting part 320 and the guide rail 210 is inside the second housing 240, for the purpose of protecting the connection part of the supporting part 320 and the guide rail 210 and making the connection reliability between the supporting part 320 and the guide rail 210 better.

[0062] In some embodiments, referring to Figures 3 to 4 As shown, in order to enable the guiding assembly 200 to guide the telescopic assembly 300 in the telescopic direction, the telescopic assembly 300 may be provided to include a guiding block 330. The guide rail 210 is movably connected to the base 100, so that the guide rail 210 can be fixed on the base 100 and the guide rail 210 can rotate relative to the base 100. The guide rail 210 extends along the telescopic direction. The guiding block 330 is specifically connected to the supporting part 320, and the guiding block 330 is cooperatively connected to the guide rail 210, so that the guiding block 330 can move along the extending direction of the guide rail 210, that is, move in the telescopic direction. Thus, the guide rail 210 can guide and limit the guiding block 330 in the telescopic direction, so that the guiding assembly 200 can guide and limit the telescopic assembly 300 in the telescopic direction.

[0063] Specifically, a slotted structure is formed on the guide rail 210, and the guide block 330 can be embedded in the slotted structure on the guide rail 210, so that the guide block 330 can be fixed on the guide rail 210. In this way, the telescopic assembly 300 can be connected to the guiding assembly 200, and thus the telescopic assembly 300 can be fixedly installed.

[0064] In addition, in other embodiments, a groove structure extending along the telescopic direction can be provided on the supporting portion 320 of the telescopic assembly 300 of the present application, and the guiding assembly 200 can be provided with a convex block structure embedded in the groove structure of the supporting portion 320. In this way, the guiding assembly 200 can also guide the telescopic assembly 300 in the telescopic direction.

[0065] In some embodiments, the supporting portion 320 of the present application can be provided to include a first supporting section 321 and a second supporting section 322. The first supporting section 321 is movably connected to the guiding assembly 200, and the second supporting section 322 is connected to a side of the first supporting section 321 away from the guiding assembly 200. The first supporting section 321 and the second supporting section 322 are bent, so that the overall supporting portion 320 can have a bent or curved structure. When the supporting portion 320 moves relative to the guiding assembly 200, the second supporting section 322 can not only generate a displacement in the telescopic direction, but also generate a displacement in other directions intersecting with the telescopic direction. In this way, the displacement effect of the second supporting section 322 can be more abundant, and thus the puncture cylinder 600 connected to the second supporting section 322 can be more easily moved to a specified position.

[0066] In addition, it should also be noted that in order to enable the first housing 310 to be matched and installed with the supporting portion 320, the first housing 310 can also be provided as a curved structure. The first supporting section 321 and the second supporting section 322 can also adopt an integral structure, so that the first supporting section 321 and the second supporting section 322 do not need to be assembled separately, and the supporting portion 320 can have more excellent structural reliability.

[0067] In some embodiments, in order to enable the first housing 310 to be reliably connected and fixed to the supporting portion 320, the telescopic assembly 300 of the present application can also be provided to include a positioning post 360. Among them, the positioning post 360 can be provided on the inner wall of the first housing 310, and the positioning post 360 passes through the supporting portion 320, so that the supporting portion 320 can be fixed to the first housing 310 through the positioning post 360.

[0068] Specifically, a limiting hole for the positioning post 360 to pass through can be formed on the supporting portion 320. One end of the positioning post 360 is connected to the inner wall of the first housing 310, and the other end of the positioning post 360 passes through the limiting hole of the supporting portion 320. The outer wall of the positioning post 360 and the inner wall of the limiting hole are mutually limited, so that the supporting portion 320 and the first housing 310 are reliably connected.

[0069] In some embodiments, with reference to Figures 1A to 1C As shown, the first housing 310 of the present application may specifically include a first sub-housing portion 311 and a second sub-housing portion 312. The first sub-housing portion 311 and the second sub-housing portion 312 are disposed opposite to each other, and the first sub-housing portion 311 and the second sub-housing portion 312 enclose the support portion 320 therein, such that the support portion 320 is located within the first housing 310. The positioning post 360 includes a first post body 361 and a second post body 362. The first post body 361 is disposed on the first sub-housing portion 311, and the second post body 362 is disposed on the second sub-housing portion 312. The first post body 361 and the second post body 362 are disposed opposite to each other. Wherein, the second post body 362 can pass through the support portion 320 and then be docked with the first post body 361. A screw hole may also be formed on the first sub-housing portion 311, and the screw hole extends into the first post body 361 and the second post body 362. By screwing a bolt into the screw hole, the first post body 361 and the second post body 362 can be fixed, so that the positioning post 360 is fixed on the support portion 320, thereby fixing the first sub-housing portion 311 and the second sub-housing portion 312, and further fixing the first housing 310 and the support portion 320.

[0070] In some embodiments, in order to further reliably connect the telescopic assembly 300 and the guiding assembly 200, at least a part of the first housing 310 of the telescopic assembly 300 is located within the fixing groove 110 of the base 100. In this way, the inner wall of the fixing groove 110 can also limit the position of the first housing 310, prevent the first housing 310 from separating from the base 100, and further prevent the telescopic assembly 300 from separating from the base 100, so that the telescopic assembly 300 and the guiding assembly 200 are stably connected.

[0071] Specifically, when the support portion 320 moves relative to the guiding assembly 200, the first housing 310 will also move relative to the guiding assembly 200. Whether the distance between the puncture cylinder 600 and the guiding assembly 200 is the largest or the smallest when the support portion 320 moves relative to the guiding assembly 200, a part of the first housing 310 is always located within the fixing groove 110 of the base 100. In this way, the base 100 can also limit the position of the first housing 310 in other directions intersecting with the telescopic direction, thereby limiting the telescopic assembly 300 and preventing the telescopic assembly 300 from deflecting when moving along the telescopic direction.

[0072] In some embodiments, with reference to Figure 4As shown, the guiding component 200 of the present application may further be provided with a damping rack 220, and the telescopic component 300 may further be provided with a damping gear 340. The damping rack 220 may be fixed to the base 100, and the damping gear 340 may be specifically connected to the supporting portion 320. The damping gear 340 cooperates with the damping rack 220 such that the damping gear 340 can rotate along the extending direction of the damping rack 220. Among them, the damping rack 220 may be arranged to extend along the telescopic direction. Correspondingly, the damping gear 340 moves relative to the damping rack 220 along the telescopic direction. In this way, when the telescopic component 300 moves reciprocally along the telescopic direction as a whole, the damping gear 340 can also move reciprocally relative to the damping rack 220 along the telescopic direction.

[0073] Damping may be formed between the damping gear 340 and the damping rack 220, such that the damping gear 340 can be relatively fixed to the damping rack 220, thereby enabling the telescopic component 300 to be relatively fixed to the guiding component 200. Specifically, when a force is applied to the telescopic component 300 to move the telescopic component 300 in the first direction, the damping gear 340 can move relative to the damping rack 220 in the first direction. When the force that causes the telescopic component 300 to move in the first direction is no longer applied, due to the damping between the damping gear 340 and the damping rack 220, the damping gear 340 and the damping rack 220 can be relatively stationary, thereby enabling the telescopic component 300 and the guiding component 200 to be relatively stationary. In this way, it is possible to prevent the telescopic component 300 from telescoping by itself without external force, so that the telescopic component 300 can remain stable.

[0074] When a force is applied to the telescopic component 300 to move the telescopic component 300 in the second direction, the damping gear 340 can move relative to the damping rack 220 in the second direction. When the force that causes the telescopic component 300 to move in the second direction is no longer applied, due to the damping between the damping gear 340 and the damping rack 220, the damping gear 340 and the damping rack 220 can be relatively stationary, thereby enabling the telescopic component 300 and the guiding component 200 to be relatively stationary. In this way, it is possible to prevent the telescopic component 300 from telescoping by itself without external force, so that the telescopic component 300 can remain stable.

[0075] When a doctor actually uses the slave hand device of the present application, after applying a force to the telescopic component 300 to make the puncture cylinder 600 on the telescopic component 300 reach the designated position, if the doctor releases the telescopic component 300 and the puncture cylinder 600, the puncture cylinder 600 can maintain its current position.

[0076] In some embodiments, the slave hand device of the present application may further be provided with a limiting component 400. The limiting component 400 may be disposed on the base 100 and is located inside the housing 600. The limiting component 400 is configured to limit the telescopic component 300 in the telescopic direction, thereby preventing the telescopic component 300 from moving excessively in the telescopic direction.

[0077] By disposing the limiting component 400 on the base 100, the limiting component 400 can be fixedly installed. In this way, when assembling the slave hand device of the present application, the guiding component 200, the telescopic component 300, and the limiting component 400 can be respectively assembled first, and then the guiding component 200 and the limiting component 400 are respectively assembled on the base 100, and finally the telescopic component 300 is assembled with the guiding component 200. This can make the modularity of the slave hand device of the present application higher, the assembly simpler and more convenient, and easier for later maintenance.

[0078] The guiding component 200 is rotatably connected to the base 100, which enables the angle between the guiding component 200 and the base 100 to be adjustable. Specifically, the extending direction of the guiding component 200 can be adjusted. The telescopic component 300 is connected to the guiding component 200, so that when the guiding component 200 rotates relative to the base 100, the telescopic component 300 can also rotate relative to the base 100. Thus, the angle between the telescopic component 300 and the base 100 can be adjusted, and the extending direction of the telescopic component 300 can also be adjusted. When the telescopic component 300 rotates with the guiding component 200, the orientation of the end of the telescopic component 300 for connecting with the puncture cylinder 600 can be changed. In this way, when the slave hand device cannot be installed in place with the puncture cylinder 600 due to assembly accuracy and manufacturing accuracy, the guiding component 200 can be rotated to adjust the orientation of the end of the telescopic component 300 for connecting with the puncture cylinder 600 to an angle that can be directly installed with the puncture cylinder 600. In this way, it is not necessary to rework the slave hand device, which can improve the assembly efficiency of the slave hand device of the present application and can also improve the surgical efficiency.

[0079] In some embodiments, referring to Figure 4 As shown, in order to enable the guiding component 200 of the present application to be rotatably connected to the base 100, a damping rack 220 may be rotatably connected to the base 100, so that the damping rack 220 can rotate relative to the base 100. The guide rail 210 may be disposed on the damping rack 220, so that the guide rail 210 can rotate relative to the base 100 with the damping rack 220. Since the telescopic component 300 is connected to the guide rail 210 through a guide block 330, rotating the damping rack 220 can drive the telescopic component 300 to rotate. In this way, it is not necessary to rotatably connect the damping rack 220 and the guide rail 210 to the base 100 respectively, thereby simplifying the structure of the slave hand device of the present application.

[0080] Specifically, the damping rack 220 can be rotatably connected to the outer wall of the base 100, so that the damping rack 220 does not occupy the space in the fixing groove 110 of the base 100, enabling the inner wall of the fixing groove 110 to be closer to the first housing 310 of the telescopic assembly 300, making the structure of the base 100 more compact.

[0081] In some embodiments, referring to Figure 4 As shown, in order to rotatably connect the damping rack 220 of the present application to the base 100, the guiding assembly 200 may further be provided with a fixing member. A fixing hole 221 may be formed on the damping rack 220. The fixing hole 221 on the damping rack 220 is a bent hole structure, and the fixing hole 221 extends along the rotatable direction of the damping rack 220. The fixing member passes through the fixing hole 221 of the damping rack 220 and is fixed to the base 100, thereby fixing the damping rack 220 to the base 100.

[0082] Among them, when the fixing member is pre-fixed to the damping rack 220 and the base 100, the damping rack 220 can be rotated by applying a force to the damping rack 220. Specifically, the fixing hole 221 may be an annular hole, and the damping rack 220 can rotate around the fixing member and can rotate up to the fixing member abuts against the opposite inner walls of the fixing hole 221. After the damping rack 220 rotates in place, the fixing member can be fastened to the damping rack 220 and the base 100, so that the damping rack 220 can be relatively fixed to fix the telescopic angle in the telescopic direction.

[0083] The number of fixing holes 221 on the damping rack 220 can also be set to multiple. The connection lines of the multiple fixing holes 221 can form a ring. Correspondingly, the number of fixing members can be set to multiple. The multiple fixing members can respectively pass through the multiple fixing holes 221 and be fixed to the base 100, making the fixed connection effect between the damping rack 220 and the base 100 more stable and reliable. Other openings may also be provided on the damping rack 220, and the opening is surrounded by multiple fixing holes 221. A fixing member connected to the base 100 can also be passed through the opening, making the connection effect between the damping rack 220 and the base 100 more reliable.

[0084] In some embodiments, referring to Figure 3 As shown, the guiding assembly 200 of the present application may further be provided with an elastic member 230. One end of the elastic member 230 is connected to the damping rack 220, and the other end of the elastic member 230 is connected to the telescopic assembly 300. After the end of the telescopic assembly 300 away from the guiding assembly 200 moves away from the guiding assembly 200, the elastic member 230 can be deformed, so that the elastic member 230 generates a restoring deformation force. In this way, the elastic member 230 can drive the end of the telescopic assembly 300 away from the guiding assembly 200 to move towards the guiding assembly 200.

[0085] Specifically, when a force is applied to the telescopic component 300 to move the telescopic component 300 in the first direction, the distance between the puncture cylinder 600 provided on the telescopic component 300 and the guiding component 200 increases, and the elastic member 230 can be stretched, so that the elastic member 230 generates a restoring deformation force. When a force is applied to the telescopic component 300 to move the telescopic component 300 in the second direction, the elastic member 230 can restore its deformation, and the restoring deformation force of the elastic member 230 can assist the telescopic component 300 to move in the second direction, so that a relatively small force applied to the telescopic component 300 can make the telescopic component 300 move in the second direction, and further make the telescopic component 300 contract more quickly.

[0086] In some embodiments, referring to Figure 3 As shown, the elastic member 230 in the present application may specifically adopt a coil spring. One end of the coil spring can be connected to the damping rack 220, and the other end of the coil spring can be connected to the support portion 320 of the telescopic component 300, so that the elastic member 230 can be connected to the guiding component 200 and the telescopic component 300. Specifically, a rotating shaft can be provided on the damping rack 220, one end of the coil spring can be connected to the rotating shaft, and the coil spring can be sleeved on the rotating shaft.

[0087] Adopting a coil spring for the elastic member 230 can make the elastic force of the elastic member 230 relatively larger, so that the telescopic can contract more efficiently. Adopting a coil spring for the elastic member 230 can also make the volume of the elastic member 230 more compact when in the natural state, occupying less space, so that the elastic member 230 can be more conveniently connected to the damping rack 220 and the guiding component 200.

[0088] In addition, in other embodiments, the elastic member 230 can also adopt a telescopic spring structure, and the number of the elastic members 230 can also be set to be multiple, and multiple elastic members 230 can all be connected to the damping rack 220 and the telescopic component 300.

[0089] In some embodiments, referring to Figure 5 As shown, the limiting component 400 of the present application can be connected to the outer wall of the base 100, so that the limiting component 400 does not occupy the space inside the fixing groove 110 of the base 100, and the inner wall of the fixing groove 110 can be closer to the first housing 310 of the telescopic component 300, so that the structure of the base 100 is more compact.

[0090] In some embodiments, when the telescopic component 300 of the present application moves in the first direction until the distance between the end of the telescopic component 300 far from the guiding component 200 and the guiding component 200 is the largest, the limiting component 400 limits the telescopic component 300, so that the telescopic component 300 can no longer move in the telescopic direction, and thus the state of the telescopic component 300 can be fixed.

[0091] Specifically, one end of the telescopic assembly 300 away from the guiding assembly 200 can be connected to the puncture cylinder 600. When the telescopic assembly 300 moves to the position where the distance between the puncture cylinder 600 and the guiding assembly 200 is the largest and the telescopic assembly 300 reaches its maximum extension degree, the telescopic assembly 300 can be maintained at the maximum extension degree through the limiting assembly 400, which is convenient for the doctor to precisely operate the puncture cylinder 600 on the telescopic assembly 300.

[0092] In some embodiments, referring to Figure 5 and Figure 6 As shown, in order to enable the limiting assembly 400 to limit the telescopic assembly 300 in the telescopic direction, the limiting assembly 400 can be provided to include a limiting plate 410, and the telescopic assembly 300 can also include a limiting portion 350. Among them, the limiting plate 410 is movably arranged on the base 100, and the limiting plate 410 can move relative to the base 100. The limiting portion 350 is arranged on the supporting portion 320 of the telescopic assembly 300, so that the limiting portion 350 can reciprocate along the telescopic direction with the supporting portion 320. The limiting plate 410 is provided with a limiting groove 411, and the groove size of the limiting groove 411 matches the outer dimension of the limiting portion 350. When the telescopic assembly 300 moves in the first direction to the position where the distance between its end away from the guiding assembly 200 and the guiding assembly 200 is the largest, the driving plate can be driven to move towards the limiting portion 350, so that the limiting portion 350 is embedded in the limiting groove 411, and the inner wall of the limiting groove 411 can serve the purpose of limiting the limiting portion 350, thereby fixing the limiting portion 350 in the limiting groove 411. Thus, the limiting portion 350 can be relatively fixed to the limiting plate 410, and the limiting portion 350 can no longer move, so that the telescopic assembly 300 can no longer move in the telescopic direction.

[0093] When the limiting portion 350 is embedded in the limiting groove 411 of the limiting plate 410, the limiting plate 410 can also be driven to move away from the limiting portion 350, so that the limiting portion 350 can be disengaged from the limiting groove 411 of the limiting plate 410. In this way, the limiting plate 410 and the limiting portion 350 no longer limit each other, and the limiting portion 350 can move freely in the telescopic direction, so that the telescopic assembly 300 can also move freely in the telescopic direction.

[0094] In some embodiments, referring to Figure 5 and Figure 6As shown, in order to make the limiting component 400 of the present application more conveniently connected to the base 100, the limiting component 400 may further be provided with a substrate 420, and the substrate 420 is fixed to the base 100 in a detachable manner. The limiting plate 410 is movably connected to the substrate 420, so that the limiting plate 410 can move relative to the base 100 through the substrate 420. Specifically, one end of the substrate 420 is connected to the base 100, and the other end of the base 100 extends along the direction away from the first opening 111 of the fixing groove 110 of the base 100. The limiting plate 410 is arranged on the substrate 420 and on the side of the base 100 facing away from the first opening 111, so that the structural arrangement of the limiting component 400 is more reasonable.

[0095] In some embodiments, the limiting plate 410 of the present application is specifically connected to the substrate 420 in a rotatable manner, so that the limiting plate 410 can rotate relative to the substrate 420. Specifically, the limiting plate 410 can rotate towards the limiting portion 350, so that the limiting groove 411 of the limiting portion 350 approaches the limiting portion 350, and finally the limiting portion 350 is embedded in the limiting groove 411. The limiting plate 410 can also rotate away from the limiting portion 350, so that the limiting portion 350 disengages from the limiting groove 411. By rotatably connecting the limiting plate 410 and the substrate 420, the movement range of the limiting plate 410 relative to the substrate 420 is relatively small when the limiting plate 410 moves relative to the substrate 420, so that the structure of the slave hand device of the present application is relatively compact in each state.

[0096] In some embodiments, the substrate 420 of the present application is movably connected to the base 100, and the substrate 420 is configured to move relative to the base 100 along the telescopic direction, so as to adjust the relative position between the substrate 420 and the base 100. In this way, the limiting plate 410 arranged on the substrate 420 can also move along the telescopic direction. When the limiting plate 410 moves relative to the substrate 420 along the telescopic direction, the limiting groove 411 on the limiting plate 410 can also move along the telescopic direction, so that the position of the limiting groove 411 in the telescopic direction can be adjusted. In this way, when the limiting portion 350 moves to different positions along the telescopic direction with the support portion 320, the limiting portion 350 can be in limiting cooperation with the limiting groove 411 of the limiting plate 410 to fix the support portion 320, so that the relative fixed position between the end of the telescopic component 300 away from the guiding component 200 and the guiding component 200 can be adjusted.

[0097] Specifically, when the substrate 420 is adjusted to move in the first direction, the limiting plate 410 can also be moved in the first direction, so that the distance between the limiting plate 410 and the base 100 can be increased. Correspondingly, when the limiting portion 350 moves with the support portion 320 to approach the limiting plate 410, and the limiting plate 410 can be rotated to make the limiting portion 350 embedded in the limiting groove 411, the distance between the limiting portion 350 and the base 100 is also relatively larger, so that the maximum extension length of the telescopic component 300 away from the guiding component 200 can be reduced.

[0098] After the adjustment substrate 420 moves along the second direction, the limiting plate 410 can also move along the second direction, so that the distance between the limiting plate 410 and the base 100 is reduced. Correspondingly, the limiting part 350 moves with the supporting part 320 to approach the limiting plate 410. When the limiting plate 410 can be rotated to make the limiting part 350 embedded in the limiting groove 411, the distance between the limiting part 350 and the base 100 is also relatively smaller, so that the maximum extension length of the telescopic assembly 300 away from the guiding assembly 200 can be increased.

[0099] In some embodiments, referring to Figure 5 As shown, in order to enable the substrate 420 of the present application to move relative to the base 100 in the telescopic direction, the limiting assembly 400 may further be provided with a positioning member. A positioning hole 421 may be formed on the substrate 420. The positioning hole 421 on the substrate 420 is a slot structure, and the positioning hole 421 extends along the telescopic direction. The positioning member passes through the positioning hole 421 of the substrate 420 and is fixed to the base 100, so that the substrate 420 can be fixed to the base 100.

[0100] Among them, when the positioning member is pre-fixed on the substrate 420 and the base 100, the substrate 420 can be made to move along the telescopic direction by applying a force to the substrate 420. Specifically, the positioning hole 421 may be an oval hole, and the substrate 420 can move relative to the positioning member and can move at most until the positioning member abuts against the opposite inner walls of the positioning hole 421. After the substrate 420 moves into place, the positioning member can be fastened to the substrate 420 and the base 100, so that the substrate 420 and the base 100 can be relatively fixed to fix the position of the substrate 420 in the telescopic direction.

[0101] The number of the positioning holes 421 on the substrate 420 may also be set to be multiple. Correspondingly, the number of the positioning members may be set to be multiple. The multiple positioning members can respectively pass through the multiple positioning holes 421 and be fixed to the base 100, so that the fixed connection effect between the substrate 420 and the base 100 is more stable and reliable. Other openings may also be formed on the substrate 420, and the opening is surrounded by the multiple positioning holes 421. A positioning member connected to the base 100 can also be passed through the opening, so that the connection effect between the substrate 420 and the base 100 is more reliable.

[0102] In some embodiments, referring to Figure 6As shown, in order to conveniently adjust the relative position between the substrate 420 and the base 100, a positioning groove 120 may be provided on the outer wall of the base 100. One end of the substrate 420 may be embedded in the positioning groove 120. The positioning groove 120 has a notch, and the orientation of the notch of the positioning groove 120 is the same as the telescopic direction. In this way, the substrate 420 can move into the positioning groove 120 from the notch of the positioning groove 120 or move away from the positioning groove 120, so that the substrate 420 can move in the telescopic direction.

[0103] Specifically, the orientation of the notch of the positioning groove 120 is the second direction, the notch of the positioning groove 120 is flush with the second opening 112 of the base 100, and the inner wall of the positioning groove 120 can serve to limit the substrate 420, so that the substrate 420 can only move in the telescopic direction, thereby conveniently adjusting the position of the substrate 420.

[0104] In some embodiments, referring to Figure 5 and Figure 6 As shown, the limiting component 400 of the present application may further be provided with a driving part 430 and an elastic part. Among them, the driving part 430 is arranged on the substrate 420, and the driving part 430 is connected to the limiting plate 410. The driving part 430 can drive the limiting plate 410 to rotate away from the limiting part 350, so that the limiting part 350 can disengage from the limiting groove 411 of the limiting plate 410. The elastic part is connected to the limiting plate 410 and the substrate 420. When the driving part 430 drives the limiting plate 410 to rotate away from the limiting part 350, the elastic part can be compressed and deformed by the limiting plate 410, so that the elastic part has an elastic restoring force. When the driving part 430 no longer applies a force to drive the limiting plate 410 to rotate away from the limiting part 350, the limiting plate 410 can rotate towards the limiting part 350 under the action of the elastic restoring force of the elastic part, so that the limiting part 350 can be embedded in the limiting groove 411 of the limiting plate 410, thereby making the limiting part 350 and the limiting plate 410 relatively fixed.

[0105] In some embodiments, referring to Figure 5 and Figure 6As shown, the driving part 430 of the present application may specifically include a driver 431 and a traction rope 432. Among them, the driver 431 is arranged on the substrate 420, and the driver 431 may be a motor. One end of the traction rope 432 is connected to the output end of the driver 431, and the other end of the traction rope 432 may be connected to the limiting plate 410. The driver 431 is located on the side of the limiting plate 410 facing away from the limiting part 350. When the output end of the driver 431 rotates, the limiting plate 410 can be pulled by the traction rope 432 to move in a direction away from the limiting part 350 and compress the elastic part. At this time, part of the traction rope 432 can be bundled and wound around the output end of the driver 431. When the driver 431 is powered off and closed, the restoring deformation force of the elastic part can push the limiting plate 410 towards the limiting part 350, so that the traction rope 432 wound around the output end of the driver 431 is released.

[0106] In some embodiments, referring to Figure 2 、 Figure 7 and Figure 8 As shown, the slave hand device of the present application may further be provided with a button assembly 500. The button assembly 500 may be arranged on the support part 320 of the telescopic assembly 300. The button assembly 500 may be electrically connected to other components of the surgical robot to electrically control other components of the surgical robot.

[0107] The support part 320 is the main structure of the telescopic assembly 300. The support part 320 makes the telescopic assembly 300 have better structural strength as a whole. By arranging the button assembly 500 on the support part 320, the button assembly 500 can be arranged on the telescopic assembly 300 more stably and reliably.

[0108] In some embodiments, referring to Figure 8 and Figure 9 As shown, the button assembly 500 of the present application may include a micro switch 510, a pressing part 520 and an elastic restoring part 530. Among them, the micro switch 510 may be arranged on the support part 320. The pressing part 520 is movably connected to the support part 320 and is opposite to the micro switch 510. The pressing part 520 is configured to move towards or away from the micro switch 510. When the pressing part 520 moves towards the micro switch 510, the distance between the pressing part 520 and the micro switch 510 can be reduced until the pressing part 520 contacts and presses on the micro switch 510, so that the micro switch 510 can be turned on. When the pressing part 520 moves away from the micro switch 510, the distance between the pressing part 520 and the micro switch 510 can be increased until the pressing part 520 is separated from the micro switch 510, so that the pressing part 520 no longer exerts pressure on the micro switch 510, and the micro switch 510 can be turned off.

[0109] Specifically, the pressing portion 520 has a pressing surface opposite to the microswitch 510. When the pressing portion 520 moves towards the microswitch 510, the pressing surface can move to contact and press against the microswitch 510. When the pressing portion 520 moves away from the microswitch 510, the pressing surface can be separated from the microswitch 510 and the distance therebetween increases.

[0110] The elastic restoring portion 530 is disposed between the supporting portion 320 and the pressing portion 520, such that the elastic restoring portion 530 is connected to the supporting portion 320 and the pressing portion 520. When the user presses the pressing portion 520 to move the pressing portion 520 towards the microswitch 510, the elastic restoring portion 530 can be compressed, such that the elastic restoring portion 530 generates an elastic restoring force. When the user no longer presses the pressing portion 520, the pressing portion 520 can move away from the microswitch 510 under the action of the elastic restoring force of the elastic restoring portion 530.

[0111] In some embodiments, referring to Figure 8 and Figure 9 as shown, the button assembly 500 of the present application may further be provided with a switch base 540. The switch base 540 is disposed on the supporting portion 320, and the switch base 540 and the supporting portion 320 can be connected in a detachable manner. The microswitch 510 is disposed on the switch base 540, the pressing portion 520 is movably connected to the switch base 540, and one end of the elastic restoring portion 530 facing away from the pressing portion 520 can abut against the switch base 540.

[0112] When assembling the button assembly 500 of the present application, the microswitch 510, the elastic member 230 and the pressing portion 520 can be first assembled on the switch base 540, and then the switch base 540 can be assembled on the supporting portion 320, so that the slave hand device of the present application can be modularly installed, reducing the preparation and assembly difficulty of the slave hand device.

[0113] In some embodiments, referring to Figure 8 and Figure 9 as shown, in order to fix the microswitch 510 on the switch base 540, the microswitch 510 can be snap-fitted on the switch base 540. Specifically, a switch mounting plate can be provided on the switch base 540. The switch mounting plate is detachably connected to the switch base 540. The switch mounting plate is provided with a mounting hole, and the microswitch 510 is snap-fitted in the mounting hole of the switch mounting plate.

[0114] In some embodiments, referring to Figure 8 and Figure 9As shown, the switch assembly of the present application may further be provided with a guiding portion 550. The guiding portion 550 is connected to the pressing portion 520, and the guiding portion 550 is also movably connected to the switch base 540, so that the pressing portion 520 can be movably connected to the switch base 540 through the guiding portion 550. The guiding portion 550 and the switch base 540 are guidingly engaged with the switch base 540 in the direction towards or away from the microswitch 510. Thus, the guiding portion 550 can only move in the direction towards or away from the microswitch 510, so that the pressing portion 520 connected to the guiding portion 550 can also only move in the direction towards or away from the microswitch 510. This can prevent the pressing portion 520 from being skewed when the user presses the pressing portion 520, so as to ensure that the pressing portion 520 can accurately press on the microswitch 510 to generate an electrical signal for the microswitch 510.

[0115] In some embodiments, referring to Figure 8 and Figure 9 as shown, in order to enable the guiding portion 550 to be guidingly engaged with the switch base 540, the switch base 540 may be provided with a guiding hole 541. The axial direction of the guiding hole 541 is the same as the direction in which the pressing portion 520 faces towards or away from the microswitch 510. The switch base 540 sleevs at least a part of the guiding portion 550 in the guiding hole 541, and the outer wall of the guiding portion 550 contacts the inner wall of the guiding hole 541. The guiding portion 550 can move along the axial direction of the guiding hole 541 in the guiding hole 541, so that the pressing portion 520 connected to the guiding portion 550 can face towards or away from the microswitch 510.

[0116] By sleeving the guiding portion 550 in the switch base 540, the guiding portion 550 can also be fixed in the switch base 540, so that the pressing portion 520 does not need to be additionally provided with a structure for movably connecting to the switch base 540, thereby simplifying the structure of the button assembly 500.

[0117] In some embodiments, referring to Figure 10 and Figure 11 as shown, the guiding portion 550 of the present application has a limiting protrusion 551. The limiting protrusion 551 can be inserted into the switch fixing plate. The limiting protrusion 551 can limit the guiding portion 550 in the circumferential direction of the guiding hole 541, so that the guiding portion 550 will not rotate along the circumferential direction of the guiding hole 541, and thus the pressing portion 520 will not rotate along the circumferential direction of the guiding hole 541, keeping the pressing portion 520 stable. Specifically, the switch base 540 may be provided with an opening that cooperates with the limiting protrusion 551. The axial direction of this opening is the same as the axial direction of the guiding hole 541, and this opening deviates from the center of the guiding hole 541. The inner wall of this opening limits the limiting protrusion 551, making the limiting protrusion 551 unable to rotate, so that the guiding portion 550 and the pressing portion 520 connected to the guiding portion 550 also cannot rotate.

[0118] In some embodiments, referring toFigure 9 and Figure 11 As shown in Figure 11 , the button assembly 500 of the present application may further be provided with a limit post 560. The limit post 560 penetrates through the switch base 540 from the side of the switch base 540 facing away from the guiding portion 550 and is connected to the guiding portion 550. The limit post 560 is in limit cooperation with the side of the switch base 540 facing away from the guiding portion 550, so that the limit post 560 cannot completely move to the side of the switch base 540 facing the guiding portion 550, which can prevent the limit post 560 from detaching from the switch base 540. Thus, the guiding portion 550 connected to the limit post 560 cannot detach from the switch base 540 either, further avoiding the detachment of the pressing portion 520 and the elastic restoring portion 530 from the switch base 540, making the pressing assembly structure of the present application complete and stable.

[0119] Specifically, an opening for the limit post 560 to penetrate through may be formed on the switch base 540. The outer diameter of the end of the limit post 560 away from the guiding portion 550 may be set as the inner diameter of the above-mentioned opening, so that the whole limit post 560 cannot pass through the switch base 540, enabling the limit post 560 to be in limit cooperation with the switch base 540. The limit post 560 and the guiding portion 550 may be fixed by means of threaded connection.

[0120] The button assembly 500 of the present application may further be provided with a limit bottom plate 570. The limit bottom plate 570 is arranged on the side of the switch base 540 facing away from the guiding portion 550, and the limit post 560 passes through the limit bottom plate 570 and then through the switch base 540.

[0121] Based on the above-mentioned slave hand device, an embodiment of the present application further provides a surgical robot, including a master hand device and the above-mentioned slave hand device, and the master hand device is connected to the slave hand device. Among them, the button assembly 500 may be electrically connected to the master hand device.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A hand-held device, characterized in that, include: Base (100); A guide assembly (200) connected to the base (100); A telescopic assembly (300) comprises a first shell (310) and a support portion (320), wherein one end of the first shell (310) is connected to the base (100), the support portion (320) is arranged in the first shell (310), and the support portion (320) is supported on the inner wall of the first shell (310), one end of the support portion (320) extends out of the first shell (310) and is movably connected to the guide assembly (200), the telescopic assembly (300) is configured to be driven to reciprocate relative to the guide assembly (200) in a telescopic direction, and the guide assembly (200) is configured to guide the telescopic assembly (300) in the telescopic direction; The puncture tube (600) is connected to a side of the telescopic assembly (300) that is away from the guide assembly (200).

2. The slave device according to claim 1, characterized in that, The base (100) has a fixing groove (110), and one end of the support portion (320) passes through the fixing groove (110) and is connected to the guide assembly (200).

3. The slave device according to claim 2, wherein The guide assembly (200) comprises a second shell (240) and a guide rail (210); one end of the second shell (240) is connected to a side of the base (100) facing away from the first shell (310); the guide rail (210) is located in the second shell (240); one end of the support portion (320) extends into the second shell (240) and is movably connected to the guide rail (210).

4. The slave device according to claim 1, characterized in that, The support portion (320) includes a first support segment (321) and a second support segment (322), the first support segment (321) is connected to the guide assembly (200), the second support segment (322) is connected to a side of the first support segment (321) that is away from the guide assembly (200), the first support segment (321) and the second support segment (322) are bent, and the first shell (310) is bent along the direction from the first support segment (321) to the second support segment (322).

5. The slave device according to claim 4, characterized in that The first supporting section (321) and the second supporting section (322) are an integral structure.

6. The slave device according to claim 4, characterized in that The inner wall of the first shell (310) is provided with a positioning column (360), and the positioning column (360) is penetrated by the supporting portion (320).

7. The slave device according to claim 6, characterized in that, The first shell (310) includes a first sub-shell portion (311) and a second sub-shell portion (312) that are opposite to each other. The positioning column (360) includes a first column body (361) and a second column body (362). The first column body (361) is arranged on the first sub-shell portion (311), and the second column body (362) is arranged on the second sub-shell portion (312). The second column body (362) passes through the support portion (320) and is detachably connected to the first column body (361).

8. The slave device according to claim 2, characterized in that, At least a portion of the first shell (310) is located in the fixing groove (110), and an outer wall of the first shell (310) abuts against an inner wall of the fixing groove (110).

9. The slave device according to any one of claims 1-8, characterized in that, The puncture tube (600) is connected to a side of the support portion (320) that is away from the guide assembly (200), and the puncture tube (600) is located outside the first shell (310).

10. A surgical robot, characterized in that, The invention comprises a master hand device and a slave hand device as claimed in any one of claims 1 to 9, wherein the master hand device is connected to the slave hand device.

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