Grip structure and surgical robot

Abstract

The utility model relates to the technical field of surgical robots, and provides a grip structure which comprises a shell, a button and a limiting structure, and the button is movably arranged on the shell. The limiting structure is connected to the shell and is movably adjustable relative to the shell; a part of the button penetrates through the limiting structure, the limiting structure abuts against the button by adjusting the position of the limiting structure, and the abutting force between the limiting structure and the button can be controlled. By arranging the limiting structure, the difficulty of pressing the button is increased, so that the button is not easy to touch when the button is held by a hand, the switch is not easy to touch by mistake, and the feedback effect of the button can be improved.

Description

Technical Field

[0001] This application relates to the field of surgical robot technology, and more particularly to a grip structure and a surgical robot. Background Technology

[0002] In recent years, minimally invasive surgical robot technology has matured and been widely applied. A minimally invasive surgical robot typically includes a master control panel and slave control devices. Surgeons control the slave control devices to perform surgical procedures by operating the master control panel. The slave control devices usually include a robotic arm and a handle structure mounted on the robotic arm. Surgical instruments are mounted on the robotic arm, and the handle structure allows surgeons to adjust the position of the robotic arm to position the surgical instruments and perform the surgical procedure.

[0003] The grip structure has a button that can control the switch for adjusting the position of the robotic arm. The button structure in the related technology does not provide good feedback when pressed. Users are often not clear whether the switch for adjusting the position of the robotic arm has been turned on. In addition, the buttons in the related technology are relatively easy to press, and it is easy to accidentally press the buttons and accidentally touch the switch when holding the grip. Utility Model Content

[0004] This application provides a grip structure and a surgical robot that can adjust the difficulty of pressing buttons, which helps to avoid accidental switch activation and increases the feedback effect when pressing buttons.

[0005] The first aspect of this application provides a grip structure, including a housing, a button, and a limiting structure, wherein the button is movably disposed in the housing. The limiting structure is connected to the housing and is movably adjustable relative to the housing; a portion of the button's structure passes through the limiting structure, and by adjusting the position of the limiting structure, the limiting structure and the button abut against each other, and the abutting force between the limiting structure and the button can be controlled.

[0006] According to the grip structure of the first aspect of this application, by providing a limiting structure on the outer shell, a portion of the button structure can be inserted into the limiting structure, and the position of the limiting structure on the outer shell is adjustable. When the position of the limiting structure relative to the outer shell is adjusted, the part of the button inserted into the limiting structure can abut against the limiting structure. Further adjustment of the position of the limiting structure increases the abutting force between the button and the limiting structure. With a constant coefficient of friction, the greater the abutting force between the button and the limiting structure, the greater the friction between them, making it more difficult to press the button. Consequently, when the hand holds the button, it is less likely to touch the button, reducing the risk of accidental switch activation. Furthermore, when the button is pressed, because the direction of the frictional force between the button and the limiting structure is opposite to the pressing direction, the button provides better feedback, making it easier for the user to perceive whether the button has been pressed.

[0007] In one possible implementation, the limiting structure includes a plug portion having a mating hole extending through it along the button's direction of movement, and the button having a protruding guide that is inserted into the mating hole.

[0008] In this embodiment, by providing a guide and a mating hole, the guide can be inserted into the mating hole. When adjusting the position of the limiting structure, the peripheral wall of the guide can abut against the inner wall of the mating hole. By controlling the abutting force between the guide and the inner wall of the mating hole, the ease with which the guide hole moves within the mating hole can be controlled.

[0009] In one possible implementation, a first elastic element is connected to the guide, the first elastic element being located between the button and the plug.

[0010] In this embodiment of the application, by providing a first elastic element, a rebound force can be provided to the button. When the button is pressed toward the limiting structure, the first elastic element can be squeezed, so that the first elastic element applies a rebound force to the button. When the force driving the button to move disappears, the rebound force of the first elastic element can drive the button to return to its original position.

[0011] In one possible implementation, a mounting component is connected inside the housing, the mounting component has a plug-in hole, the plug-in part is plugged into the plug-in hole, and the limiting structure also includes a fixing part connected to the plug-in part, the fixing part and the mounting component can be loosely or tightly fitted.

[0012] In the embodiments of this application, the movement and fixation of the fixed part relative to the mounting part can be controlled by the tight fit between the fixed part and the mounting part, and the range of motion of the plug-in part can be limited by the fit between the plug-in part and the plug-in hole.

[0013] In one possible implementation, the mounting component is provided with a synchronization structure, which is movably connected to the mounting component. The two ends of the synchronization structure can respectively engage with the two ends of the button in the length direction, so that the two ends of the button in the length direction can move synchronously.

[0014] In this embodiment of the application, by setting a synchronization structure, it is possible to restrict the two ends of the button to move synchronously, thereby avoiding jamming due to asynchronous movement of different parts of the button.

[0015] In one possible implementation, the synchronization structure includes a middle part and connecting parts disposed at both ends of the middle part. The middle part is rotatably connected to the mounting component. The buttons are provided with snap-fit ​​parts at intervals along the length direction. The snap-fit ​​parts are provided with snap-fit ​​slots. The connecting parts can be inserted into the snap-fit ​​slots. The mounting component is provided with clearance holes at positions corresponding to the snap-fit ​​parts.

[0016] In this embodiment of the application, the two connecting parts of the synchronous structure can rotate synchronously with the middle part. By setting a snap-fit ​​component, the connecting part can be inserted into the slot, so that the two snap-fit ​​components can move synchronously with the connecting part, thereby enabling the two ends of the button to move synchronously.

[0017] In one possible implementation, the mounting part has a synchronization groove, the middle part rotates in the synchronization groove, and the synchronization structure also includes a limiting member connected to the mounting part, which restricts the middle part within the synchronization groove.

[0018] In this embodiment of the application, by setting a synchronous groove, the middle part can rotate in the synchronous groove, so that the synchronous structure can be rotated and connected to the mounting part. By setting a limiting member, the middle part can be restricted in the synchronous groove, preventing the middle part from leaving the limiting groove.

[0019] In one possible implementation, the button is further provided with a receiving groove, and a support member is provided on the button within the receiving groove. A second elastic member is provided on the support member, and the two ends of the second elastic member abut against the support member and the mounting member, respectively.

[0020] In this embodiment of the application, by setting a receiving groove, a receiving space can be provided for the setting of the support member, and by setting a second elastic member on the support member, another rebound force can be provided for the button, ensuring that the button can return to its original position after being pressed.

[0021] In one possible implementation, the housing includes a detachably connected first housing and a second housing, the first housing having an assembly slot through which the button passes.

[0022] In this embodiment of the application, by providing an assembly groove, the button can be inserted into the first housing, and the button can move relative to the first housing.

[0023] A second aspect of this application provides a surgical robot, including a body and the aforementioned grip structure. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 An exploded view of a grip structure provided according to some embodiments of this application is shown;

[0026] Figure 2 Exploded views of the limiting structures provided in some embodiments of this application are shown;

[0027] Figure 3 A cross-sectional view of a portion of the grip structure provided in some embodiments of this application is shown;

[0028] Figure 4 A schematic diagram of the mounting structure of the button and synchronization structure provided in some embodiments of this application is shown;

[0029] Figure 5 It shows Figure 1 Enlarged view of point A in the middle;

[0030] Figure 6 An exploded view of a portion of the grip structure provided in some embodiments of this application is shown;

[0031] Figure 7 An exploded view of a robotic arm provided according to some embodiments of this application is shown.

[0032] Figure label:

[0033] 01. Grip structure;

[0034] 10. Outer shell; 11. First housing; 111. Assembly slot; 112. First connector; 113. Second connector; 12. Second housing; 121. Third connector;

[0035] 20. Button; 21. Receiving groove; 22. Guide; 221. First elastic element; 23. Support element; 231. Second elastic element; 25. Snap-fit ​​element; 251. Snap-fit ​​plate; 252. Protrusion; 253. Snap-fit ​​groove; 26. Protruding edge;

[0036] 30. Restriction structure; 31. Insertion part; 311. Mating hole; 32. Fixing part; 33. Fastener;

[0037] 40. Mounting component; 41. Mounting part; 42. Joint; 421. Clearance hole; 422. Insertion hole; 423. Connection hole; 424. Through hole; 425. Synchronization groove;

[0038] 50. Synchronization structure; 51. Connecting part; 52. Intermediate part; 53. Limiting component;

[0039] 60. Sensing structure;

[0040] 02. Main body. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0042] Surgical robots in related technologies require a handgrip structure to adjust the movement of the robotic arm, thereby adjusting the position of surgical instruments on the robotic arm. The handgrip structure in these technologies typically has two functions: first, it allows the user to control the movement of the robotic arm by holding the handle, guiding it to a predetermined position in space; second, the handle structure also contains switches for controlling the movement and fixation of the robotic arm. When the switch is turned on, the motors connecting the robotic arm to the robot body are activated, allowing the handgrip structure to control the movement of the robotic arm. When the switch is turned off, the motors connecting the robotic arm to the robot body are deactivated, and the motors are in a self-locking state, preventing further movement of the robotic arm.

[0043] To facilitate the opening and closing of switches, buttons are typically integrated into the grip structure. Users can hold the button while gripping the grip, and pressing the button turns the switch on. However, in these technologies, the button's movement is often limited to the elastic element within the grip or the switch's own rebound force. This creates a reaction force opposite to the direction of the press, resulting in poor feedback. Users often don't notice whether the button has been pressed, and the force provided by the elastic element or the switch's rebound force is insufficient, making it easy to accidentally press the button while holding it.

[0044] The first aspect of this application provides a grip structure 01, which can be applied to a robotic arm, and the robotic arm can be driven to move by holding the grip structure 01. In one embodiment, please refer to... Figure 1 The grip structure 01 includes a housing 10, a button 20, and a limiting structure 30. The housing 10 serves as the overall structure of the grip structure 01, forming its overall frame. The housing 10 contains cavities for accommodating related components.

[0045] Button 20 is movably connected to housing 10. Button 20 acts as a switch trigger, and driving button 20 can control the opening and closing of the switch. It is worth mentioning that the switch structure can be a push-button switch structure or a switch structure controlled by sensing structure 60 as described below, and is not limited here.

[0046] The limiting structure 30 is connected to and located inside the housing 10. The limiting structure 30 limits the ease of pressing the button 20. For example, a portion of the button 20 can pass through the limiting structure 30. The position of the limiting structure 30 relative to the housing 10 is adjustable. It should be noted that the button 20 is also movable relative to the housing 10, and the position of the limiting structure 30 relative to the housing 10 is also adjustable. The limiting structure 30 can be adjusted along a straight line, a curve, or an irregular path relative to the housing 10, but the adjustable direction of the limiting structure 30 relative to the housing 10 must not be parallel to the direction of movement of the button 20 relative to the housing 10. In this way, when adjusting the position of the limiting structure 30 relative to the housing 10, the portion of the button 20 passing through the limiting structure 30 can come into contact with the limiting structure 30, and further adjustment of the limiting structure 30 increases the friction between the button 20 and the contact point.

[0047] This application provides a limiting structure 30 on the outer casing 10, allowing a portion of the button 20 to pass through it. The position of the limiting structure 30 on the outer casing 10 is adjustable. When the position of the limiting structure 30 relative to the outer casing 10 is adjusted, the portion of the button 20 passing through the limiting structure 30 abuts against it. Further adjustment of the limiting structure 30 increases the contact force between the button 20 and the limiting structure 30. With a constant coefficient of friction, a greater contact force between the button 20 and the limiting structure 30 results in greater friction, making it more difficult to press the button 20. This reduces the likelihood of accidentally activating the switch when the user holds the button 20. Furthermore, because the direction of friction between the button 20 and the limiting structure 30 is opposite to the pressing direction when the button 20 is pressed, the button 20 provides better feedback, making it easier for the user to detect whether the button 20 has been pressed.

[0048] In one possible embodiment, please refer to Figures 1 to 3 The limiting structure 30 includes a plug-in portion 31, which is used to connect with a part of the button 20. For example, the plug-in portion 31 has a mating hole 311 extending through it along the movement direction of the button 20. The end face of the button 20 facing the plug-in portion 31 is provided with a guide member 22, which extends along the movement direction of the button 20 and is inserted into the mating hole 311.

[0049] When button 20 is activated, guide 22 can move along mating hole 311. The limiting structure 30 increases the difficulty of button 20 activation through friction between button 20 and limiting structure 30. Specifically, in this embodiment, when limiting structure 30 is adjusted relative to housing 10, the outer wall of guide 22 can abut against the hole wall of mating hole 311. At this time, the ease of button 20 activation is partly determined by the friction between the outer wall of guide 22 and the hole wall of mating hole 311. The magnitude of friction is determined by the coefficient of friction and the magnitude of pressure. When the coefficient of friction is constant, the greater the force of abutment between the outer wall of guide 22 and the hole wall of mating hole 311, the greater the friction between them.

[0050] It should be noted that the shapes of the guide member 22 and the mating hole 311 are not limited; the shapes of the guide member 22 and the mating hole 311 can be the same or different. In one specific embodiment, the outer shape of the guide member 22 and the shape of the mating hole 311 are the same, and both are cylindrical. By setting the outer shapes of the guide member 22 and the mating hole 311 to be cylindrical, the circumferential contact tendency between the inner walls of the guide member 22 and the mating hole 311 is consistent, adapting to different position adjustment methods of the limiting structure 30.

[0051] In one possible embodiment, to increase the rebound capability of button 20 after being pressed, a first elastic element 221 is connected to guide member 22, and the first elastic element 221 is located between button 20 and insertion part 31. The first elastic element 221 can be a spring or a structure made of other elastic materials such as silicone rubber. When the first elastic element 221 is a spring, it is sleeved on the outer wall of guide member 22. When button 20 is pressed to turn on the switch, the first elastic element 221 can be compressed, causing it to apply an elastic force to button 20. When the external force applied to button 20 is removed, the elastic force of the first elastic element 221 can drive button 20 to return to its original position.

[0052] The limiting structure 30 can be directly connected to the housing 10, or it can be set inside the housing 10 through other components. For example, in one possible embodiment, a mounting member 40 is connected inside the housing 10, and the limiting structure 30 is connected to the mounting member 40. In order to make the position of the limiting structure 30 relative to the housing 10 adjustable, the limiting structure 30 needs to be detachably connected to the mounting member 40, or the limiting structure 30 and the mounting member 40 can be loosely or tightly connected. The limiting structure 30 has multiple mounting positions relative to the mounting member 40, and the limiting structure 30 is located in different positions relative to the housing 10 when it is located in different mounting positions.

[0053] The insertion part 31 can be connected to the mounting member 40. The tightness of the fit between the insertion part 31 and the guide member 22 is achieved through the connection method between the insertion part 31 and the mounting member 40. For example, in this embodiment, the mounting member 40 has an insertion hole 422, and the insertion part 31 is inserted into the insertion hole 422. The diameter of the insertion hole 422 is larger than the circumferential dimension of the insertion part 31. That is, the insertion part 31 can move within the insertion hole 422. When the insertion part 31 moves to different positions within the insertion hole 422, the limiting structure 30 is located in different mounting positions. The diameter of the insertion hole 422 is set to be larger than the circumferential dimension of the insertion part 31, so that the insertion part 31 can move within the insertion hole 422. When the mounting position of the limiting structure 30 on the mounting member 40 is changed, the position of the insertion part 31 within the insertion hole 422 can be changed so that the guide member 22 can abut against the wall of the mating hole 311. Changing the position of the insertion part 31 in the insertion hole 422 can increase the magnitude of the abutment force between the guide member 22 and the wall of the mating hole 311.

[0054] It should be noted that, in order to facilitate the insertion of the plug part 31 into the plug hole 422, a chamfer structure is provided at the end edge of the plug hole 422 to enlarge the size of the end opening of the plug hole 422. Furthermore, a chamfer can also be provided at the end of the plug part 31 to reduce the size of the end of the plug part 31, making it easier for the plug part 31 to be inserted into the plug hole 422.

[0055] In this application, the limiting structure 30 can be adjusted in a direction perpendicular to the moving direction of the button 20. The method of adjusting the position of the limiting structure 30 relative to the mounting part 40 can be determined by setting the connection method between the limiting structure 30 and the mounting part 40. For example, the path for adjusting the position of the limiting structure 30 can be a straight line, a curve, or an irregular path, as long as the friction between the guide 22 and the wall of the mating hole 311 can be increased when adjusting the limiting structure 30.

[0056] In one possible embodiment, please refer to Figures 1 to 3The limiting structure 30 includes a fixing part 32 connected to the insertion part 31. The mounting member 40 has a connecting hole 423. The limiting structure 30 also includes a fixing member 33, which passes through the fixing part 32 and is detachably connected to the connecting hole 423. Specifically, the fixing member 33 is a screw, and the connecting hole 423 is a threaded hole. Because the fixing member 33 passes through the fixing part 32, the fixing part 32 can rotate around the fixing member 33. The fixing member 33 can be screwed into the connecting hole 423. When the screw is tightened, the head of the screw can clamp the fixing part 32 between itself and the mounting member 40, so that the fixing part 32 is fixed relative to the mounting member 40. When the screw is loosened, the fixing part 32 can rotate relative to the screw. By providing a fixing member 33, which can be screwed into the connecting hole 423, tightening the fixing member 33 can restrict the position of the fixing part 32 to remain stationary, and loosening the fixing member 33 can allow the fixing part 32 to rotate. When the fixing part 32 rotates, the insertion part 31 rotates along with it. Therefore, in this embodiment, by providing a fixing member 33, the method of restricting the adjustment of the structure 30 is rotational adjustment.

[0057] It is worth mentioning that in order to ensure the force balance of the button 20, it is necessary to set up a combination of multiple guide members 22 and limiting structures 30. For example, two or three or more guide members 22 are set at intervals on the button 20, and limiting structures 30 are installed on the mounting part 40 at the positions corresponding to the guide members 22.

[0058] In this application, the button 20 is provided with three guide members 22, two of which are respectively located at both ends of the length direction of the button 20, and the third guide member is located at the middle position of the button 20. The three guide members 22 are arranged in an isosceles triangle on the button 20. A limiting structure 30 is provided on the mounting member 40 corresponding to the position of each guide member 22. The three limiting structures 30 are connected to the mounting member 40 in the connection method described above.

[0059] By cooperating with multiple guide members 22 on the button 20 and multiple limiting structures 30 on the mounting member 40, the friction between the insertion part 31 of each guide member 22 and the limiting structure 30 can be adjusted, so that the difficulty of pressing different positions on the button 20 can be balanced, and pressing the button 20 is more stable.

[0060] In one possible embodiment, please refer to Figure 1 , Figures 4 to 6To ensure that the various parts of button 20 move relatively synchronously when pressed, a synchronization structure 50 can be provided on the mounting component 40. The synchronization structure 50 is movably connected to the mounting component 40 and can cooperate with both ends of button 20 along its length. Through the synchronization structure 50, the movement of both ends of button 20 along its length can be relatively synchronized. For example, the synchronization structure 50 is rotatably connected to the mounting component 40, and the button 20 is provided with latching parts 25 at intervals. The latching parts 25 are located at both ends in the opposite direction of the length of button 20, and both ends of the synchronization structure 50 are movably connected to the latching parts 25 respectively.

[0061] It should be noted that although the synchronization structure 50 is movably connected to the latch 25, when the button 20 moves, the latches 25 at both ends of the button 20 can contact the synchronization structure 50. Since the synchronization structure 50 is an integral structure, when the button 20 is pressed and the latches 25 are moved, the latches 25 at both ends of the button 20 can contact the synchronization structure 50 at the same time, thereby making the movement of the two ends of the button 20 relatively synchronized.

[0062] Specifically, the synchronization structure 50 includes a middle portion 52 and connecting portions 51 disposed at both ends of the middle portion 52, with the connecting portions 51 located on the same side of the middle portion 52. The latching member 25 includes a spaced-apart latching plate 251 and a protrusion 252, with a latching groove 253 formed between the latching plate 251 and the protrusion 252, into which the connecting portion 51 can be inserted. When the button 20 moves, the latching member 25 can move accordingly, and the connecting portion 51 can move within the latching groove 253. When one connecting portion 51 of the synchronization structure 50 moves, it can drive the other connecting portion 51 to move via the middle portion 52. Therefore, when one end of the button 20 moves while the other end does not tend to move, the latching member 25 at the moving end can drive the connecting portion 51 connected to it to move. This connecting portion 51 transmits the movement to the other connecting portion 51, which in turn drives the latching member 25 at the other end of the button 20 to move, thereby causing that end of the button 20 to move synchronously.

[0063] In one possible embodiment, the axis of rotation of the synchronization structure 50 is parallel to the length direction of the button 20. A synchronization groove 425 is formed on the mounting member 40 along the axis of rotation of the synchronization structure 50. The intermediate portion 52 can fit into the synchronization groove 425, allowing the intermediate portion 52 to rotate within the synchronization groove 425. To facilitate the rotation of the intermediate portion 52, the intermediate portion 52 is set to a cylindrical shape. The synchronization groove 425 can be set as a groove with a circular cross-section or a groove with a rectangular cross-section.

[0064] To facilitate the placement of the intermediate portion 52 into the synchronization groove 425, the synchronization groove 425 has an opening on the end face of the mounting member 40. To prevent the intermediate portion 52 from detaching from the synchronization groove 425, the synchronization structure 50 also includes a limiting member 53. The limiting member 53 is connected to the mounting member 40 and restricts the intermediate portion 52 within the synchronization groove 425. Specifically, the limiting member 53 can be a screw, which can be screwed onto the mounting member 40, and the edge of the screw head can cover the synchronization groove 425, with the screw head contacting the surface of the intermediate portion 52. By providing the limiting member 53 and setting it as a screw, the screw can be connected to the mounting member 40. When the screw is connected to the mounting member 40, the screw head can partially cover the synchronization groove 425 to prevent the intermediate portion 52 from detaching from the synchronization groove 425. To ensure the stability of the middle part 52 within the synchronization groove 425, multiple limiting members 53 can be provided at intervals along the opening path of the synchronization groove 425 on the mounting part 40. The limiting members 53 can restrict the middle part 52 from leaving the synchronization groove 425 while also serving as a positioning structure to position the middle part 52 within the synchronization groove 425.

[0065] Mounting member 40 is disposed inside housing 10. When button 20 is pressed, it can move toward mounting member 40, and corresponding snap-fit ​​member 25 also moves toward mounting member 40. In order to prevent snap-fit ​​member 25 from jamming against mounting member 40 during movement, a clearance hole 421 is provided on mounting member 40 at the position corresponding to snap-fit ​​member 25. Clearance hole 421 is a through hole provided through mounting member 40. When snap-fit ​​member 25 moves toward mounting member 40 with button 20, snap-fit ​​member 25 can pass through clearance hole 421.

[0066] In one embodiment, please refer to Figure 3 and Figure 4 At least one support member 23 is provided on the end face of the button 20 facing the mounting member 40. A second elastic member 231 is provided on the support member 23, and the two ends of the second elastic member 231 abut against the support member 23 and the mounting member 40 respectively.

[0067] In one possible embodiment, the second elastic element 231 is a spring, and the support member 23 has a groove structure (not shown in the figure) at one end facing the mounting member 40. The second elastic element 231 can be placed in the groove structure, and the external dimensions of the second elastic element 231 are adapted to the shape and dimensions of the groove structure. The second elastic element 231 can provide additional rebound force for the button 20, ensuring that the button 20 can rebound quickly.

[0068] The button 20 has a number of structures, especially the support member 23, guide member 22 and snap-fit ​​member 25, which are all located on the end face of the button 20 facing the mounting member 40. Since the button 20 needs to move towards the mounting member 40, in order to reduce the space occupied by the button 20, a receiving groove 21 is also provided on the end face of the button 20 facing the mounting member 40. The support member 23, guide member 22 and snap-fit ​​member 25 are all located in the receiving groove 21.

[0069] In one exemplary embodiment, please refer to Figure 6 The mounting component 40 is also connected to a sensing structure 60. A through hole 424 is provided on the mounting component 40, and a portion of the sensing structure 60 passes through the through hole 424. The sensing structure 60 on the mounting component 40 can function as a switch structure. For example, the sensing structure 60 can be a sensor. A sensing element is also provided on the button 20, positioned directly opposite the sensing end of the sensing structure 60. When the button 20 moves towards the mounting component 40, the sensing structure 60 can sense the presence of the sensing element. When the sensing element moves to a predetermined position, it can transmit information to the control terminal to control the activation of the corresponding structure. For example, in this application, the grip structure 01 is applied to the robotic arm of a surgical robot. The robotic arm can be connected to the output shaft of a motor. When the motor is off, it is in a self-locking state. When the button 20 is pressed to the predetermined position, the sensing structure 60 transmits information to the control module, which controls the motor to start. Holding the grip structure 01 then drives the robotic arm to move.

[0070] It should be noted that, in one possible embodiment, the mounting component 40 is provided with multiple sensing structures 60, which together control the switch. Through the coordinated action of multiple sensing structures 60, the button 20 can trigger the switch more reliably. When one sensing structure 60 is not sensitive or is damaged, the switch can still be controlled by the remaining sensing structures 60.

[0071] In one embodiment, please refer to Figure 1 and Figure 6 The mounting part 40 includes a connecting part 42 and a mounting part 41. The mounting part 41 is disposed at opposite ends of the connecting part 42. The mounting part 41 can be separately disposed from the connecting part 42. The mounting part 41 can be connected to the connecting part 42 later, or the mounting part 41 and the connecting part 42 can be integrally formed.

[0072] The mounting part 40 is fixedly connected to the housing 10 through the mounting portions 41 at both ends. For example, the housing 10 is provided with first connecting parts 112 at intervals, and the mounting portions 41 can be detachably connected to the first connecting parts 112. Specifically, the first connecting parts 112 can be provided with screw holes, and screws can be passed through the mounting portions 41 to connect the mounting portions 41 to the first connecting parts 112 by means of screws.

[0073] The mating portion 42 provides an installation environment or a mating environment for structures such as the button 20 and the limiting structure 30. For example, clearance holes 421, insertion holes 422, connecting holes 423, through holes 424, and synchronization grooves 425 are all provided on the mating portion 42. Among them, clearance holes 421, insertion holes 422, connecting holes 423, and through holes 424 all penetrate the mating portion 42, and synchronization grooves 425 are formed on the end face of the mating portion 42 facing the button 20.

[0074] In one embodiment, please refer to Figure 1 The outer casing 10 includes a first casing 11 and a second casing 12 that are detachably connected. The first casing 11 and the second casing 12 can be connected by a snap-fit ​​structure, a fastening structure, or screws. In this embodiment, the first casing 11 is provided with a second connector 113, and the second casing 12 is provided with a third connector 121. Both the second connector 113 and the third connector 121 have threaded holes. By connecting to the threaded holes with screws, the second connector 113 and the third connector 121 can be connected together, thereby assembling the first casing 11 and the second casing 12 together.

[0075] A cavity is formed between the first housing 11 and the second housing 12. The limiting structure 30, the synchronization structure 50, the mounting component 40 and the sensing structure 60 are all located in the cavity between the first housing 11 and the second housing 12. The button 20 can be movably connected to the outer shell 10, and part of the structure of the button 20 can be located in the cavity.

[0076] Specifically, the button 20 is movably connected to the first housing 11. The first housing 11 has an assembly groove 111 that extends through the first housing 11. The shape and size of the assembly groove 111 are adapted to the external dimensions of the button 20. The button 20 can pass through the assembly groove 111 and can move within the assembly groove 111.

[0077] In addition, a protruding edge 26 is provided on the edge of the button 20 near the mounting member 40 (that is, the end located inside the first housing 11). The protruding edge 26 protrudes outward from the peripheral wall of the button 20, so that the size of the end of the button 20 near the mounting member 40 is larger than the size of the mounting groove 111, thereby preventing the button 20 from falling out of the mounting groove 111.

[0078] Please refer to Figure 7 The present application provides a robotic arm, which includes a main body 02 and the aforementioned grip structure 01, the grip structure 01 being connected to the main body 02.

[0079] A second aspect of this application provides a surgical robot, including the aforementioned robotic arm.

[0080] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0081] In the description of this application, it should be understood that the terms "comprising" and "having" and any variations thereof used in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0082] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the connection within two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A grip structure, characterized in that, include: shell; A button, which is movably disposed on the housing; as well as A limiting structure is connected to the housing and is movable and adjustable relative to the housing; a portion of the button's structure passes through the limiting structure, and by adjusting the position of the limiting structure, the limiting structure and the button abut against each other, and the abutting force between the limiting structure and the button can be controlled.

2. The grip structure according to claim 1, characterized in that, The limiting structure includes a plug-in portion, which has a mating hole extending through it along the movement direction of the button. The button has a protruding guide member, which is inserted into the mating hole.

3. The grip structure according to claim 2, characterized in that, A first elastic element is connected to the guide member, and the first elastic element is located between the button and the plug.

4. The grip structure according to claim 2, characterized in that, An installation component is connected inside the housing. The installation component has a plug-in hole. The plug-in part is plugged into the plug-in hole. The limiting structure also includes a fixing part connected to the plug-in part. The fixing part and the installation component can be loosely or tightly fitted.

5. The grip structure according to claim 4, characterized in that, The mounting component is provided with a synchronization structure, which is movably connected to the mounting component. The two ends of the synchronization structure can respectively cooperate with the two ends of the button in the length direction, so that the two ends of the button in the length direction can move synchronously.

6. The grip structure according to claim 5, characterized in that, The synchronization structure includes a middle part and connecting parts disposed at both ends of the middle part. The middle part is rotatably connected to the mounting component. The button is provided with snap-fit ​​parts at intervals along its length. Each snap-fit ​​part is provided with a snap-fit ​​groove. The connecting part can be inserted into the snap-fit ​​groove. The mounting component is provided with clearance holes corresponding to the positions of the snap-fit ​​parts.

7. The grip structure according to claim 6, characterized in that, The mounting component has a synchronization groove, the middle part rotates in the synchronization groove, and the synchronization structure also includes a limiting component, which is connected to the mounting component and restricts the middle part within the synchronization groove.

8. The grip structure according to claim 4, characterized in that, The button is also provided with a receiving groove, and a support member is provided on the button within the receiving groove. A second elastic member is provided on the support member, and the two ends of the second elastic member abut against the support member and the mounting member, respectively.

9. The grip structure according to claim 1, characterized in that, The outer casing includes a first casing and a second casing that are detachably connected. The first casing has an assembly groove, and the button passes through the assembly groove.

10. A surgical robot, characterized in that, Includes the body and the grip structure as described in any one of claims 1-9.

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