Magnetic control handle

Abstract

The utility model provides a magnetic control handle which is applied to an operation system, the operation system comprises a controller, and the magnetic control handle comprises a shell, a clamping structure, a rotation sensor, a pose sensor and a main control module. The clamping structure is arranged at one end of the shell and is used for opening and closing; the rotation sensor is connected with the clamping structure and used for detecting the opening and closing angle of the clamping structure. The pose sensor is arranged at the bottom of the shell and used for detecting space coordinates and pose information of the magnetic control handle. And the main control module is arranged in the shell, is in communication connection with the controller, and is used for receiving signals sent by the rotation sensor and the pose sensor and transmitting the signals to the controller. The motion space of the magnetic control handle can be increased, the size of equipment is reduced, and cost is reduced.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and more specifically, to a magnetically controlled handle. Background Technology

[0002] With the continuous development of medical technology, the demand for various types of surgical robots is also increasing. Currently, most surgical robots adopt a master-slave control mode, where the movement of the master handle synchronously drives the movement of the end effector. The handle in the existing technology is generally composed of multiple linkage mechanisms, which are connected to the controller through mechanical sensors. By calculating the rotation angle between each linkage, the spatial position and attitude of the handle are obtained, and then the controller controls the movement of the end effector. However, this approach has the following problems:

[0003] (1) Existing handles are limited by mechanical structures such as linkage mechanisms, resulting in a limited range of motion and motion interference, which makes it impossible to achieve some angles, affecting the user experience and the motion effect of the end effector.

[0004] (2) The existing handle is connected by a linkage mechanism, which increases the size of the equipment, makes it inconvenient to move, and increases the cost. Utility Model Content

[0005] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a magnetic control handle. By setting up a sensor in the magnetic control handle and a communication connection between the main control module and the controller, the structure of the magnetic control handle and the connection structure between the magnetic control handle and the controller are simplified, and the problems of small movement space and large device size of existing handles are solved.

[0006] The above-mentioned technical objective of this utility model is achieved through the following technical solution:

[0007] A magnetically controlled handle is used in a surgical system. The surgical system includes a controller, and the magnetically controlled handle includes a housing, a clamping structure, a rotation sensor, a pose sensor, and a main control module. The clamping structure is located at one end of the housing and is used for opening and closing movements. The rotation sensor is connected to the clamping structure and is used to detect the opening and closing angle of the clamping structure. The pose sensor is located at the bottom of the housing and is used to detect the spatial coordinates and pose information of the magnetically controlled handle. The main control module is located inside the housing and is communicatively connected to the controller to receive signals sent by the rotation sensor and the pose sensor and transmit them to the controller.

[0008] Furthermore, the magnetic control handle also includes a first button, which is disposed on the surface of the housing and located on the lower side of the clamping structure. The first button is connected to the main control module and is used to transmit an enable signal to the main control module.

[0009] Further, the magnetic control handle further comprises a second button arranged on the surface of the shell, the second button being connected to the main control module and used to send a filtering instruction to the main control module.

[0010] Further, the shell is provided with a fixing portion, and the clamping structure comprises a first clamping member and a second clamping member which are hingedly arranged with each other, one end of the first clamping member and one end of the second clamping member being hingedly connected to the fixing portion.

[0011] Further, the clamping structure comprises a first finger sleeve and a second finger sleeve, the first finger sleeve being arranged on the side surface of the other end of the first clamping member, and the second finger sleeve being arranged on the side surface of the other end of the second clamping member; wherein the first finger sleeve has a first opening, and the second finger sleeve has a second opening.

[0012] Further, the clamping structure comprises a first transmission member, a second transmission member and a limiting seat located at the bottom of the first clamping member and the second clamping member, one end of the limiting seat being connected to the fixing portion, one end of the first transmission member being hingedly connected to the first clamping member and the limiting seat, and one end of the second transmission member being hingedly connected to the second clamping member and the limiting seat; wherein the first transmission member is located between the first clamping member and the limiting seat, and the second transmission member is located between the second clamping member and the limiting seat.

[0013] Further, the clamping structure further comprises an abutting portion arranged in the limiting seat, one side of the abutting portion being hingedly connected to the other end of the first transmission member and the other end of the second transmission member.

[0014] Further, the clamping structure further comprises an elastic member, a limiting cavity is formed in the limiting seat, the elastic member and the abutting portion are arranged in the limiting cavity, one end of the elastic member is sleeved on the other side of the abutting portion, and the other end of the elastic member abuts against the inner wall of the limiting cavity.

[0015] Further, the pose sensor is a magnetic sensor, and the surgical system further comprises a magnetic field generator connected to the controller, the pose sensor being used to move in the magnetic field generated by the magnetic field generator and generate an induced current signal to detect the spatial coordinates and the pose information of the magnetic control handle.

[0016] Further, the shell is provided with a clamping indicator lamp connected to the main control module and used to be extinguished and lit up.

[0017] Further, the main control module and the controller are connected through wireless communication.

[0018] The beneficial effects of the embodiments of the present application are as follows:

[0019] The embodiment of the application provides a magnetic control handle, a rotation sensor and a pose sensor are arranged on the magnetic control handle to detect the opening and closing angle of a clamping structure and the pose information of the magnetic control handle, and the detected signals are sent to a master control module and then transmitted to a controller through the master control module, compared with a mechanical connection structure in the prior art, the movement space of the magnetic control handle can be increased, the problem that the movement angle of an end effector is limited due to the narrow operation space of the magnetic control handle in a surgical process and the space limitation of a handle connected through a connecting rod mechanism in the prior art is solved, the end effector can be freely moved at various angles, and the problem that the existing handle structure causes the device to be too large and the cost to be high is solved. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings needed to be used in the embodiments of the application will be briefly introduced.

[0021] Figure 1 A structure diagram of a magnetic control handle according to an embodiment of the application;

[0022] Figure 2 A structure diagram of an internal structure of a magnetic control handle according to an embodiment of the application;

[0023] Figure 3 A structure diagram of a clamping structure of a magnetic control handle according to an embodiment of the application;

[0024] Figure 4 A top view of a magnetic control handle according to an embodiment of the application.

[0025] The drawings show that: the housing 1; the fixed part 11; the clamping structure 2; the first clamping piece 21; the second clamping piece 22; the first finger sleeve 23; the second finger sleeve 24; the first transmission piece 25; the second transmission piece 26; the limiting seat 27; the limiting cavity 28; the abutting part 29; the rotation sensor 3; the pose sensor 4; the master control module 5; the first button 6; the second button 7; the elastic piece 8; the clamping indicator lamp 9; the cable port 10. DETAILED DESCRIPTION

[0026] In the description of the application, it should be noted that the terms "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly used when the product of the application is used, and are only for the convenience of describing the application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application. In addition, the terms "first", "second" and the like are only used for differentiation and cannot be understood as indicating or implying relative importance.

[0027] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

[0028] Referring to Figure 1 In the present application, a magnetic control handle is provided, which is applied to a surgical system, the surgical system comprising a controller (not shown in the figure), the magnetic control handle comprising a shell 1, a clamping structure 2, a rotation sensor 3, a pose sensor 4, and a master control module 5 in communication connection with the controller.

[0029] The clamping structure 2 is arranged at one end of the shell 1 and is used for opening and closing movement.

[0030] The rotation sensor 3 is connected to the clamping structure 2 and is used for detecting the opening and closing angle of the clamping structure 2, and the pose sensor 4 is arranged at the bottom of the shell 1 and is used for detecting the spatial coordinates and pose information of the magnetic control handle.

[0031] The master control module 5 is arranged in the shell 1 and is used for receiving the signals sent by the rotation sensor 3 and the pose sensor 4 and transmitting to the controller.

[0032] In the present application, the rotation sensor 3 and the pose sensor 4 are arranged on the clamping structure 2 to detect the opening and closing angle, the spatial coordinates and the pose information of the clamping structure 2 and transmit to the master control module 5, and finally transmit to the controller through the master control module 5. On the one hand, the structure of the magnetic control handle can be simplified to reduce the volume occupied by the magnetic control handle and reduce the cost. On the other hand, compared with the way of setting a mechanical sensor (such as a potentiometer or an encoder) on the handle to detect the information of the handle in the prior art, the problem of mechanical wear is caused. The pose sensor 4 and the rotation sensor 3 in the present application have the advantage of long service life.

[0033] Meanwhile, the controller and the master control module 5 are in communication connection, which can simplify the connection structure of the controller and the master control module 5, reduce the influence on the movement of the magnetic control handle, and thus increase the movement space of the magnetic control handle, so that the magnetic control handle can move in each angle range, and finally the end effector can move in each angle range.

[0034] In an embodiment, the pose sensor 4 is a magnetic sensor, and the surgical system further comprises a magnetic field generator (not shown in the figure), the magnetic field generator being connected to the controller, the pose sensor 4 being used for moving in the magnetic field generated by the magnetic field generator and generating an induced current signal to detect the spatial coordinates and the pose information of the magnetic control handle, the pose information including position and attitude.

[0035] Specifically, the magnetic field generator is composed of a coil and a magnet. A high-frequency current is passed through the coil to generate a changing magnetic field in space. When the pose sensor 4 moves in space, it will cut the magnetic field lines in all directions. By detecting the change of the magnetic field, the position and attitude of the magnetic control handle are determined, and an induced current signal is generated and transmitted to the main control module 5. The main control module 5 converts the signal into a pose signal and transmits it to the controller.

[0036] Through the cooperation of the magnetic field generator and the pose sensor 4, high-precision detection of the position and attitude of the magnetic control handle is realized.

[0037] Since the pose sensor 4 is easily affected by metal and electronic components in the magnetic control handle, placing the pose sensor 4 at the bottom of the magnetic control handle can avoid the influence of electronic components and metal structures on the magnetic field of the pose sensor 4 and the magnetic field generator, thereby further improving the detection accuracy of the pose sensor 4.

[0038] In an embodiment, a cable port 10 is provided on the shell 1, and a cable is connected to the controller through the cable port 10, thereby realizing the communication connection between the main control module 5 and the controller. In another embodiment, a wireless transmission module is provided on the main control module 5, and the wireless transmission module is used to realize the wireless communication connection with the controller. Whether through cable connection or wireless communication connection, the embodiments of the present application can improve the motion space of the magnetic control handle and reduce the cost.

[0039] In an embodiment, the magnetic control handle includes a first button 6, which is arranged on the surface of the shell 1 and located below the clamping structure 2. The first button 6 is connected to the main control module 5 and used to transmit an enable signal to the main control module 5.

[0040] Specifically, the pose sensor 4 and the rotation sensor 3 detect the pose information and the opening angle and transmit them to the main control module 5. When the first button 6 is pressed, the main control module 5 transmits the detected pose information and opening angle to the controller through the wireless transmission module or the cable. After receiving the information, the controller processes the information and controls the end effector to move accordingly.

[0041] In an embodiment, the magnetic control handle further includes a second button 7, which is arranged on the surface of the shell 1 and connected to the main control module 5. The second button 7 is used to send a filtering instruction to the main control module 5.

[0042] A filter circuit is provided on the main control module 5. When the second button 7 is pressed, the main control module 5 receives the filtering instruction and performs filtering processing on the spatial coordinates detected by the pose sensor 4 through a filtering algorithm to filter out the noise generated by hand shaking when holding the magnetic control handle, thereby improving the detection accuracy of the pose sensor 4.

[0043] In an embodiment, the housing 1 is provided with a fixed part 11, one end of the clamping structure 2 is hinged to the fixed part 11, and the opening and closing movement can be performed on the fixed part 11.

[0044] In an embodiment, the magnetic control handle is also provided with a clamping indicator lamp 9, which is arranged in the housing 1, and the clamping indicator lamp 9 is connected to the main control module 5, which is used to extinguish and brighten to prompt the user whether the end effector performs the clamping operation. When the end effector works, the controller sends a clamping signal to the main control module 5, and the main control module 5 judges whether to perform the clamping operation according to the clamping signal. When the clamping operation is performed, the clamping indicator lamp 9 is controlled to be bright, and when the clamping operation is not performed, the clamping indicator lamp 9 is controlled to be extinguished.

[0045] Referring to Figure 3 In an embodiment, the clamping structure 2 includes a first clamping piece 21 and a second clamping piece 22 which are hingedly arranged, one end of the first clamping piece 21 and one end of the second clamping piece 22 are hingedly arranged on the fixed part 11, and the first clamping piece 21 and the second clamping piece 22 can perform opening and closing movement along the position of the axis between the first clamping piece 21 and the second clamping piece 22.

[0046] The clamping structure 2 also includes a first finger sleeve 23 and a second finger sleeve 24, the first finger sleeve 23 is arranged on the side of the other end of the first clamping piece 21, and the second finger sleeve 24 is arranged on the side of the other end of the second clamping piece 22, wherein the first finger sleeve 23 has a first opening, and the second finger sleeve 24 has a second opening.

[0047] The first finger sleeve 23 and the second finger sleeve 24 are used to place fingers when the user operates. Because the first opening is arranged on the first finger sleeve 23, and the second opening is arranged on the second finger sleeve 24, compared with the finger sleeve in the prior art, it can adapt to the fingers wearing sterile gloves, and it is convenient for the user to hold the magnetic control handle and to get out of the finger sleeve, and further improve the user experience.

[0048] In an embodiment, the clamping structure 2 includes a first transmission member 25, a second transmission member 26 and a limiting seat 27, the limiting seat 27 is located at the bottom of the first clamping piece 21 and the second clamping piece 22, one end of the limiting seat 27 is connected to the fixed part 11, one end of the first transmission member 25 is hingedly arranged on the first clamping piece 21 and the limiting seat 27, and one end of the second transmission member 26 is hingedly arranged on the second clamping piece 22 and the limiting seat 27.

[0049] Among them, the first transmission member 25 is located between the first clamping piece 21 and the limiting seat 27, and the second transmission member 26 is located between the second clamping piece 22 and the limiting seat 27.

[0050] In an embodiment, the clamping structure 2 also includes an abutting part 29 and an elastic member 8 arranged in the limiting seat 27. In an embodiment, the clamping structure 2 also includes an abutting part 29 and an elastic member 8 arranged in the limiting seat 27.

[0051] The limiting cavity 28 is formed in the limiting seat 27, the elastic member 8 and the abutting portion 29 are arranged in the limiting cavity 28, one side of the abutting portion 29 is hinged to the other end of the first transmission member 25 and the other end of the second transmission member 26, one end of the elastic member 8 is sleeved on the other side of the abutting portion 29, and the other end of the elastic member 8 abuts against the inner wall of the limiting cavity 28.

[0052] When the first clamping member 21 and the second clamping member 22 perform the opening and closing movement, the abutting portion 29 is driven to move along the length direction of the limiting cavity 28, the movement and reset of the abutting portion 29 are realized by setting the compression and elongation of the elastic member 8, and the flexibility of the clamping structure 2 is improved.

[0053] In the above embodiment, one end of the first transmission member 25 is hinged to the first clamping member 21 at a position close to the fixed portion 11, one end of the second transmission member 26 is hinged to the second clamping member 22 at a position close to the fixed portion 11, and by setting the first transmission member 25 and the second transmission member 26 and cooperating the abutting portion 29 and the elastic member 8, the included angle between the first clamping member 21 and the second clamping member 22 when moving can be increased, that is, the opening and closing angle of the clamping structure 2 can be increased, the range of the opening and closing angle of the end effector is further increased, and the flexibility of the end effector movement is improved.

[0054] In the description of the present application, it should be explained that, unless otherwise explicitly specified and limited, the terms "arranged", "connected" should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or integrally connected, can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0055] It should be noted that the features in the embodiments of the present application can be combined with each other without conflict.

[0056] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A magnetic control handle applied to a surgical system, the surgical system comprising a controller, characterized in that, The magnetic control handle comprises: a shell; a clamping structure arranged at one end of the shell and used for opening and closing movement; a rotation sensor connected to the clamping structure and used for detecting the opening and closing angle of the clamping structure; a pose sensor arranged at the bottom of the shell and used for detecting the spatial coordinates and pose information of the magnetic control handle; a main control module arranged in the shell and in communication connection with the controller, used for receiving the signals sent by the rotation sensor and the pose sensor and transmitting to the controller.

2. The magnetically controlled handle of claim 1, wherein, The magnetic control handle further comprises a first button arranged on the surface of the shell and located at the lower side of the clamping structure, the first button being connected to the main control module and used for transmitting an enable signal to the main control module.

3. The magnetically controlled handle of claim 2, wherein, The magnetic control handle further comprises a second button arranged on the surface of the shell, the second button being connected to the main control module and used for sending a filtering instruction to the main control module.

4. The magnetically controlled handle of claim 1, wherein, The shell is provided with a fixed part, the clamping structure comprises a first clamping member and a second clamping member arranged in interconnection, one end of the first clamping member and one end of the second clamping member are both hinged to the fixed part.

5. The magnetically controlled handle of claim 4, wherein, The clamping structure comprises a first finger sleeve and a second finger sleeve, the first finger sleeve is arranged on the side surface of the other end of the first clamping member, and the second finger sleeve is arranged on the side surface of the other end of the second clamping member. The first finger sleeve has a first opening, and the second finger sleeve has a second opening.

6. The magnetically controlled handle of claim 4, wherein, The clamping structure comprises a first transmission member, a second transmission member and a limiting seat located at the bottom of the first clamping member and the second clamping member, one end of the limiting seat is connected to the fixed part, one end of the first transmission member is hinged to the first clamping member and the limiting seat, and one end of the second transmission member is hinged to the second clamping member and the limiting seat. The first transmission member is located between the first clamping member and the limiting seat, and the second transmission member is located between the second clamping member and the limiting seat.

7. The magnetically controlled handle of claim 6, wherein, The clamping structure further comprises an abutting part arranged in the limiting seat, one side of the abutting part is hinged to the other end of the first transmission member and the other end of the second transmission member.

8. The magnetically controlled handle of claim 7, wherein, The clamping structure further comprises an elastic member, a limiting cavity is formed in the limiting seat, the elastic member and the abutting part are arranged in the limiting cavity, one end of the elastic member is sleeved on the other side of the abutting part, and the other end of the elastic member abuts against the inner wall of the limiting cavity.

9. The magnetically controlled handle of claim 1, wherein, The pose sensor is a magnetic sensor, the surgical system further comprises a magnetic field generator connected to the controller, the pose sensor is used for moving in the magnetic field generated by the magnetic field generator and generating an induced current signal to detect the spatial coordinates and pose information of the magnetic control handle.

10. The magnetically controlled handle of claim 1, wherein, The shell is provided with a clamping indicator lamp connected to the main control module and used for being extinguished and brightened.

11. The magnetically controlled handle of claim 1, wherein, The main control module and the controller are connected through wireless communication.

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