Main control hand and surgical robot

Abstract

The utility model belongs to the technical field of surgical robots, and discloses a main control hand and a surgical robot. The problem that a master control hand of an existing surgical robot is insensitive to change of electric charge quantity of a hand clamp and cannot start linkage of a slave manipulator is solved. The main control hand comprises a hand clamp and a charge quantity processing module. The hand clamp is provided with at least two preset acquisition points for acquiring electric charge quantity change signals; the charge quantity processing module is provided with at least two charge quantity processing circuits, and each charge quantity processing circuit can correspondingly process a charge quantity change signal of a preset acquisition point of the hand clamp and then send the charge quantity change signal to the controller. When a hand gets close to the hand clamp, charge quantity changes generated at at least two preset positions are processed through the corresponding charge quantity processing circuits and then sent to the controller, and the controller transmits the charge quantity changes to the slave manipulator to achieve master-slave operation linkage, so that the situation that linkage signals cannot be accurately and rapidly transmitted due to small charge quantity change quantity at a single position is avoided; and the accuracy and timeliness of master-slave synchronous communication are realized.

Description

Technical Field

[0001] This utility model relates to the technical field of surgical robots, and more particularly to a master control hand and a surgical robot. Background Technology

[0002] Surgical robots are a complex integrating multiple modern high-tech technologies. With the extensive clinical application of surgical robots, many medical problems have been solved. Surgical robots include a doctor control platform and a patient surgical platform. The doctor control platform is used to send control commands to the patient surgical platform based on the doctor's use of the main control hand and foot pedals, so as to control the end-effectors of the patient surgical platform to perform surgical operations.

[0003] As disclosed in patent CN220193151U, the control board of the main hand control clamp of the existing surgical robot is equipped with a charge processing circuit. Since the surgeon's hand carries a certain amount of charge, the change in charge felt when pressing the handle as the surgeon's hand approaches or moves away changes the electrical signal transmitted to the negative input terminal of the comparator, which is equivalent to introducing an external interference signal to the relaxation oscillator. The change in oscillation frequency is analyzed to determine whether the surgeon's hand is near the main hand. However, the above-mentioned charge processing circuit is prone to problems when sensing slight touches with small changes in charge, making it unable to accurately determine whether the hand is operating the main control hand, thus preventing the operating hand from being linked. Utility Model Content

[0004] The purpose of this invention is to provide a master control hand and a surgical robot to solve the problem of the slave operating hand being unable to start due to the insensitive change of charge in the master control hand of the existing surgical robot.

[0005] To achieve this objective, the present invention adopts the following technical solution: a main control hand, including a hand clamp and a charge processing module;

[0006] The aforementioned hand clamp is equipped with at least two preset acquisition points for collecting signals of changes in charge.

[0007] The aforementioned charge processing module has at least two charge processing circuits. Each of these charge processing circuits can process the charge change signal of the preset acquisition point of the hand clamp and then send it to the controller.

[0008] As a preferred option, flexible circuit boards are also included;

[0009] The aforementioned charge processing module is formed on the aforementioned flexible circuit board.

[0010] Preferably, the charge processing module includes an input terminal and an output terminal;

[0011] The above-mentioned input terminals include at least two signal input terminals, and the above-mentioned output terminals include one signal output terminal.

[0012] Preferably, the conveyor line of the aforementioned hand clamp is a flexible flat cable.

[0013] Preferably, a sensing module is also included;

[0014] The aforementioned sensing module is used to determine the action state of the aforementioned main controller and the linkage between the aforementioned main controller and the aforementioned controller.

[0015] Preferably, a video image processing module is also included;

[0016] The aforementioned video image processing module can send the received signals from the preset acquisition points of the aforementioned hand clamp to the controller.

[0017] Preferably, the device also includes a video image acquisition module, which can acquire signals from preset acquisition points of the hand clamp and transmit them to the video image processing module.

[0018] Preferably, the charge processing module and the sensing module are integrated into one unit.

[0019] Preferably, the charge processing module and the video image processing module are integrated into one unit.

[0020] A surgical robot includes an operator hand and the aforementioned master controller hand:

[0021] The charge change signal of the master controller is transmitted to the slave controller through the controller.

[0022] The beneficial effects of this utility model are:

[0023] The present invention provides a master control hand and a surgical robot. The master control hand includes a gripper and a charge processing module. The gripper is provided with at least two preset acquisition points for collecting charge change signals. The charge processing module has at least two charge processing circuits, each of which can process the charge change signals of the preset acquisition points of the gripper and send them to the controller. The surgical robot includes a slave manipulator and the master control hand. The charge change signals of the master control hand are transmitted to the slave manipulator through the controller. When the hand approaches the gripper, the charge changes generated at at least two preset positions are processed by the corresponding charge processing circuits and sent to the controller. The controller then transmits the signals to the slave manipulator to achieve master-slave operation linkage. This avoids the inability to accurately and quickly transmit linkage signals due to small charge changes at a single position, improves the stability and reliability of the master control hand, and achieves accurate and timely master-slave synchronous connection. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the surgical robot provided in Embodiment 1 of this utility model;

[0025] Figure 2 This is a schematic diagram of a main controller with two charge processing circuits provided in Embodiment 1 of this utility model;

[0026] Figure 3 This is a circuit diagram of a charge processing module with two charge processing circuits provided in Embodiment 1 of this utility model.

[0027] Figure 4 This is a schematic diagram of the flexible circuit board provided in Embodiment 1 of this utility model;

[0028] Figure 5 This is a flowchart of the main controller provided in Embodiment 2 of this utility model.

[0029] In the diagram: 10. Main control hand; 11. Hand clamp; 111. Preset acquisition point; 12. Charge processing module; 121. Charge processing circuit; 122. Processing chip; 123. Metal connecting piece; 124. Input terminal; 125. Output terminal; 13. Flexible circuit board; 14. Ribbon cable; 15. Column; 16. Sensing module; 17. Video image processing module; 18. Video image acquisition module;

[0030] 20. From the operator's hand. Detailed Implementation

[0031] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0032] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0033] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0034] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0035] Example 1

[0036] like Figures 1 to 4 As shown, the main control hand 10 provided in this embodiment includes a hand clamp 11 and a charge processing module 12; the hand clamp 11 is provided with at least two preset acquisition points 111 for collecting charge change signals; the charge processing module 12 has at least two charge processing circuits 121, each of which can process the charge change signal of the preset acquisition point 111 of the hand clamp 11 and send it to the controller.

[0037] Specifically, when the hand approaches the hand clamp 11, the charge changes generated at at least two preset positions are processed by the corresponding charge processing circuit 121 and sent to the controller. The controller then transmits the signal to the slave hand to achieve master-slave operation linkage. The redundant design avoids the inability to accurately and quickly transmit the linkage signal due to the small charge change at a single position, thus improving the stability and reliability of the master controller 10 and achieving the accuracy and timeliness of master-slave synchronous connection.

[0038] The hand clamp 11 is provided with at least two preset acquisition points 111 for collecting charge change data. Preferably, the preset acquisition points 111 are selected at positions with a large contact area when the hand contacts the hand clamp 11, so that when the hand approaches the hand clamp 11, it can ensure that the contact between the hand and the position with a large contact area generates a large charge change, so that the charge processing module 12 can collect the charge change more accurately and quickly. When two preset acquisition points 111 are selected, it is preferable that the two positions are located on two different hand clamps 11. This is beneficial to transmit the charge change signal to the controller when there is virtual contact between the hand and the hand clamp 11, and when the hand contacts another hand clamp 11 to generate actual contact, so as to control the synchronous linkage from the operator.

[0039] The charge processing module 12 has at least two charge processing circuits 121. Each charge processing circuit 121 can process the charge change signal of the preset acquisition point 111 of the hand clamp 11 and send it to the controller. This ensures that at least two charge change signals generated when the hand approaches the hand clamp 11 are processed and sent to the controller. This avoids the problem that the signal cannot be transmitted to the controller due to the small charge change of a single preset acquisition point 111, and improves the reliability and stability of the overall hand clamp 11 sensing system.

[0040] Since the number of preset sampling points 111 on the hand clamp 11 corresponds to the number of charge processing circuits 121, in order to ensure the accuracy of the operation sensing of the hand clamp 11 and to consider economic benefits, it is preferable to set two preset sampling points 111 on the hand clamp 11, and the number of corresponding charge processing circuits 121 is also two; however, three or more preset sampling points 111 can also be selected according to actual usage requirements.

[0041] The device, consisting of a hand clamp 11 and a charge processing circuit 121, is used to detect whether the doctor's hand is in direct contact with the pressing handle in real time, thus determining whether the doctor is operating the main control hand 10 for surgical procedures. The charge processing circuit 121 includes a processing chip 122, a relaxation oscillator, and its peripheral circuitry. When the doctor's hand contacts the hand clamp 11, the negative input terminal 124 of the comparator in the relaxation oscillator can be connected. The sensing principle of the hand clamp 11 is as follows: the relaxation oscillator itself is unaffected by external environmental interference and can output a signal with a fixed oscillation frequency. The relaxation oscillator can form a coupling capacitor with the doctor's hand. Since the doctor's hand carries a certain amount of charge, as the doctor's hand approaches or moves away from the hand clamp 11, the hand clamp 11 senses a change in charge, thus changing the oscillation frequency of the signal transmitted from the hand clamp 11 to the oscillator output signal. The charge processing circuit 121 can analyze this change in oscillation frequency to determine whether the doctor's hand is near the main control hand 10, and then transmit the signal to the slave operating hand.

[0042] For example, it also includes a flexible circuit board 13; the charge processing module 12 is formed on the flexible circuit board 13.

[0043] Specifically, by forming the charge processing module 12 on the flexible circuit board 13, the electronic components of at least two charge processing circuits 121 can be formed in the recess of the flexible circuit board 13. Not only does the flexible circuit board 13, which serves as a control board, occupy a smaller volume, but the electronic components of the charge processing circuits 121 can also be completely built into the flexible circuit board 13, thereby achieving the reliability and safety of the overall structure.

[0044] The flexible circuit board 13 has advantages such as light weight, thinness and free bending and folding; as the control board for information transmission of the hand clamp 11, it has the above advantages and greatly solves the reliability and simplicity of the overall design of the hand clamp 11; the flexible circuit board can be directly fixed in the mounting slot by bolts, the fixing operation is simple and convenient, and it occupies a small installation space.

[0045] It is worth mentioning that, in this embodiment, the main control hand 10 includes a hollow column 15 with openings on both sides, a control board of a flexible circuit board, and two pressing hand clips 11 on both sides; the flexible circuit board of the charge change acquisition module is fixedly installed in the middle space of the column 15, and the connecting part of the two pressing hand clips 11 is movably connected at the top of the internal space of the column 15, with the pressing parts of the two pressing hand clips 11 extending to the openings on both sides of the column 15 respectively; the connecting part of the two hand clips 11 is engaged by gears, and the two pressing hand clips 11 are symmetrically arranged on both sides of the column 15. The hand clips 11 of the main control hand 10 also include springs, which are disposed on the two hand clips 11. Between them, the two ends of the spring are fixedly connected to the two pressing hand clips 11 respectively; the control board of the flexible circuit board is provided with at least two charge processing circuits 121, and the at least two charge processing circuits 121 are connected to the hand clips 11 at least through the spring; it also includes at least two metal connecting pieces 123, each metal connecting piece 123 is fixedly connected to the spring and the flexible circuit board respectively, and the at least two charge processing circuits 121 are connected to the corresponding metal connecting pieces 123 through metal traces on the flexible circuit board; in the internal space of the column 15, the flexible circuit board, the metal connecting pieces and the spring are arranged sequentially from the bottom to the top of the column 15.

[0046] For example, the charge processing module 12 includes an input terminal 124 and an output terminal 125; the input terminal 124 includes at least two signal input terminals 124, and the output terminal 125 includes one signal output terminal 125.

[0047] Specifically, the charge processing module 12 includes a signal input terminal 124 and a signal output terminal 125. The sensing signal of the hand clamp 11 first enters at least two charge processing circuits 121 through at least two signal input terminals 124 respectively. The processed sensing signals are then summarized and transmitted downwards from one signal output terminal 125. That is, the signal processing module 12 receives multiple signals during the signal processing process, and outputs a signal through one channel after any signal is activated.

[0048] It is worth mentioning that at least two charge processing circuits 121, that is, at least two core processing chips 122, are used to process the charge change of the corresponding preset acquisition point 111, so as to process the charge change of each channel separately. When the charge change of any channel reaches the start controller and the operator, a start signal will be sent.

[0049] For example, the conveyor line of the aforementioned hand clamp 11 is a flexible flat cable 14.

[0050] Specifically, by selecting the flexible flat cable 14 as the conveyor line of the hand clamp 11, multiple lines can be conveyed in a centralized manner through the flexible flat cable 14, avoiding mutual interference between multiple lines and the problem of messy layout, thereby improving the overall space utilization and product reliability.

[0051] The flexible flat cable 14 connects the input terminal 124 and the output terminal 125 of the flexible circuit board, thus achieving neatness and reliability of the flexible circuit board wiring.

[0052] For example, it also includes a sensing module 16; the sensing module 16 is used to determine the operation state of the main controller 10 and the linkage between the main controller 10 and the controller.

[0053] Specifically, by setting up a sensing module 16 to determine the action state of the main controller 10 and the linkage between the main controller 10 and the controller, more precise sensing and control of the main controller 10 can be achieved.

[0054] The sensing module 16 may specifically include a first magnetic induction unit and a second magnetic induction unit. The first magnetic induction unit is disposed below the charge processing module 12, and the second magnetic induction unit is disposed below the first magnetic induction unit. A first magnet is provided on the side of the pressing part of one of the pressing hand clips 11 near the column 15. A first magnetic induction unit corresponding to the first magnet is provided on the flexible circuit board. The first magnetic induction unit is used to determine the action state of the pressing hand clip 11 based on the distance between the first magnet and the first magnetic induction unit. A sliding groove is provided on the outer surface of the column 15. The main control hand 10 also includes a clutch switch. A second magnet cooperating with the sliding groove is provided inside the clutch switch. The clutch switch is used to drive the second magnet to slide along the sliding groove. A second magnetic induction unit corresponding to the second magnet is provided on the flexible circuit board. The second magnetic induction unit is used to establish or disconnect the linkage between the main control hand 10 and the slave operating hand based on the position of the second magnet.

[0055] For example, the charge processing module 12 and the sensing module 16 are integrated into one unit.

[0056] Specifically, by integrating the charge processing module 12 and the sensing module 16 into one unit, it is beneficial to integrate the signal processing module of the hand clamp 11 into one unit, reducing the space occupied by separate installations.

[0057] The charge processing module 12 and the sensing module 16 are integrated into one unit. Preferably, the charge processing module 12 and the sensing module 16 are integrated on a flexible circuit board, which can better protect electronic devices while reducing their space occupation.

[0058] A surgical robot includes a slave manipulator and a master controller 10, wherein the charge change signal of the master controller 10 is transmitted to the slave manipulator via a controller.

[0059] Specifically, by transmitting the charge change signal of the master controller 10 to the slave controller through the controller, the controller and the slave controller can obtain the operation information of the master controller 10 more sensitively and quickly, achieve faster and more accurate master-slave operation linkage, and improve the safety and reliability of the overall surgical operation.

[0060] Example 2

[0061] like Figure 5 As shown, the difference between this embodiment and Embodiment 1 is that the main controller 10 further includes a video image processing module 17; the video image processing module 17 can send the received signal from the preset acquisition point 111 of the hand clamp 11 to the controller.

[0062] Specifically, by configuring a video image processing module 17 on the main controller 10, the video image processing module can send the signal from the preset acquisition point 111 of the receiving hand clamp 11 to the controller to realize the linkage control of the slave operator.

[0063] The preset acquisition point 111 of the hand clip 11 can be selected according to actual operating habits. That is, the position that the hand is most accustomed to touching when operating the hand clip 11 is preferably the preset acquisition point 111. When the hand touches the preset acquisition point 111, the video image processing module 17 receives the video image signal of the hand clip 11 starting and transmits the signal to the controller and the slave hand to realize real-time linkage control of the slave hand.

[0064] Here, the preset acquisition point 111 of the hand clamp 11 can be the same as the preset acquisition point 111 for acquiring the charge change signal. That is, when multiple charge change signals are too small or malfunction, the video image processing module 17 of the video image processing module 17 will also transmit the relevant start information to the slave operator in real time to achieve linkage.

[0065] For example, the charge processing module 12 and the video image processing module 17 are integrated into one unit.

[0066] Specifically, by integrating the video image processing module 17 with the charge quantity processing module 12, it is beneficial to integrate the motion control module of the hand clamp 11 into one unit, thereby improving the overall space utilization efficiency.

[0067] The video image processing module 17 is also formed on the flexible circuit board. The electronic components of the video image processing module 17 can also be recessed into the groove of the flexible circuit board to protect the electronic components.

[0068] For example, it also includes a video image acquisition module 18, which can acquire signals from the preset acquisition point 111 of the hand clamp 11 and transmit them to the video image processing module 17.

[0069] Specifically, the video image acquisition module 18 can acquire signals from the preset acquisition point 111 of the hand clamp 11 and transmit them to the video image processing module 17, thereby enabling fast and accurate signal transmission and ensuring the timeliness of master-slave linkage.

[0070] Among them, the video image acquisition module 18 is preferably a high-definition camera or the like, which accurately captures images of hand movements, thereby enabling rapid feedback of the action signals of the main control hand 10.

[0071] In summary, the master controller 10 and surgical robot provided by this utility model, when the hand approaches the gripper 11 of the master controller 10, the changes in charge generated at least two preset positions are processed by the corresponding charge processing circuit 121 and sent to the controller. The controller then transmits the signal to the slave operator to achieve master-slave operation linkage. This avoids the inability to accurately and quickly transmit linkage signals due to small changes in charge at a single position, improves the stability and reliability of the master controller 10 control, and achieves accurate and timely master-slave synchronous connection.

[0072] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A master controller, characterized in that, Includes a gripper and a charge processing module; The hand clamp is equipped with at least two preset acquisition points for collecting signals of changes in charge. The charge processing module has at least two charge processing circuits. Each charge processing circuit can process the charge change signal of the preset collection point of the hand clamp and send it to the controller.

2. The main control hand according to claim 1, characterized in that, It also includes flexible circuit boards; The charge processing module is formed on the flexible circuit board.

3. The main control hand according to claim 1, characterized in that, The feed line of the hand clamp is a flexible flat cable.

4. The main control hand according to claim 1, characterized in that, The charge processing module includes an input terminal and an output terminal; The input terminal includes at least two signal input terminals, and the output terminal includes one signal output terminal.

5. The main control hand according to claim 1, characterized in that, It also includes a sensing module; The sensing module is used to determine the action state of the main controller and the linkage between the main controller and the controller.

6. The main control hand according to claim 1, characterized in that, It also includes a video image processing module; The video image processing module can send the received signals from the preset acquisition points of the hand clamp to the controller.

7. The main control hand according to claim 6, characterized in that, It also includes a video image acquisition module, which can acquire signals from preset acquisition points of the hand clamp and transmit them to the video image processing module.

8. The main control hand according to claim 5, characterized in that, The charge processing module and the sensing module are integrated into one unit.

9. The main control hand according to claim 6, characterized in that, The charge processing module and the video image processing module are integrated into one unit.

10. A surgical robot, characterized in that, Including the operator and the main controller as described in any one of claims 1-9: The charge change signal of the master controller is transmitted to the slave controller through the controller.

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