Hand-operated device and surgical robot

Abstract

The utility model provides a kind of hand operation device and surgical robot, wherein hand operation device includes: far end deflection joint, for doing deflection motion in horizontal plane;Far end pitch joint is connected with far end deflection joint, and far end pitch joint is used to do pitch motion;Translation joint is connected with far end pitch joint, and translation joint is used to do translation motion;Far end roll joint is connected with translation joint, and far end roll joint is used to do roll motion;Near end pitch joint is connected with far end roll joint, and near end pitch joint is used to do pitch motion;Near end deflection joint is connected with near end pitch joint, and near end deflection joint is used to do deflection motion;Near end roll joint is connected with near end deflection joint, and near end roll joint is used to do roll motion.By adopting the above technical scheme, the operation precision of surgery is significantly improved, the motion range is expanded, the stability is enhanced, the operation comfort and the sense of presence of surgery are improved.

Description

Technical Field

[0001] This utility model relates to the technical field of surgical robots, and more specifically, to a hand manipulation device and a surgical robot. Background Technology

[0002] In the medical field, especially in surgical procedures, there are extremely high core requirements for precision, safety, and operational comfort. Surgical robots have emerged to address this need. Through a master-slave teleoperation structure, they enable doctors to indirectly control the slave-end execution tools. This approach not only reduces the risk of infection between doctors and patients but also minimizes human error, while providing doctors with a sense of presence during surgery, greatly promoting the intelligent and precise development of medical procedures.

[0003] Currently, existing surgical robot teleoperation masters still face some technical bottlenecks in practical applications. For example, the joint structure design of some devices is not flexible enough, making it difficult to accurately capture the complex postures generated by hand operations. This results in insufficient accuracy in corresponding serpentine joint postures, affecting the precision of surgical operations. In terms of joint motion control, the distal yaw, pitch, and translation joints of some devices exhibit limited range of motion and poor stability when performing yaw, translation, or tumbling movements, thus affecting the overall smoothness and accuracy of the operation. Utility Model Content

[0004] The purpose of this invention is to provide a hand-operated device and a surgical robot to solve the technical problem that the lack of flexibility of the hand-operated device in the existing surgical robot affects the smoothness of operation.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] In a first aspect, a hand-operated device is provided, comprising:

[0007] The distal yaw joint is used for yaw motion in the horizontal plane.

[0008] The distal pitch joint is connected to the distal yaw joint, and the distal pitch joint is used to perform pitch motion.

[0009] A translational joint is connected to the distal pitch joint, and the translational joint is used to perform translational movements;

[0010] The distal tumbling joint is connected to the translational joint, and the distal tumbling joint is used to perform tumbling motion;

[0011] The proximal pitch joint is connected to the distal tumble joint, and the proximal pitch joint is used to perform pitch motion;

[0012] The proximal yaw joint is connected to the proximal pitch joint, and the proximal yaw joint is used to perform yaw motion.

[0013] The proximal tumbling joint is connected to the proximal lateral joint, and the proximal tumbling joint is used to perform tumbling motion.

[0014] By adopting the above technical solutions, the precision of surgical operations has been significantly improved, the range of motion has been expanded and stability has been enhanced, and the comfort and sense of presence of the surgical operation have been improved.

[0015] In one embodiment, a first bearing housing, a first bearing disposed on the first bearing housing, and a first sensor are provided. The first bearing housing is arranged on the bottom of the surgical robot, the first bearing is connected to the distal pitch joint, and the first sensor is used to acquire the yaw angle of the first bearing.

[0016] In one embodiment, the distal pitch joint includes a second bearing housing, a second bearing disposed on the second bearing housing, and a second sensor. The second bearing housing is connected to the first bearing, the second bearing is connected to the translation joint, and the second sensor is used to acquire the pitch angle of the second bearing.

[0017] In one embodiment, the translational joint includes a slide rail, a slider slidably mounted on the slide rail, and a sliding sensor. The slide rail is connected to the second bearing, the slider is connected to the distal tumbling joint, and the sliding sensor is used to obtain the translational distance of the slider.

[0018] In one embodiment, the distal roll joint includes a third bearing housing, a third bearing disposed on the third bearing housing, and a third sensor. The third bearing housing is connected to the sliding member, the third bearing is connected to the proximal pitch joint, and the third sensor is used to acquire the roll angle of the third bearing.

[0019] In one embodiment, the proximal pitch joint includes a fourth bearing housing, a fourth bearing disposed on the fourth bearing housing, and a fourth sensor. The fourth bearing housing is connected to the third bearing, the fourth bearing is connected to the proximal yaw joint, and the fourth sensor is used to acquire the pitch angle of the fourth bearing.

[0020] In one embodiment, the proximal yaw joint includes a fifth bearing housing, a fifth bearing disposed on the fifth bearing housing, and a fifth sensor. The fifth bearing housing is connected to the fourth bearing, the fifth bearing is connected to the proximal tumbling joint, and the fifth sensor is used to obtain the yaw angle of the fifth bearing.

[0021] In one embodiment, the proximal tumble joint includes a sixth bearing housing, a sixth bearing disposed on the sixth bearing housing, and a sixth sensor. The sixth bearing housing is connected to the fifth bearing, and the sixth sensor is used to obtain the tumble angle of the sixth bearing.

[0022] In one embodiment, the first sensor, the second sensor, the third sensor, the fourth sensor, the fifth sensor, the sixth sensor, and the sliding sensor are all communicatively connected to the surgical system.

[0023] Secondly, a surgical robot is provided, including a surgical system and the aforementioned hand manipulation device, wherein the hand manipulation device is communicatively connected to the surgical system.

[0024] By adopting the above technical solution, the surgical robot of this embodiment, in addition to having the advantages of the hand operation device of the above embodiment, also has the advantage of high flexibility in surgical operation. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a three-dimensional structural diagram of the hand operation device provided in an embodiment of the present utility model.

[0027] Figure 2 This is a three-dimensional structural diagram of the hand operation device provided in an embodiment of the present utility model from another perspective.

[0028] Figure 3 This is an exploded view of the hand operation device provided in an embodiment of this utility model.

[0029] The labels for the attached figures are as follows:

[0030] 10. Surgical robot; 20. Hand manipulation device; 21. Distal yaw joint; 211. First bearing housing; 212. First bearing; 213. First sensor; 22. Distal pitch joint; 221. Second bearing housing; 222. Second bearing; 223. Second sensor; 23. Translation joint; 231. Slide rail; 232. Slider; 233. Sliding sensor; 24. Distal roll joint; 241. Third bearing housing; 242. Third bearing; 243. Third sensor; 25. Proximal pitch joint; 251. Fourth bearing housing; 252. Fourth bearing; 253. Fourth sensor; 26. Proximal yaw joint; 261. Fifth bearing housing; 262. Fifth bearing; 263. Fifth sensor; 27. Proximal roll joint; 271. Sixth bearing housing; 272. Sixth bearing; 273. Sixth sensor; R1. First yaw axis; R2. First pitch axis; R3. First roll axis; R4. Second yaw axis; R5. Second pitch axis; R6. Second roll axis. Detailed Implementation

[0031] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0032] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be located directly on or indirectly on the other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to the other component.

[0033] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and do not indicate that the device or element 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.

[0034] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating relative importance or the number of technical features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. The specific implementation of this utility model is described in more detail below with reference to specific embodiments:

[0035] like Figure 1 and Figure 2As shown, an embodiment of this utility model provides a hand-operated device 20, comprising:

[0036] The distal yaw joint 21 is used for yaw motion in the horizontal plane;

[0037] The distal pitch joint 22 is connected to the distal yaw joint 21, and the distal pitch joint 22 is used to perform pitching motion.

[0038] Translation joint 23 is connected to distal pitch joint 22, and translation joint 23 is used to perform translational movements;

[0039] The distal tumbling joint 24 is connected to the translational joint 23, and the distal tumbling joint 24 is used to perform tumbling motion.

[0040] The proximal pitch joint 25 is connected to the distal tumbling joint 24, and the proximal pitch joint 25 is used to perform pitching motion.

[0041] The proximal yaw joint 26 is connected to the proximal pitch joint 25, and the proximal yaw joint 26 is used to perform yaw motion;

[0042] The proximal tumbling joint 27 is connected to the proximal lateral joint 26, and the proximal tumbling joint 27 is used to perform tumbling motion.

[0043] Specifically, the distal yaw joint 21 is located at the farthest end of the device, and its core function is to perform yaw motion in the horizontal plane. Structurally, it is similar to a connecting component that can rotate around a vertical axis (which can be regarded as the Z-axis in the common Cartesian coordinate system), enabling the subsequent structure connected to it to rotate left and right in the horizontal plane, thus providing the device with the ability to adjust its direction in the horizontal plane.

[0044] The distal pitch joint 22 is closely connected to the distal yaw joint 21, and is responsible for performing pitch motion. Its structural design revolves around a horizontal axis (such as the X-axis), realizing the up-and-down swing function of the device in the vertical plane, just like the up-and-down lifting motion of a human arm.

[0045] The translation joint 23 connects to the distal pitch joint 22 and is mainly used to complete translational movements, thereby realizing linear displacement adjustment of the device in a specific direction (such as the Y-axis).

[0046] The distal tumbling joint 24 is connected to the translational joint 23 to achieve tumbling motion. Its structural principle is to construct a rotational structure around the longitudinal axis of the device (such as the Y-axis), so that the connected components rotate around the axis to achieve a posture adjustment effect similar to that of an object rolling.

[0047] The proximal pitch joint 25 connects to the distal roll joint 24, introducing pitch motion again. This joint is located at the proximal position and its structure is similar to that of the distal pitch joint 22, but its dimensions, load-bearing capacity, and other parameters may differ according to the overall design requirements, further enriching the angle adjustment range of the device in the vertical plane.

[0048] The proximal yaw joint 26 connects to the proximal pitch joint 25 to complete the yaw motion. Also with the vertical axis as the center of rotation, it has similar structural elements to the distal yaw joint 21, providing the device with directional fine-tuning capability from the proximal position.

[0049] The proximal tumble joint 27, as the last joint at the proximal end of the device, connects with the proximal yaw joint 26 and performs tumbling motion. Its structural design ensures that the device can rotate around the longitudinal axis at the proximal position, cooperating with the distal tumble joint 24 to achieve all-round tumbling posture control.

[0050] The working principle of the hand operation device 20 provided in this embodiment is as follows:

[0051] The device employs a symmetrical multi-joint layout, with each joint performing its specific function and working in concert to accurately capture and reproduce the complex movements of the surgeon's hand. The distal joints focus on the precise acquisition of subtle movements, such as the distal lateral joint 21 and distal pitch joint 22, which simulate the delicate rotation and pitch movements of the wrist, accurately translating minute changes in the surgeon's hand posture in the horizontal and vertical planes into changes in joint angles. The proximal joints are responsible for the stable transmission of large-range movements. When the surgeon performs large-range arm movements, the proximal lateral joint 26 and proximal pitch joint 25 respond synchronously, ensuring that the entire device can acquire the posture information generated by hand operations in real time and completely. This information is then accurately transmitted to the slave surgical tool through a master-slave teleoperation structure, effectively solving the problem of inaccurate acquisition of complex postures in existing devices.

[0052] By adopting the above technical solution:

[0053] Significantly improves surgical precision: The flexible design of its multi-joint design and precise posture acquisition and transmission capabilities enable the device to accurately map the surgeon's subtle hand movements onto the surgical instruments. In minimally invasive surgery, surgeons can control the secondary surgical instruments by manipulating the primary hand to perform delicate operations such as vascular suturing and nerve reconnection. This effectively avoids operational errors caused by the inaccurate posture acquisition of traditional devices, greatly improving surgical precision and providing strong support for patients' postoperative recovery and treatment outcomes.

[0054] Expanded range of motion and enhanced stability: The optimized joint structure and motion control mechanism overcome the motion limitations of existing devices. The high-precision linear motion of the translation joint 23 and the large-angle flexible rotation of the yaw and pitch joints enable surgical instruments to operate in all directions without blind spots at the surgical site, meeting the needs of complex surgeries for instrument range of motion. At the same time, stable joint motion reduces instrument vibration and displacement during surgery, lowers surgical risks, improves the success rate and safety of surgery, and provides surgeons with more reliable surgical tools.

[0055] Enhancing Surgical Comfort and Immediacy: The device is designed with surgeons' comfort in mind. Its joint layout and operation method conform to ergonomic principles, effectively reducing fatigue during prolonged surgeries. Through precise motion capture and transmission, surgeons can feel real-time feedback between the secondary surgical instruments and the surgical site while operating the primary hand, enhancing the sense of presence during surgery. This allows surgeons to focus more intently and naturally, further improving surgical quality and efficiency.

[0056] Please refer to the following: Figure 3 In one embodiment, the distal yaw joint 21 includes a first bearing housing 211, a first bearing 212 disposed on the first bearing housing 211, and a first sensor 213. The first bearing housing 211 is arranged on the bottom of the surgical robot 10, the first bearing 212 is connected to the distal pitch joint 22, and the first sensor 213 is used to obtain the yaw angle of the first bearing 212.

[0057] Specifically, the first bearing housing 211 is the basic support component of the distal yaw joint 21, designed to be stably mounted on the bottom of the surgical robot 10. Structurally, it is typically made of high-strength, corrosion-resistant metal materials, such as stainless steel or titanium alloy, to ensure long-term stable operation in the surgical environment. Its shape and size are customized according to the overall layout of the surgical robot 10, featuring precise mounting interfaces and positioning structures that allow for tight connection with the robot's bottom frame, providing a stable mounting base for subsequent components, ensuring the stability of the entire joint during operation, and preventing displacement deviations caused by vibration or external impacts.

[0058] The first bearing 212, mounted on the first bearing housing 211, is the core component for realizing the rotation function of the distal yaw joint 21. It is connected to the distal pitch joint 22 and typically uses a high-precision slewing bearing, such as a crossed roller bearing or a thin-walled ball bearing. Crossed roller bearings can withstand large radial forces, axial forces, and overturning moments, ensuring smooth rotation of the joint under different forces; thin-walled ball bearings have lower frictional torque and higher rotational accuracy, making the yaw movement of the joint more sensitive and smooth. The inner ring of the first bearing 212 is tightly fitted with the shaft connecting the distal pitch joint 22, while the outer ring is fixed to the first bearing housing 211. The yaw movement of the distal pitch joint 22 and subsequent connecting components in the horizontal plane is achieved through the rolling of the rolling elements between the inner and outer rings. Specifically, the first bearing 212 defines a first yaw shaft R1, around which the distal pitch joint 22 can rotate.

[0059] The first sensor 213 is used to acquire the yaw angle of the first bearing 212 and is a key sensing element for achieving precise control. Common first sensors 213 are angle sensors, such as photoelectric angle sensors or magnetoelectric angle sensors. Photoelectric angle sensors convert the bearing's rotation angle into a digital signal output through a code disk and photoelectric detection elements, featuring high precision and strong anti-interference capabilities. Magnetoelectric angle sensors utilize changes in magnetic fields to sense the bearing's rotation angle, exhibiting a simple structure and high reliability. These sensors can monitor the yaw angle of the first bearing 212 in real time and feed the data back to the control system of the surgical robot 10, enabling the surgeon to accurately grasp the real-time status of the distal yaw joint 21 and provide precise data support for surgical operations.

[0060] By adopting the above technical solution:

[0061] Enhancing the precision of surgical positioning: Precise positioning is crucial during surgery. The distal lateral joint 21, through its precise structural design and angle feedback control, enables surgical instruments to be adjusted in position and direction with millimeter or even sub-millimeter precision. Taking minimally invasive surgery as an example, the surgeon can use the controlling hand to accurately deliver surgical instruments to the lesion site by utilizing the precise lateral movement of the distal lateral joint 21, avoiding surrounding important blood vessels, nerves, and other tissues. This greatly improves the safety and success rate of the surgery and reduces damage to the patient's normal tissues.

[0062] Enhancing the flexibility of surgical procedures: Traditional surgical robots with 10 joints lack sufficient flexibility, limiting the versatility of surgical operations. The distal lateral joint 21 design provides additional degrees of freedom for surgical instruments, enabling them to rotate flexibly in complex surgical spaces.

[0063] Optimizing the human-machine interaction experience of the surgical robot 10: The real-time feedback of the yaw angle information from the first sensor 213 not only helps improve operational precision but also optimizes the human-machine interaction performance of the surgical robot 10. When operating the main hand, the surgeon can perceive the motion state of the distal yaw joint 21 in real time through visual feedback (such as the display screen of the surgical console) or force feedback devices, as if directly operating surgical instruments. This real-time and precise feedback mechanism enhances the surgeon's sense of control over the surgical process, reduces operational uncertainty, improves the smoothness and comfort of surgical operations, and further enhances the practicality and ease of use of the surgical robot 10.

[0064] In one embodiment, the distal pitch joint 22 includes a second bearing housing 221, a second bearing 222 disposed on the second bearing housing 221, and a second sensor 223. The second bearing housing 221 is connected to the first bearing 212, the second bearing 222 is connected to the translation joint 23, and the first sensor 213 is used to obtain the pitch angle of the second bearing 222.

[0065] Specifically, the second bearing housing 221 serves as the basic carrier of the distal pitch joint 22, with one end connected to the first bearing 212, forming an orderly connection between the joints. In terms of material selection, similar to the first bearing housing 211, it typically uses high-strength, corrosion-resistant metal materials, such as stainless steel or titanium alloy, to meet the stringent requirements of the surgical environment for equipment stability and durability. In terms of structural design, it has a suitable mounting interface and positioning structure, enabling precise docking with the first bearing 212 to ensure the stability of the entire joint system. Simultaneously, its shape and dimensions are optimized to minimize its weight and volume while ensuring load-bearing capacity, facilitating the overall layout and flexible operation of the surgical robot 10. The second bearing housing 221 can be selected as a U-shaped bearing housing.

[0066] The second bearing 222 is mounted on the second bearing housing 221, with one end connected to the translation joint 23. It is the core component for realizing the pitch movement of the distal pitch joint 22. To ensure the smoothness and high precision of the joint movement, a high-precision flange bearing is usually selected. The inner and outer rings of the second bearing 222 are tightly fitted with the connecting shaft of the second bearing housing 221 and the translation joint 23, respectively. Through the relative sliding or rolling between the inner and outer rings of the bearing, the translation joint 23 and subsequent connecting components are driven to perform pitch movement in the vertical plane. Specifically, the second bearing 222 defines a first pitch axis R2, and the translation joint 23 can rotate around the first pitch axis R2.

[0067] The second sensor 223 is used to acquire the pitch angle of the second bearing 222 and is a crucial sensing component for achieving precise control. Similar to the first sensor 213, common types include photoelectric angle sensors and magnetoelectric angle sensors. These sensors can monitor the angle changes of the second bearing 222 in real time during pitch movement and convert the collected data into electrical signals, which are then promptly fed back to the control system of the surgical robot 10. By accurately acquiring the angle information of the second bearing 222, the control system can precisely grasp the real-time status of the distal pitch joint 22, providing reliable data for subsequent precise control.

[0068] By adopting the above technical solution:

[0069] Improving Vertical Positioning Accuracy in Surgical Procedures: Precise instrument positioning is crucial during surgery, especially for procedures involving deep tissues or complex anatomical structures. The distal pitch joint 22, with its precise structural design and real-time angle feedback control, enables accurate vertical positioning of surgical instruments. This effectively reduces surgical risks, improves surgical success rates, and enhances patient outcomes.

[0070] Enhancing the vertical flexibility of surgical procedures: Traditional surgical robots 10 often have limited vertical movement capabilities, making it difficult to meet the diverse needs of complex surgeries. The distal pitch joint 22 design in this patent provides additional degrees of freedom for surgical instruments in the vertical plane. In thoracic surgery, facing irregular chest contours and organ positions, surgical instruments can approach the lesion from different angles through the flexible pitch movement of the distal pitch joint 22, completing complex operations that are difficult to perform with traditional surgical instruments. This provides surgeons with a wider range of surgical path options, greatly improving the flexibility and adaptability of surgical procedures in the vertical plane.

[0071] Optimizing the coordination and smoothness of surgical robot 10 operation: The distal pitch joint 22 works in conjunction with other joints such as the distal yaw joint 21 and translation joint 23 to construct a multi-dimensional motion system for surgical robot 10. Through precise angle control and real-time data feedback, this joint can seamlessly cooperate with other joints, ensuring more coordinated and smooth movement of surgical instruments in three-dimensional space. During operation, surgeons can control surgical instruments more naturally and smoothly to complete various complex movements, reducing operational stutters and errors caused by inaccurate joint coordination, improving the overall efficiency and quality of surgical operations, and providing patients with a better treatment experience.

[0072] In one embodiment, the translation joint 23 includes a slide rail 231, a slider 232 slidably mounted on the slide rail 231, and a sliding sensor 233. The slide rail 231 is connected to the second bearing 222, the slider 232 is connected to the distal tumbling joint 24, and the sliding sensor 233 is used to obtain the translation distance of the slider 232.

[0073] Specifically, the slide rail seat 231 is the basic support component of the translation joint 23. One end of it is connected to the second bearing 222, receiving the motion transmission from the distal pitch joint 22. The slide rail seat 231 is typically made of high-strength aluminum alloy or stainless steel, possessing good rigidity and wear resistance to ensure stability during frequent linear movements. It has a high-precision linear guide groove machined internally. The shape and dimensional accuracy of the guide groove directly affect the smoothness of movement and positioning accuracy of the sliding component 232. The guide groove can be a common rectangular, V-shaped, or ball bearing guide structure. Ball bearing guides, by replacing sliding friction with rolling friction, can significantly reduce friction and improve motion efficiency and accuracy.

[0074] The slider 232 is slidably mounted on the slide rail 231, with its other end connected to the distal tumbling joint 24. It is the actuator for realizing translational motion. The slider 232 generally consists of a slider and a connecting seat. The slider part is precisely fitted with the guide groove of the slide rail 231 and adopts an embedded ball or roller design to reduce sliding resistance and withstand a certain load. The connecting seat is used to fix the distal tumbling joint 24. Its shape and interface are customized according to the structure of the distal tumbling joint 24 to ensure a firm connection between the two and to stably transmit motion and power. The sliding stroke and motion accuracy of the slider 232 on the slide rail 231 directly determine the working range and positioning accuracy of the translational joint 23.

[0075] The slider sensor 233 is used to acquire the translational distance of the slider 232 in real time and is the core sensing component for achieving precise control. Common slider sensors 233 include linear displacement sensors, such as optical encoders, magnetic encoders, or inductive displacement sensors. Optical encoders convert the linear displacement of the slider 232 into digital pulse signals through photoelectric conversion, featuring high accuracy and fast response. Magnetic encoders measure displacement by utilizing the change in magnetic signal between a magnetic scale and a magnetic head, making them suitable for harsh environments such as oil and dust. Inductive displacement sensors are based on the principle of electromagnetic induction, calculating displacement by detecting the change in inductance caused by the change in the position of the slider 232, offering advantages such as simple structure and strong anti-interference capability. These sensors can feed back the displacement information of the slider 232 to the control system in real time, providing data support for precise control.

[0076] By adopting the above technical solution:

[0077] Achieving precise mapping of hand operation postures: The high-precision structural design of the translation joint 23 and the real-time displacement feedback mechanism can accurately convert the linear displacement changes generated by hand operations into the actual motion of the device. When simulating the posture of a snake-like joint, the translation joint 23 can respond quickly and accurately to both minor adjustments and larger movements, ensuring that the movement of the device's end effector is completely synchronized with the hand operation. This greatly improves the accuracy of posture acquisition and mapping, providing reliable assurance for scenarios requiring high-precision control, such as surgical operations and precision assembly.

[0078] In one embodiment, the distal roll joint 24 includes a third bearing housing 241, a third bearing 242 disposed on the third bearing housing 241, and a third sensor 243. The third bearing housing 241 is connected to the slider 232, the third bearing 242 is connected to the proximal pitch joint 25, and the third sensor 243 is used to obtain the roll angle of the third bearing 242.

[0079] Specifically, the third bearing housing 241 is the basic support structure for the distal rolling joint 24. One end of it is connected to the sliding member 232 of the translational joint 23, receiving the motion transmission from the translational joint 23. In terms of material selection, high-strength, lightweight alloy materials, such as titanium alloy or aerospace aluminum alloy, are typically used. This ensures structural strength during frequent rotational movements while reducing the overall weight of the device, facilitating flexible operation. Its structural design features precise mounting holes and adapter interfaces. The connection point with the sliding member 232 is specially processed to ensure a stable connection and high coaxiality, preventing installation errors from affecting the bearing's rotational accuracy. Simultaneously, the third bearing housing 241 provides a stable mounting platform for the third bearing 242 and the third sensor 243. Its internal space layout is reasonable, leaving sufficient space for the installation and maintenance of subsequent components.

[0080] The third bearing 242 is mounted on the third bearing housing 241, and its other end is connected to the proximal pitch joint 25. It is the core component for realizing the tumbling motion of the distal tumbling joint 24. Considering the need to withstand large torque and rotational accuracy requirements, high-precision angular contact ball bearings, tapered roller bearings, or crossed roller bearings are typically selected. Angular contact ball bearings can withstand both radial and axial loads simultaneously, making them suitable for high-speed rotation and applications requiring a certain axial load capacity. Tapered roller bearings can withstand large radial and unidirectional axial loads, making them suitable for heavy-duty rotational applications. Crossed roller bearings, by arranging two rows of rollers at 90° intervals, can withstand large radial, axial, and overturning moments with a smaller cross-sectional size, ensuring the smoothness and high precision of the joint during rotation. The inner and outer rings of the third bearing 242 are tightly fitted with the connecting shafts of the third bearing housing 241 and the proximal pitch joint 25, respectively, achieving tumbling motion around the shaft through the rolling of the rolling elements. Specifically, the third bearing 242 defines a first tumbling shaft R3, around which the proximal pitch joint 25 can rotate.

[0081] The third sensor 243 is used to acquire the roll angle of the third bearing 242 in real time and is a key sensing element for achieving precise control. Common third sensors 243 are angle sensors, such as rotary transformers, magnetic encoders, or photoelectric encoders. Rotary transformers, based on the principle of electromagnetic induction, measure angles by detecting changes in electromagnetic coupling between the rotor and stator, and are characterized by strong anti-interference capabilities and high reliability. Magnetic encoders use changes in the magnetic field of magnetic materials to sense angles and are suitable for harsh environments such as oil and dust. Photoelectric encoders convert angles into digital signals through code disks and photoelectric detection elements, offering advantages such as high accuracy and fast response speed. These sensors can feed back the roll angle information of the third bearing 242 to the control system in real time, providing accurate data for precisely adjusting the joint posture.

[0082] By adopting the above technical solution:

[0083] Enhanced Spatial Posture Adjustment Capabilities: The design of the distal tumbling joint 24 increases the degree of freedom of rotation around the axis for the hand manipulation device 20, enabling more complex posture adjustments in three-dimensional space. During surgical procedures, the surgeon can precisely adjust the rotation angle of surgical instruments using the distal tumbling joint 24 through the dominant hand to adapt to the anatomical structures of different surgical sites. For example, in orthopedic surgery, this allows for precise control of the screw insertion angle, or in minimally invasive surgery, it enables surgical instruments to reach the lesion site at a specific angle, avoiding important tissues, significantly improving the flexibility and precision of surgical operations.

[0084] In one embodiment, the proximal pitch joint 25 includes a fourth bearing housing 251, a fourth bearing 252 disposed on the fourth bearing housing 251, and a fourth sensor 253. The fourth bearing housing 251 is connected to the third bearing 242, the fourth bearing 252 is connected to the proximal yaw joint 26, and the fourth sensor 253 is used to obtain the pitch angle of the fourth bearing 252.

[0085] Specifically, the fourth bearing housing 251 serves as the basic support component for the proximal pitch joint 25, connected at one end to the third bearing 242, and receives motion transmission from the distal roll joint 24. In terms of materials, high-strength and corrosion-resistant metals, such as stainless steel or specially treated aluminum alloys, are primarily selected to meet the long-term usage requirements of complex environments such as surgery and precision operations. Its structural design emphasizes precise alignment with the third bearing 242, ensuring coaxiality and stability during connection through precision-machined mounting surfaces and locating pin holes, avoiding motion deviations caused by connection errors. Simultaneously, the fourth bearing housing 251 provides a stable mounting platform for the fourth bearing 252 and the fourth sensor 253. Its internal space layout is rational, minimizing volume and weight while ensuring structural strength to optimize the overall flexibility of the device.

[0086] The fourth bearing 252 is mounted on the fourth bearing housing 251, and its other end is connected to the proximal yaw joint 26. It is the core component for realizing the pitch movement of the proximal pitch joint 25. Considering the need to bear a large torque and ensure high-precision pitch angle control, a crossed roller bearing is usually used. The inner and outer rings of the fourth bearing 252 are tightly fitted with the connecting shaft of the fourth bearing housing 251 and the proximal yaw joint 26, respectively. Through the relative sliding or rolling between the inner and outer rings of the bearing, the proximal yaw joint 26 and subsequent components are driven to perform pitch movement in the vertical plane. Specifically, the fourth bearing 252 defines a second pitch axis R4, and the proximal yaw joint 26 can rotate around the second pitch axis R4.

[0087] The fourth sensor 253 is used to acquire the pitch angle of the fourth bearing 252 in real time and is a key sensing element for achieving precise control. Common types include potentiometer-type angle sensors, tilt sensors, or high-precision photoelectric encoders. Potentiometer-type angle sensors reflect angle changes through resistance changes; they are simple in structure and low in cost, suitable for applications where precision requirements are not so stringent. Tilt sensors can directly measure the tilt angle relative to the horizontal plane and are often used in scenarios requiring real-time monitoring of attitude changes. Photoelectric encoders, with their high precision, high resolution, and fast response, play an important role in applications such as surgical operations or precision assembly where extremely high angle control precision is required. These sensors convert the pitch angle information of the fourth bearing 252 into electrical signals in real time and transmit them to the control system, providing reliable data support for precise adjustment of joint attitude.

[0088] By adopting the above technical solution:

[0089] Expanding the vertical operating range and flexibility: The proximal pitch joint 25 significantly enhances the vertical movement capability of the hand manipulation device 20. In surgical scenarios, especially when dealing with deep lesions or complex anatomical structures, surgeons can use the proximal pitch joint 25 to adjust the vertical angle of surgical instruments significantly using the main hand, allowing them to approach the lesion from different directions while avoiding vital organs and tissues. For example, in thoracic surgery, the instrument angle can be flexibly adjusted for precise manipulation without damaging surrounding cardiopulmonary tissue, greatly improving the flexibility and feasibility of surgical procedures.

[0090] In one embodiment, the proximal yaw joint 26 includes a fifth bearing housing 261, a fifth bearing 262 disposed on the fifth bearing housing 261, and a fifth sensor 263. The fifth bearing housing 261 is connected to the fourth bearing 252, the fifth bearing 262 is connected to the proximal tumbling joint 27, and the fifth sensor 263 is used to obtain the yaw angle of the fifth bearing 262.

[0091] Specifically, the fifth bearing housing 261 is the basic load-bearing component of the proximal yaw joint 26, connected at one end to the fourth bearing 252, receiving the motion transmission from the proximal pitch joint 25. To meet the long-term use requirements of complex scenarios such as surgery and precision operations, its material is usually a high-strength metal with excellent corrosion resistance, such as special stainless steel or titanium alloy. In terms of structural design, the fifth bearing housing 261 achieves high-precision docking with the fourth bearing 252 through precision-machined mounting surfaces, locating pins, and bolt holes, ensuring coaxiality and stability after connection and effectively avoiding motion misalignment caused by assembly errors. At the same time, the fifth bearing housing 261 provides a stable mounting base for the fifth bearing 262 and the fifth sensor 263. Its internal space layout is compact and reasonable, minimizing its own weight and volume while ensuring structural strength, which helps to improve the overall flexibility and portability of the device.

[0092] The fifth bearing 262 is mounted on the fifth bearing housing 261, and its other end is connected to the proximal rolling joint 27. It is the core component for realizing the yaw motion of the proximal yaw joint 26. Given that this joint needs to withstand large torque and lateral force while ensuring high-precision yaw angle control, high-precision tapered roller bearings, angular contact ball bearings, or crossed roller bearings are commonly used. Tapered roller bearings can withstand large radial and unidirectional axial loads, making them suitable for applications requiring large lateral forces. Angular contact ball bearings can withstand both radial and axial loads simultaneously and have high rotational accuracy, making them suitable for high-speed, high-precision yaw motion. Crossed roller bearings, with two rows of rollers arranged at 90° intervals, can withstand large radial, axial, and overturning moments with a smaller cross-sectional size, ensuring the smoothness and accuracy of the joint during yaw. The inner and outer rings of the fifth bearing 262 are tightly fitted with the connecting shaft of the fifth bearing housing 261 and the proximal rolling joint 27, respectively. Through the relative rolling between the inner and outer rings of the bearing, the proximal rolling joint 27 and subsequent components are driven to yaw in the horizontal plane. More specifically, the fifth bearing 262 is defined with a second yaw axis R5, and the proximal tumbling joint 27 is capable of rotating about the second yaw axis R5.

[0093] The fifth sensor 263 is used to acquire the yaw angle of the fifth bearing 262 in real time and is a key sensing component for achieving precise control. Common types include photoelectric angle sensors, magnetoelectric angle sensors, and rotary transformers. Photoelectric angle sensors convert the bearing's rotation angle into a digital pulse signal using a code disk and photoelectric detection element, featuring high precision, fast response speed, and strong anti-interference capability. Magnetoelectric angle sensors utilize changes in magnetic fields to sense the bearing's rotation angle; they have a simple structure, high reliability, and are suitable for harsh environments such as oil and dust. Rotary transformers, based on the principle of electromagnetic induction, can accurately measure the bearing's yaw angle and have good anti-electromagnetic interference performance. These sensors convert the yaw angle information of the fifth bearing 262 into electrical signals in real time and transmit them to the control system, providing reliable data for precise adjustment of joint posture.

[0094] By adopting the above technical solution:

[0095] Significantly improves operational flexibility and range in the horizontal plane

[0096] The proximal lateral joint 26 significantly enhances the maneuverability of the hand-operated device 20 in the horizontal plane. In surgical settings, when faced with complex lesion locations and anatomical structures, surgeons can use the proximal lateral joint 26 to flexibly adjust the horizontal angle of surgical instruments, allowing them to approach the lesion from different angles while avoiding important blood vessels and nerve tissues. For example, in brain surgery, the instrument angle can be precisely adjusted to achieve minimally invasive treatment of the lesion, significantly improving the flexibility and feasibility of the surgical procedure. In industrial assembly, this joint allows the robotic arm to maneuver flexibly in confined spaces, completing complex parts assembly tasks and effectively expanding the device's application range.

[0097] In one embodiment, the proximal tumble joint 27 includes a sixth bearing housing 271, a sixth bearing 272 disposed on the sixth bearing housing 271, and a sixth sensor 273. The sixth bearing housing 271 is connected to the fifth bearing 262, and the sixth sensor 273 is used to obtain the tumble angle of the sixth bearing 272.

[0098] Specifically, the sixth bearing housing 271 is the basic support structure for the proximal tumbling joint 27, connected at one end to the fifth bearing 262, receiving motion transmission from the proximal yaw joint 26. To meet the high-strength and high-precision requirements of surgical and precision operations, its material is typically a high-strength, low-weight alloy, such as titanium alloy or specially treated aerospace aluminum alloy. This material ensures the stability of the structure during frequent rotational movements while reducing the overall weight of the device, facilitating flexible operation. In terms of structural design, the sixth bearing housing 271 achieves high-precision docking with the fifth bearing 262 through precision-machined mounting surfaces, positioning grooves, and high-strength bolt connections, ensuring coaxiality and stability after connection and avoiding motion deviations caused by loose connections or assembly errors. Simultaneously, the sixth bearing housing 271 provides a stable mounting platform for the sixth bearing 272 and the sixth sensor 273. Its internal space layout is reasonable, optimizing structural dimensions and reducing the overall space occupied by the device while ensuring normal bearing operation and sensor installation.

[0099] The sixth bearing 272, mounted on the sixth bearing housing 271, is the core component for realizing the tumbling motion of the proximal tumbling joint 27. Because this joint needs to withstand large torques during operation while ensuring high-precision rotation angle control, high-precision angular contact ball bearings, tapered roller bearings, or crossed roller bearings are commonly used. Angular contact ball bearings can withstand both radial and axial loads simultaneously, making them suitable for high-speed rotation applications requiring a certain axial load capacity; tapered roller bearings can withstand large radial and unidirectional axial loads, making them suitable for heavy-duty rotational applications; crossed roller bearings, with two rows of rollers arranged at 90° intervals, can withstand large radial, axial, and overturning moments with a smaller cross-sectional size, ensuring the smoothness and high precision of the joint during rotation. The inner and outer rings of the sixth bearing 272 are tightly fitted with the sixth bearing housing 271 and subsequent connecting components, respectively. Through the relative rolling between the inner and outer rings of the bearing, the entire device is driven to tumble around the axis. Specifically, the sixth bearing 272 defines a second tumbling axis R6, around which the entire device can rotate.

[0100] The sixth sensor 273 is used to acquire the roll angle of the sixth bearing 272 in real time and is a key sensing element for achieving precise control. Common types include magnetic encoders, photoelectric encoders, and rotary transformers. Magnetic encoders use changes in the magnetic field of magnetic materials to sense angles and have the characteristics of strong anti-interference ability and adaptability to harsh environments (such as oil and dust). Photoelectric encoders convert angles into digital signals through code disks and photoelectric detection elements, and have the advantages of high precision, high resolution, and fast response. Rotary transformers are based on the principle of electromagnetic induction and can accurately measure the roll angle of the bearing, and can still work stably in electromagnetic interference environments. These sensors convert the roll angle information of the sixth bearing 272 into electrical signals in real time and transmit them to the control system, providing reliable data support for precise adjustment of joint posture.

[0101] By adopting the above technical solution:

[0102] The proximal tumble joint 27 adds a degree of freedom of rotation around the axis to the hand manipulation device 20, significantly improving the device's posture adjustment capability in three-dimensional space. In surgical scenarios, surgeons can use the proximal tumble joint 27 to precisely adjust the rotation angle of surgical instruments by manipulating the main hand, allowing them to better conform to the anatomical structure of the lesion site.

[0103] In one embodiment, the first sensor 213, the second sensor 223, the third sensor 243, the fourth sensor 253, the fifth sensor 263, the sixth sensor 273, and the sliding sensor 233 are all communicatively connected to the surgical system 10.

[0104] By adopting the above technical solution and communicating with the surgical system 10 through the sensors, the doctor can obtain the precise posture information of each joint of the hand manipulation device 20 in real time. During surgery, especially when performing delicate operations such as vascular anastomosis and nerve repair, the doctor can use this real-time data to precisely control the position and angle of the surgical instruments, minimizing operational errors.

[0105] Secondly, a surgical robot 10 is provided, including a surgical system and the aforementioned hand manipulation device 20, wherein the hand manipulation device 20 is communicatively connected to the surgical system.

[0106] By adopting the above technical solution, the surgical robot 10 of this embodiment, in addition to having the advantages of the hand operation device 20 of the above embodiment, also has the advantage of high flexibility in surgical operation.

[0107] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A hand-operated device, characterized in that, include: The distal yaw joint is used for yaw motion in the horizontal plane. The distal pitch joint is connected to the distal yaw joint, and the distal pitch joint is used to perform pitch motion. A translational joint is connected to the distal pitch joint, and the translational joint is used to perform translational movements; The distal tumbling joint is connected to the translational joint, and the distal tumbling joint is used to perform tumbling motion; The proximal pitch joint is connected to the distal tumble joint, and the proximal pitch joint is used to perform pitch motion; The proximal yaw joint is connected to the proximal pitch joint, and the proximal yaw joint is used to perform yaw motion. The proximal tumbling joint is connected to the proximal lateral joint, and the proximal tumbling joint is used to perform tumbling motion.

2. The hand-operated device as described in claim 1, characterized in that, The distal yaw joint includes a first bearing housing, a first bearing disposed on the first bearing housing, and a first sensor. The first bearing housing is used to be arranged on the bottom of the surgical robot. The first bearing is connected to the distal pitch joint. The first sensor is used to obtain the yaw angle of the first bearing.

3. The hand-operated device as described in claim 2, characterized in that, The distal pitch joint includes a second bearing housing, a second bearing mounted on the second bearing housing, and a second sensor. The second bearing housing is connected to the first bearing, the second bearing is connected to the translation joint, and the second sensor is used to acquire the pitch angle of the second bearing.

4. The hand-operated device as described in claim 3, characterized in that, The translational joint includes a slide rail, a slider slidably mounted on the slide rail, and a sliding sensor. The slide rail is connected to the second bearing, the slider is connected to the distal rolling joint, and the sliding sensor is used to obtain the translational distance of the slider.

5. The hand-operated device as described in claim 4, characterized in that, The distal roll joint includes a third bearing housing, a third bearing mounted on the third bearing housing, and a third sensor. The third bearing housing is connected to the sliding member, the third bearing is connected to the proximal pitch joint, and the third sensor is used to obtain the roll angle of the third bearing.

6. The hand-operated device as described in claim 5, characterized in that, The proximal pitch joint includes a fourth bearing housing, a fourth bearing mounted on the fourth bearing housing, and a fourth sensor. The fourth bearing housing is connected to the third bearing, the fourth bearing is connected to the proximal yaw joint, and the fourth sensor is used to acquire the pitch angle of the fourth bearing.

7. The hand-operated device as described in claim 6, characterized in that, The proximal yaw joint includes a fifth bearing housing, a fifth bearing disposed on the fifth bearing housing, and a fifth sensor. The fifth bearing housing is connected to the fourth bearing, the fifth bearing is connected to the proximal tumble joint, and the fifth sensor is used to obtain the yaw angle of the fifth bearing.

8. The hand-operated device as described in claim 7, characterized in that, The proximal tumble joint includes a sixth bearing housing, a sixth bearing disposed on the sixth bearing housing, and a sixth sensor. The sixth bearing housing is connected to the fifth bearing, and the sixth sensor is used to obtain the tumble angle of the sixth bearing.

9. The hand-operated device as described in claim 8, characterized in that, The first sensor, the second sensor, the third sensor, the fourth sensor, the fifth sensor, the sixth sensor, and the sliding sensor are all communicatively connected to the surgical system.

10. A surgical robot, characterized in that, It includes a surgical system and a hand manipulation device as described in any one of claims 1 to 9, wherein the hand manipulation device is communicatively connected to the surgical system.

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