Omni-directional cart and computer-assisted medical system

Abstract

The application relates to the technical field of medical devices, in particular to an omnidirectional cart and a computer-aided medical system. The steering wheel of the omnidirectional cart comprises a force sensing module connected with a handle, a first sensor assembly of the force sensing module can sense an acting force in a first direction applied on the handle by an operator, a second sensor assembly can sense an acting force in a second direction applied on the handle, and a third sensor assembly can sense a torsional acting force applied on the handle. A controller can control driving wheels to make the omnidirectional cart translate in any direction in a plane based on data sensed by the first sensor assembly and the second sensor assembly. The controller can control the driving wheels to make the omnidirectional cart perform a turning motion based on data sensed by the third sensor assembly, so that the motion flexibility of the omnidirectional cart is better.

Description

Technical Field

[0001] This application relates to the field of medical device technology, specifically to an omnidirectional trolley and a computer-aided medical system. Background Technology

[0002] Computer-aided medical systems (CADS) enable healthcare professionals to perform surgical procedures through master-slave control and are widely used in various abdominal surgeries, prostate surgeries, and gynecological surgeries. CADS systems include patient-side operating devices (PSDs), which can be moved from one location within the operating room to another, or even across floors. These PSDs include trolleys, which healthcare professionals use to move the devices.

[0003] The chassis of existing patient-side manipulation equipment trolleys typically includes two drive wheels and two swivel casters. This chassis structure allows for forward and backward movement and steering. When the trolley needs to turn, the chassis is steered by rotating the two drive wheels at a certain difference in speed. However, this steering method has a large turning radius, making it difficult to navigate narrow aisles. Furthermore, when the trolley is already close to the target location and only minor adjustments to its position are needed, the large turning radius makes adjustments time-consuming and laborious. Utility Model Content

[0004] The purpose of this application is to provide an omnidirectional stroller to improve the current stroller's poor mobility.

[0005] In addition, the purpose of this application is to provide a computer-aided medical system using the above-mentioned omnidirectional trolley.

[0006] In a first aspect, an omnidirectional trolley is provided, comprising multiple drive wheels, a steering wheel, and a controller; the steering wheel includes a steering wheel base, a handle, and a force sensing module, wherein the handle and the force sensing module are disposed on the steering wheel base, and the handle is connected to the force sensing module; the force sensing module includes a first sensor assembly, a second sensor assembly, and a third sensor assembly, wherein the first sensor assembly is used to sense a force applied to the handle along a first direction; the second sensor assembly is used to sense a force applied to the handle along a second direction, the second direction intersecting the first direction; and the third sensor assembly is used to sense a torsional force applied to the handle; the controller is communicatively connected to the first sensor assembly, the second sensor assembly, and the third sensor assembly, and the controller is used to control the movement of the drive wheels based on the data sensed by the first sensor assembly, the second sensor assembly, and the third sensor assembly.

[0007] In some embodiments, the handle is movable relative to the rudder seat, the force sensing module includes a first movable member connected to the handle and movable relative to the rudder seat in the first direction under the drive of the handle, a first end of the first sensor assembly connected to the rudder seat and limited in the first direction, and a second end of the first sensor assembly fixedly connected to the first movable member.

[0008] In some embodiments, the force sensing module further includes a second movable member connected to the handle and capable of moving relative to the rudder seat in the second direction under the drive of the handle, a first end of the second sensor assembly being fixedly connected to the second movable member, and a second end of the second sensor assembly being connected to the rudder seat and limited in the second direction.

[0009] In some embodiments, a first end of the first sensor assembly is fixedly connected to the rudder seat, and a second end of the second sensor assembly is fixedly connected to the first movable member. The second movable member is also capable of moving relative to the rudder seat in the first direction under the drive of the handle.

[0010] In some embodiments, the force sensing module includes a first guide and a first movable member. The first guide is used to guide the first movable member to move along the first direction. The first movable member is fixedly connected to the first active member. The first guide is fixedly disposed on the rudder seat.

[0011] The force sensing module includes a second guide and a second moving member. The second guide is used to guide the second moving member to move along the second direction. The second moving member is fixedly connected to the second movable member, and the second guide is fixedly connected to the first movable member.

[0012] In some embodiments, the first moving member is a first slider, the first guide member is a first guide rail that guides the movement of the first slider, and / or

[0013] The second moving component is the second slider, and the second guide component is the second guide rail that guides the movement of the second slider.

[0014] In some embodiments, the force sensing module includes a first limiting mechanism for limiting the movement of the first movable member in the first direction; and / or

[0015] The second limiting mechanism is used to limit the movement of the second movable member in the second direction.

[0016] In some embodiments, the handle, the third sensor assembly, and the second movable member are stacked along a third direction, which is perpendicular to both the first and second directions.

[0017] In some embodiments, the steering wheel is provided with an input component for receiving user input, and the controller controls the omnidirectional trolley to only translate in response to a first user input received by the input component, or the controller controls the translation and steering of the omnidirectional trolley in response to a second user input received by the input component.

[0018] Secondly, some embodiments provide a computer-assisted medical system, including an omnidirectional trolley as described in any embodiment of the first aspect.

[0019] According to the omnidirectional trolley of the above embodiment, the trolley's steering wheel includes a force-sensing module connected to the handle. The first sensor component of the force-sensing module can sense the force applied to the handle by the operator in a first direction, the second sensor component can sense the force applied to the handle in a second direction, and the third sensor component can sense the torsional force applied to the handle. Based on the data sensed by the first and second sensor components, the controller can control the drive wheels to make the omnidirectional trolley translate in any direction within a plane. Based on the data sensed by the third sensor component, the controller can control the drive wheels to make the omnidirectional trolley steer, thereby improving the omnidirectional trolley's movement flexibility. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of a computer-aided medical system in some embodiments of this application;

[0021] Figure 2 This is a schematic diagram of the omnidirectional trolley in some embodiments of this application;

[0022] Figure 3 This is a state diagram of the patient-side operating device in some embodiments of this application;

[0023] Figure 4 This is a schematic diagram of the internal structure of the rudder disk in some embodiments of this application;

[0024] Figure 5 This is a schematic diagram of the internal structure of the steering wheel after cutting out a portion of the first movable component in some embodiments of this application;

[0025] Figure 6 This is a schematic diagram of the force sensing module and handle in some embodiments of this application;

[0026] Figure 7 This is another structural diagram of the internal structure of the rudder disk in some embodiments of this application;

[0027] Figure 8 For along Figure 6 Sectional view of AA;

[0028] Figure 9 For along Figure 8 A cross-sectional view of BB.

[0029] List of feature names corresponding to the reference numerals in the figure: 100, Doctor's console; 200, Patient-side operating device; 201, Robotic arm; 202, Manipulator arm; 300, Imaging device; 400, Omnidirectional cart; 1, Drive wheel; 2, Steering wheel; 21, Steering wheel base; 22, Handle; 23, Force sensing module; 231, First sensor assembly; 2311, Force sensor; 2312, Spring; 232, Second sensor assembly; 2321, Force transmitter. 2322, Spring; 233, Third sensor assembly; 234, First moving part; 2341, Limiting hole; 235, Second moving part; 2361, First guide; 2362, First moving part; 2371, Second guide; 2372, Second moving part; 238, Limiting block; 2391, First limiting block; 2392, Second limiting block; 24, Input component; 241, Button; 3, Chassis; 4, Steering wheel connector. Detailed Implementation

[0030] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. Similar elements in different embodiments are referred to by related similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the present application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to the present application are not shown or described in the specification. This is to avoid obscuring the core parts of the present application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0031] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0032] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the objects being described and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include direct connection, indirect connection, and contact connection (linkage).

[0033] The hinge, as referred to in this application, is a connection between two objects or components that allows them to rotate relative to each other, enabling them to oscillate or swing. Specifically, a hinge may consist of two parts connected by a pivot, where one part can rotate relative to the other. The pivot can be independent of the two parts, fixed to one of the parts, or integrally formed with it. Unless otherwise specified, a hinge typically has a hinge axis, allowing at least one part to rotate about the hinge axis.

[0034] The embodiments described in the detailed implementation can be combined in any suitable manner without contradiction. For example, different implementation methods can be formed by combining different embodiments. In order to avoid unnecessary repetition, the various possible combinations of the embodiments will not be described separately.

[0035] Please refer to Figure 1 The computer-aided medical system of this application may include a doctor's console 100, a patient-side operating device 200, and an imaging device 300.

[0036] The doctor's console 100 includes a display unit for showing the surgical instruments and environment, a doctor's operating control mechanism, and armrests. The display unit has an observation window for the doctor to observe, the operating control mechanism is designed so that its movements can be mapped to the movements of the surgical instruments, and the armrests are for supporting the doctor's arms. In addition, the doctor's console 100 also has other convenient hand or foot touch or press input devices for performing various functions and completing human-computer interaction.

[0037] The patient-side operating device 200 and the doctor's control console 100 communicate to achieve master-slave remote control. For example... Figure 1 and Figure 2 As shown, the patient-side manipulation device 200 may include at least one robotic arm 201. Figure 2 (Only one robotic arm is shown). The robotic arm 201 is composed of multiple connecting arms that are movably connected in sequence, so that the end effector of the robotic arm 201 can achieve multi-degree-of-freedom movement. The end effector of the robotic arm 201 includes a manipulator 202, which is used to mount one or more surgical instruments and to manipulate the surgical instruments to perform surgical operations.

[0038] The imaging device 300 includes a display screen, an endoscope controller, system electronics, and an image processor. The imaging device 300 can communicate with the patient-side operating device 200 and the doctor's console 100. The imaging device 300 can be set up independently or integrated into the patient-side operating device 200 and / or the doctor's console 100.

[0039] Surgical instruments can be instruments used to perform surgical operations such as cutting, cauterizing, or suturing, such as clamps, ultrasonic scalpels, electrocautery devices, and vascular occluders. They can also be cameras used to acquire images of the surgical area, such as endoscopes, or other auxiliary surgical instruments, such as uterine manipulators. Surgical instruments typically consist of a proximal drive module and a distal actuator. The proximal drive module is connected to and driven by a power source, thereby driving the distal actuator to perform pitch, yaw, rolling, and opening / closing movements to achieve surgical operations such as cutting, clamping, and suturing during surgery.

[0040] Please refer to Figure 3 The patient-side operating device 200 also includes an omnidirectional trolley 400 for mounting at least one robotic arm 201. The omnidirectional trolley 400 is capable of translation and turning in place in any direction within a plane. The omnidirectional trolley 400 includes multiple drive wheels 1, a steering wheel 2, and a controller (not shown in the figure). The omnidirectional trolley 400 includes a chassis 3 and a steering wheel connecting seat 4 fixed to the chassis 3. The drive wheels 1 are mounted on the chassis 3, the steering wheel 2 is fixed to the steering wheel connecting seat 4, and the robotic arm 201 (not shown in the figure) is mounted on the chassis 3.

[0041] The omnidirectional trolley 400 is an electrically assisted trolley. Drive wheel 1 is a drive wheel driven by a drive motor, used to achieve translation and steering of the omnidirectional trolley 400. Drive wheel 1 is an omnidirectional wheel; specifically, Mecanum wheels can be used as drive wheels 1. The Mecanum wheel integrates a drive motor, encoder, brake, and other functional modules, allowing each Mecanum wheel to be individually controlled by the controller. The combined movement of multiple Mecanum wheels can achieve omnidirectional translation and steering of the omnidirectional trolley 400. The number of Mecanum wheels can be four, six, or eight, etc., as needed.

[0042] The controller is communicatively connected to drive wheel 1 and rudder 2 respectively, and controls the movement of drive wheel 1 based on the data collected by rudder 2.

[0043] Please refer to Figures 3 to 5The steering wheel 2 includes a steering wheel base 21, a handle 22, and a force sensing module 23. The handle 22 and the force sensing module 23 are mounted on the steering wheel base 21, and the handle 22 is connected to the force sensing module 23. The handle 22 is used by the operator to operate the steering wheel 2, and the force sensing module 23 is used to sense the force applied by the operator to the handle 22 and send the sensed data to the controller, so that the controller can control the movement of the drive wheel 1 based on the sensed data of the force sensing module 23.

[0044] To control the translational movement of the omnidirectional trolley 400, the force sensing module 23 includes a first sensor assembly 231 and a second sensor assembly 232. The first sensor assembly 231 senses the force applied to the handle 22 along a first direction D1, specifically sensing the magnitude and direction of the force. The second sensor assembly 232 senses the force applied to the handle 22 along a second direction D2, specifically sensing the magnitude and direction of the force, where the second direction D2 intersects the first direction D1. Optionally, the second direction D2 is perpendicular to the first direction D1. Both the first sensor assembly 231 and the second sensor assembly 232 are communicatively connected to a controller, which controls the drive wheel 1 to translate the omnidirectional trolley 400 based on the data sensed by the first sensor assembly 231 and the second sensor assembly 232.

[0045] Applying force to the handle 22 along the first direction D1 can push the omnidirectional trolley 400 to move back and forth. Applying force to the handle 22 along the second direction D2 can push the omnidirectional trolley 400 to move left and right. Both the first direction D1 and the second direction D2 have two directions, positive and negative. For example, when the first sensor assembly 231 senses that the direction of the force applied to the handle 22 is positive along the first direction D11, the controller controls the omnidirectional trolley 400 to move forward based on this result, and vice versa. Similarly, when the second sensor assembly 231 senses that the direction of the force applied to the handle 22 is positive along the second direction D21, the controller controls the omnidirectional trolley 400 to move to the left based on this result, and vice versa. In addition, the controller controls the translational speed of the omnidirectional trolley 400 based on the magnitude of the force sensed by the first sensor assembly 231 and the second sensor assembly 232. When the first sensor assembly 231 and the second sensor assembly 232 simultaneously sense the force applied to the handle 22, the controller synthesizes the data from the first sensor assembly 231 and the second sensor assembly 232, and then determines the final direction and speed of travel of the omnidirectional trolley 400.

[0046] To control the 400° steering motion of the omnidirectional trolley, please refer to... Figure 4 , Figure 5 and Figure 8The force sensing module 23 also includes a third sensor assembly 233, which senses the torsional force applied to the handle 22, specifically sensing the magnitude and direction of the torsional force. The third sensor assembly 233 is communicatively connected to a controller, which controls the drive wheel 1 to steer the omnidirectional trolley 400 based on the data sensed by the third sensor assembly 233. The controller controls the steering direction of the omnidirectional trolley 400 based on the direction of the torsional force sensed by the third sensor assembly 233, and controls the steering speed of the omnidirectional trolley 400 based on the magnitude of the torsional force sensed by the third sensor assembly 233.

[0047] It should be noted that in some embodiments, the handle 22 is rotatable relative to the rudder seat 21. Optionally, the handle 22 is rotatably mounted on the rudder seat about a first axis AX1, and a torsional force applied to the handle 22 can cause the handle 22 to rotate. The rotation axis of the handle 22, the first axis AX1, intersects both the first direction D1 and the second direction D2. More specifically, the first axis AX1 is perpendicular to both the first direction D1 and the second direction D2. In other embodiments, the handle 22 is non-rotatably mounted on the rudder seat 21, and a torsional force applied to the handle 22 causes the handle 22 to have a tendency to rotate, but does not actually rotate.

[0048] Based on the above, the controller of the omnidirectional trolley 400 of this application controls the drive wheel 1 to make the omnidirectional trolley 400 translate in any direction in the plane based on the data sensed by the first sensor component 231 and the second sensor component 232, and controls the drive wheel 1 to make the omnidirectional trolley turn based on the data sensed by the third sensor component 233, thereby improving the movement flexibility of the omnidirectional trolley 400 and solving the problem of difficult handling of the patient-side operation equipment 200 in complex scenarios.

[0049] The structure of the force sensing module 23 will be described in detail below with reference to the attached diagram.

[0050] Please refer to Figures 4 to 8 The first sensor assembly 231 includes a first force sensor 2311 and a first spring 2312 connected to the first force sensor 2311. The first force sensor 2311 is a tension / compression sensor. The first sensor assembly 231 has a first end and a second end opposite to each other, and the first end and the second end are movable relative to each other to deform the first spring 2312 to transmit force to the first force sensor 2311. Thus, the first sensor assembly 231 can sense the force applied to it. In addition, the first spring 2312 also serves to protect the first force sensor 2311.

[0051] The second sensor assembly 232 includes a second force sensor 2321 and a second spring 2322 connected to the second force sensor 2321. The second force sensor 2321 is a tension / compression sensor. The second sensor assembly 232 has a first end and a second end opposite to each other, and the first end and the second end are movable relative to each other to deform the second spring 2322 to transmit force to the second force sensor 2321. Thus, the second sensor assembly 232 can sense the force applied to it. In addition, the second spring 2322 also serves to protect the second force sensor 2321.

[0052] The first force sensor 2311 and the second force sensor 2321 can be resistive strain gauges that rely on elastic deformation, or piezoelectric sensors that utilize the charge effect of piezoelectric materials. Alternatively, the first force sensor 2311 and the second force sensor 2321 can be replaced by displacement sensors, which use the sensed displacement of the handle 22 to represent the force applied to the handle 22. The displacement sensor can be a linear encoder, a wire encoder, etc.

[0053] The handle 22 is movable relative to the rudder base 21. Optionally, the handle 22 is movable relative to the rudder base 21 in a first direction D1 and a second direction D2, so as to cause relative movement between the two ends of the first sensor assembly 231 and the second sensor assembly 232.

[0054] The force sensing module 23 includes a first movable member 234, which is movably mounted on the rudder seat 21 along a first direction D1. The first movable member 234 is connected to a handle 22, allowing it to move relative to the rudder seat 21 along the first direction D1 under the actuation of the handle 22. A first end of a first sensor assembly 231 is connected to the rudder seat 21 and limited in the first direction D1, while a second end of the first sensor assembly 231 is fixedly connected to the first movable member 234. When a force is applied to the handle 22 along the first direction D1, the first movable member 234 moves relative to the rudder seat 21 along the first direction D1 under the actuation of the handle 22, causing relative movement between the first end and the second end of the first sensor assembly 231, thereby enabling the first sensor assembly 231 to sense the force applied to the handle 22 along the first direction D1.

[0055] It is understandable that the first movable part 234 can be directly fixed to the handle 22, or it can be indirectly connected to it through other components.

[0056] The force sensing module 23 also includes a second movable member 235, which is connected to the handle 22. Driven by the handle 22, the second movable member 235 moves relative to the rudder seat 21 along a second direction D2. The first end of the second sensor assembly 232 is fixedly connected to the second movable member 235, and the second end of the second sensor assembly 232 is connected to the rudder seat 21 and limited in the second direction D2. When a force in the second direction D2 is applied to the handle 22, driven by the handle 22, the second movable member 235 moves relative to the rudder seat 21 along the second direction D2, causing the first end and the second end of the second sensor assembly 232 to move relative to each other, thereby enabling the second sensor assembly 232 to sense the force applied to the handle 22 along the second direction D2. It can be understood that the connection between the second movable member 235 and the handle 22 can be either a direct fixed connection or an indirect connection via other components. It should be noted that in the embodiment shown in the figure, the first direction D1 represents the forward and backward movement direction of the omnidirectional trolley 400, and the second direction represents the left and right movement direction of the omnidirectional trolley 400. In other embodiments of this application, the first direction D1 may also represent the left and right movement direction of the omnidirectional trolley 400, and the second direction may represent the forward and backward movement direction of the omnidirectional trolley 400.

[0057] In some embodiments, please refer to Figures 4 to 8 The first movable member 234 and the second movable member 235 are both connected to the handle 22. The first movable member 234 can only move relative to the rudder seat 21 in the first direction D1 under the drive of the handle 22, and its movement relative to the rudder seat 21 in the second direction D2 is limited. The second movable member 235 can move relative to the rudder seat 21 in the first direction D1 and the second direction D2 under the drive of the handle 22. The second end of the second sensor assembly 232 is fixedly connected to the first movable member 234, that is, the second end of the second sensor assembly 232 is connected to the rudder seat 21 through the first movable member 234. Since the first movable member 234 can only move in the first direction D1, when the force applied by the handle 22 includes the force in the first direction D1 and the force in the second direction D2, the force in the second direction D2 cannot drive the first movable member 234 to move. Therefore, it will not affect the detection result of the first sensor assembly 231. In addition, when the force applied by the handle 22 includes the force in the first direction D1 and the force in the second direction D2, the force in the first direction D1 actuates the second movable member 235 and the second end of the second sensor assembly 232 (i.e., the end of the second force sensor 2321) to move synchronously along the first direction D1, and the force in the first direction D1 will not affect the detection result of the force in the second direction D2.

[0058] In some embodiments, the first movable member 234 is connected to the handle 22 via the second movable member 235. The first end of the first sensor assembly 231 is fixedly connected to the rudder seat 21, so that the first end and the second end of the first sensor assembly 231 are respectively fixed to the rudder seat 21 and the first movable member 234. The first end and the second end of the second sensor assembly 232 are respectively fixed to the second movable member 235 and the first movable member 234, thereby realizing the sequential series connection of the rudder seat 21, the first sensor assembly 231, the first movable member 234, the second sensor assembly 232, and the second movable member 235 without interference.

[0059] In some other embodiments, the first movable member 234 and the second movable member 235 may both be directly fixedly connected to the handle 22, and the second movable member 235 may be directly connected to the rudder seat 21. The first end and the second end of the second sensor assembly 232 are respectively connected to the second movable member 235 and the rudder seat 21, and the first end and the second end of the first sensor assembly 231 are respectively connected to the rudder seat 21 and the first movable member 234. In order to reduce the impact on the detection results of the first sensor assembly 231 and the second sensor assembly 232 when a force is applied to the handle along the first direction D1 and along the second direction D2, the second sensor assembly 232 and the second movable member can move synchronously relative to the rudder seat 21 in a straight line along the first direction D1. However, the rudder seat 21 limits the second end of the second sensor assembly 232 in the second direction D2. The first sensor assembly 232 and the first movable member can move synchronously relative to the rudder seat in a straight line along the second direction D2, but the rudder seat 21 can limit the first end of the first sensor assembly 232 in the first direction D1.

[0060] In some embodiments, please refer to Figures 4 to 8 The force sensing module 23 includes a first guide 2361 and a first moving member 2362. The first guide 2361 guides the first moving member 2362 to move along a first direction D1. The first moving member 2362 is fixedly connected to a first movable member 234, and the first guide 2361 is fixedly mounted on the rudder seat 21. Under the action of the first guide 2361 and the first moving member 2362, the first movable member 234 moves relative to the rudder seat 21 along the first direction D1 without easily wobbling or deviating. This makes the relative movement between the first end and the second end of the first sensor assembly 231 in the first direction D1 more stable and less prone to relative movement in other directions, thereby making the sensing result of the first sensor assembly 231 more reliable. Specifically, the first moving member 2362 is a first slider, and the first guide 2361 is a first guide rail that guides the movement of the first slider. In some other embodiments, the first moving member 2362 and the first guide 2361 can also be other structures that can achieve linear guidance, such as ball splines, linear bearings, etc.

[0061] Similarly, the force sensing module 23 also includes a second guide 2371 and a second moving member 2372. The second guide 2371 guides the second moving member 2372 to move along the second direction D2, and the second moving member 2372 and the second guide 2371 mutually limit each other in the first direction D1. The second moving member 2372 is fixedly connected to the second movable member 235, and the second guide 2371 is fixedly connected to the first movable member 234. Under the guidance of the second guide 2371 on the second moving member 2372, the second movable member 235 can only move relative to the first movable member 234 along the second direction D2, and cannot move relative to the first movable member 234 relative to the first direction D1. The first end of the second sensor assembly 232 and the second end of the second sensor assembly 232 are less likely to move relative to each other in directions other than the second direction D2, resulting in more accurate sensing results. Furthermore, the connection of the two sets of guide components and moving members ensures that the two sensor components do not interfere with each other. Specifically, the second moving part 2372 is the second slider, and the second guide part 2371 is the second guide rail that guides the movement of the second slider. Similarly, the second guide part 2371 and the second moving part 2372 can also be other structures that can achieve linear guidance, such as ball splines, linear bearings, etc.

[0062] Taking the first sensor assembly 231 as an example, the working principle is explained as follows: When the first end of the first sensor assembly 231 moves relative to the second end of the first sensor assembly 231, the tension and force are transmitted to the first force sensor 2311 through the first spring 2312 of the first sensor assembly 231. The reading of the first force sensor 2311 in its natural state is defined as zero. When the first spring 2312 of the first sensor assembly 231 is compressed, the reading of the first force sensor 2311 is positive, indicating that the direction of the force applied to the handle 22 is positive along the first direction D11, and the controller controls the omnidirectional trolley 400 to move forward. When the first spring 2312 of the first sensor assembly 231 is stretched, the reading of the first force sensor 2311 is negative, indicating that the direction of the force applied to the handle 22 is negative along the first direction D12, and the controller controls the omnidirectional trolley 400 to move backward. The reading of the first force sensor 2311 is mapped to the magnitude of the force applied to the handle 22, and the controller controls the speed at which the omnidirectional trolley 400 moves based on the reading of the first force sensor 2311.

[0063] In some embodiments, to prevent overload of the sensor assembly, the force sensing module 23 includes a first limiting mechanism. The first limiting mechanism is used to limit the movement of the first movable member 234 in the first direction D1, thereby limiting the movement of the first movable member 234 in the first direction D1 to a set range, preventing the second end of the first sensor assembly 231 connected to the first movable member 234 from moving too much and damaging the sensor, and improving the reliability and lifespan of the steering wheel 2.

[0064] For details, please refer to Figure 8 and Figure 9 In some embodiments, the first limiting mechanism includes a limiting block 238 fixed to the rudder seat 21. The first movable member 234 has a limiting hole 2341 for receiving the limiting block 238. The size and shape of the limiting hole 2341 are configured to allow the limiting block 238 to move within the limiting hole 2341 as the first movable member 234 moves within a predetermined range in the first direction D1. When the first movable member 234 exceeds the predetermined range of motion, one of the holes at both ends of the limiting hole 2341 contacts the limiting block 238, thus preventing the movement of the first movable member 234. Optionally, the rudder seat has two mounting seats for the first guide 2631, with the limiting block 238 being the mounting seat closer to the handle.

[0065] Similarly, in some embodiments, the force sensing module 23 further includes a second limiting mechanism. This second limiting mechanism limits the movement of the second movable member 235 in the second direction D2, confining its movement within a set range. This prevents excessive travel at the first end of the second sensor assembly 232 connected to the second movable member 235, which could lead to overload of the second sensor assembly 232. For some embodiments, please refer to... Figure 6 The second limiting mechanism includes a first limiting block 2391 and a second limiting block 2392. Both the first limiting block 2391 and the second limiting block 2392 are fixed to the first movable member 234, and are respectively located on both sides of the second movable member 235 along the second direction D2. The second movable member 235 can move between the first limiting block 2391 and the second limiting block 2392. The first limiting block 2391 and the second limiting block 2392 define the range of movement of the second movable member 235 relative to the first movable member 234 in the second direction D2. The first limiting block 2391 and the second limiting block 2392 also serve as mounting bases for the second guide member 2372.

[0066] In some embodiments, please refer to Figure 8The handle 22, the third sensor assembly 233, and the second movable member 235 are stacked along a third direction D3, which is perpendicular to the first direction D1 and the second direction D2. Specifically, the third sensor assembly 233 includes a torque sensor, which is fixed to the second movable member 235, and the handle 22 is fixed to the torque sensor. The handle 22 is non-rotatably mounted on the rudder seat 21. The force applied to the handle 22 along the first direction D1 is transmitted to the first sensor assembly 231 through the torque sensor, and the force applied to the handle 22 along the second direction D2 is transmitted to the second sensor assembly 232 through the torque sensor.

[0067] In some other embodiments, the torque sensor may be replaced by an encoder or potentiometer for sensing the steering angle, thereby obtaining the torsional force applied to the handle 22 by sensing the steering angle of the handle 22, at which time the handle 22 can rotate relative to the rudder seat 21.

[0068] For a more compact overall layout, please refer to some embodiments. Figures 4 to 8 In the second direction D2, the first sensor assembly 231 is connected to one side of the first movable member 234, and the second sensor assembly 232 is connected to the other side of the first movable member 234. This makes full use of the space on both sides of the first movable member 234 in the second direction D2, resulting in a more compact overall layout.

[0069] The omnidirectional stroller 400 of this application also provides two control modes: translation mode and omnidirectional mode. Please refer to... Figure 5 and Figure 6 The steering wheel 2 is equipped with an input component 24 for receiving user input. In response to a first user input received by the input component 24, the controller controls the omnidirectional trolley 400 to perform only translational movement, without steering; this is the translational movement mode. The controller also responds to a second user input received by the input component 24, controlling the omnidirectional trolley 400 to perform both translation and steering; this is the omnidirectional movement mode. In translational movement mode, the controller controls the translational direction and speed of the omnidirectional trolley 400 based on the sensing data from the first sensor component 231 and the second sensor component 232. In omnidirectional movement mode, the controller controls the translational direction and speed of the omnidirectional trolley 400 based on the sensing data from the first sensor component 231 and the second sensor component 232, and controls the steering of the omnidirectional trolley 400 based on the sensing data from the third sensor component 233. The translational movement mode is suitable for scenarios such as single-handed operation, or scenarios where steering is not required and straight-line movement is desired.

[0070] Specifically, the input component 24 includes two buttons 241, each button 241 being mounted on a handle 22. Pressing either button 241 generates a first user input. Pressing both buttons 241 generates a second user input.

[0071] The above examples illustrate this application only to aid understanding and are not intended to limit its scope. Those skilled in the art to which this application pertains can make various simple deductions, modifications, or substitutions based on the ideas presented.

Claims

1. An omnidirectional trolley, characterized in that, include: Multiple drive wheels; A steering wheel includes a steering wheel base, a handle, and a force sensing module. The handle and the force sensing module are mounted on the steering wheel base, and the handle is connected to the force sensing module. The force sensing module includes: A first sensor assembly is used to sense the force applied to the handle along a first direction; A second sensor assembly is used to sense a force applied to the handle in a second direction, the second direction intersecting the first direction; and A third sensor assembly for sensing the torsional force applied to the handle; and a controller communicatively connected to the first, second, and third sensor assemblies, the controller controlling the movement of the drive wheel based on data sensed by the first, second, and third sensor assemblies.

2. The omnidirectional trolley as described in claim 1, characterized in that, The handle is movable relative to the rudder seat. The force sensing module includes a first movable member connected to the handle and movable relative to the rudder seat in the first direction under the drive of the handle. A first end of the first sensor assembly is connected to the rudder seat and limited in the first direction. A second end of the first sensor assembly is fixedly connected to the first movable member. The first end and the second end of the first sensor assembly are movable relative to each other in the first direction, so that the first sensor assembly can sense the force applied to the handle in the first direction.

3. The omnidirectional trolley as described in claim 2, characterized in that, The force sensing module further includes a second movable member, which is connected to the handle and can move relative to the rudder seat in the second direction under the drive of the handle. The first end of the second sensor assembly is fixedly connected to the second movable member, and the second end of the second sensor assembly is connected to the rudder seat and limited in the second direction. The first end of the second sensor assembly and the second end of the first sensor assembly can move relative to each other in the second direction so that the second sensor assembly can sense the force applied to the handle in the second direction.

4. The omnidirectional trolley as described in claim 3, characterized in that, The first end of the first sensor assembly is fixedly connected to the rudder seat, and the second end of the second sensor assembly is fixedly connected to the first movable member. The movement of the first movable member relative to the rudder seat in the second direction is limited. The second movable member can also move relative to the rudder seat in the first direction under the drive of the handle.

5. The omnidirectional trolley as described in claim 4, characterized in that, The force sensing module includes a first guide and a first moving member. The first guide is used to guide the first moving member to move along the first direction. The first moving member is fixedly connected to the first movable member. The first guide is fixedly mounted on the rudder seat. The force sensing module includes a second guide and a second moving member. The second guide is used to guide the second moving member to move along the second direction. The second moving member and the second guide are positioned at the upper limit in the first direction. The second moving member is fixedly connected to the second movable member, and the second guide is fixedly connected to the first movable member.

6. The omnidirectional trolley as described in claim 5, characterized in that, The first moving component is a first slider, and the first guide is a first guide rail that guides the movement of the first slider, and / or The second moving component is the second slider, and the second guide component is the second guide rail that guides the movement of the second slider.

7. The omnidirectional trolley as described in claim 5, characterized in that, The force sensing module includes a first limiting mechanism, which is used to limit the movement of the first movable component in the first direction; and / or The second limiting mechanism is used to limit the movement of the second movable member in the second direction.

8. The omnidirectional trolley as described in claim 4, characterized in that, The handle, the third sensor assembly, and the second movable member are stacked along a third direction, which is perpendicular to both the first and second directions.

9. The omnidirectional trolley as described in any one of claims 1-8, characterized in that, The steering wheel is equipped with an input component for receiving user input. The controller, in response to a first user input received by the input component, controls the omnidirectional trolley to perform only translation, or The controller responds to a second user input received by the input component to control the translation and steering of the omnidirectional trolley.

10. A computer-aided medical system, characterized in that, Including the omnidirectional trolley as described in any one of claims 1-9.

Images